diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 908c570391..6ae5336557 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -22,7 +22,7 @@ jobs: running-workflow-name: 'build __nightly' repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$ - - uses: actions/checkout@v6 + - uses: actions/checkout@v4 with: submodules: true fetch-depth: 0 diff --git a/SConstruct b/SConstruct index 7db9f7e3d2..99d5dc4b8a 100644 --- a/SConstruct +++ b/SConstruct @@ -46,11 +46,10 @@ if arch != "larch64": import libjpeg import libyuv import ncurses - import openssl3 import python3_dev import zeromq import zstd - pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, openssl3, zeromq, zstd] + pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, zeromq, zstd] py_include = python3_dev.INCLUDE_DIR else: # TODO: remove when AGNOS has our new vendor pkgs diff --git a/common/params_keys.h b/common/params_keys.h index 3164fe5365..a247798e30 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -172,6 +172,7 @@ inline static std::unordered_map keys = { {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}}, {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}}, {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}}, + {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}}, {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}}, {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}}, {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}}, diff --git a/pyproject.toml b/pyproject.toml index 56664b16b7..9c43b20f12 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,12 +32,12 @@ dependencies = [ "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg", "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg", "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv", - "openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3", "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev", "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd", "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses", "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq", "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs", + "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi", # body / webrtcd "av", @@ -76,6 +76,7 @@ dependencies = [ "raylib > 5.5.0.3", "qrcode", "jeepney", + "pillow", ] [project.optional-dependencies] @@ -103,12 +104,10 @@ testing = [ dev = [ "matplotlib", "opencv-python-headless", - "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi", ] tools = [ "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')", - "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64 ] [project.urls] diff --git a/release/pack.py b/release/pack.py index 92ff68fe76..8979e0e618 100755 --- a/release/pack.py +++ b/release/pack.py @@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR DIRS = ['cereal', 'openpilot'] -EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo'] +EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po'] INTERPRETER = '/usr/bin/env python3' diff --git a/selfdrive/assets/icons_mici/setup/cancel.png b/selfdrive/assets/icons_mici/setup/cancel.png new file mode 100644 index 0000000000..f50cc9ef3f --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/cancel.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6892bd4d9b14b587fa491a6d608562e38819b4c618b1d7a3e8c384f05d52a2b +size 1245 diff --git a/selfdrive/assets/icons_mici/setup/continue.png b/selfdrive/assets/icons_mici/setup/continue.png new file mode 100644 index 0000000000..7a67bb0c96 --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/continue.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3428d8fcf2ecf9542c524706124f82b7fc809453c63418c9234ac9df5d85bd24 +size 10074 diff --git a/selfdrive/assets/icons_mici/setup/continue_disabled.png b/selfdrive/assets/icons_mici/setup/continue_disabled.png new file mode 100644 index 0000000000..8a2bcc2ffe --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/continue_disabled.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2810add4943dd4f20a984ed6011b520925919a58d5c0dd0d846fc4d7f8a1d02 +size 7109 diff --git a/selfdrive/assets/icons_mici/setup/continue_pressed.png b/selfdrive/assets/icons_mici/setup/continue_pressed.png new file mode 100644 index 0000000000..3eaee7bf1c --- /dev/null +++ b/selfdrive/assets/icons_mici/setup/continue_pressed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a3a87454a3d2f1ebb327211062c52480de945673dcfd137c5da3df8fa98d731 +size 22400 diff --git a/selfdrive/assets/icons_mici/setup/restore.png b/selfdrive/assets/icons_mici/setup/restore.png index 5eff924040..5c62086f64 100644 --- a/selfdrive/assets/icons_mici/setup/restore.png +++ b/selfdrive/assets/icons_mici/setup/restore.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1f5ee67cd334d259ac33f932281db36533877009b5769c92d9cff3054fd5627c -size 2942 +oid sha256:63c1499106621a4d927c21b2b04c87235a927216d9f513a0205f0fe03b8c799b +size 12320 diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index a0bca3f239..a8300de321 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -32,8 +32,7 @@ def flash_panda(panda_serial: str) -> Panda: raise # skip flashing if the detected panda is not supported - supported_panda = check_panda_support(panda) - if not supported_panda: + if panda.get_type() not in Panda.SUPPORTED_DEVICES: cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...") return panda @@ -69,10 +68,19 @@ def flash_panda(panda_serial: str) -> Panda: return panda -def check_panda_support(panda) -> bool: - hw_type = panda.get_type() - if hw_type in Panda.SUPPORTED_DEVICES: - return True +def check_panda_support(panda_serials: list[str]) -> bool: + unsupported = [] + for serial in panda_serials: + panda = Panda(serial) + hw_type = panda.get_type() + panda.close() + if hw_type in Panda.SUPPORTED_DEVICES: + return True + + unsupported.append((serial, hw_type)) + + for serial, hw_type in unsupported: + cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...") return False @@ -126,13 +134,17 @@ def main() -> None: cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") + # custom flasher for xnor's Rivian Longitudinal Upgrade Kit + flash_rivian_long(panda_serials) + + # skip flashing and health check if no supported panda is detected + if not check_panda_support(panda_serials): + continue + # Flash the first panda panda_serial = panda_serials[0] panda = flash_panda(panda_serial) - # flash Rivian longitudinal upgrade panda - flash_rivian_long(panda) - # Ensure internal panda is present if expected if HARDWARE.has_internal_panda() and not panda.is_internal(): cloudlog.error("Internal panda is missing, trying again") @@ -143,12 +155,6 @@ def main() -> None: # log panda fw version params.put("PandaSignatures", panda.get_signature()) - # skip health check if the detected panda is not supported - supported_panda = check_panda_support(panda) - if not supported_panda: - cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...") - continue - # check health for lost heartbeat health = panda.health() if health["heartbeat_lost"]: diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 7599454194..9c35b0465e 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -81,16 +81,14 @@ void run(const char* cmd) { } void finishInstall() { - BeginDrawing(); - ClearBackground(BLACK); - if (tici_device) { + if (tici_device) { + BeginDrawing(); + ClearBackground(BLACK); const char *m = "Finishing install..."; int text_width = MeasureText(m, FONT_SIZE); DrawTextEx(font_display, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE); - } else { - DrawTextEx(font_display, "finishing setup", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)}); - } - EndDrawing(); + EndDrawing(); + } util::sleep_for(60 * 1000); } diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py index f7424b974d..8086b1f635 100644 --- a/selfdrive/ui/layouts/settings/software.py +++ b/selfdrive/ui/layouts/settings/software.py @@ -69,7 +69,6 @@ class SoftwareLayout(Widget): # Branch switcher self._branch_btn = button_item(lambda: tr("Target Branch"), lambda: tr("SELECT"), callback=self._on_select_branch) - self._branch_btn.set_visible(not ui_state.params.get_bool("IsTestedBranch")) self._branch_btn.action_item.set_value(ui_state.params.get("UpdaterTargetBranch") or "") self._branch_dialog: MultiOptionDialog | None = None diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py index 860030a24e..2f41e1f172 100644 --- a/selfdrive/ui/mici/layouts/main.py +++ b/selfdrive/ui/mici/layouts/main.py @@ -56,7 +56,7 @@ class MiciMainLayout(Scroller): gui_app.push_widget(self) # Start onboarding if terms or training not completed, make sure to push after self - self._onboarding_window = OnboardingWindow() + self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self)) if not self._onboarding_window.completed: gui_app.push_widget(self._onboarding_window) @@ -82,7 +82,7 @@ class MiciMainLayout(Scroller): def _handle_transitions(self): # Don't pop if onboarding - if gui_app.get_active_widget() == self._onboarding_window: + if gui_app.widget_in_stack(self._onboarding_window): return if ui_state.started != self._prev_onroad: @@ -108,7 +108,7 @@ class MiciMainLayout(Scroller): def _on_interactive_timeout(self): # Don't pop if onboarding - if gui_app.get_active_widget() == self._onboarding_window: + if gui_app.widget_in_stack(self._onboarding_window): return if ui_state.started: diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py index 7340360575..043755e7a6 100644 --- a/selfdrive/ui/mici/layouts/onboarding.py +++ b/selfdrive/ui/mici/layouts/onboarding.py @@ -1,32 +1,25 @@ -from enum import IntEnum - -import weakref import math import numpy as np +import qrcode import pyray as rl +from collections.abc import Callable from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import FontWeight, gui_app from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton -from openpilot.system.ui.widgets.label import UnifiedLabel -from openpilot.system.ui.widgets.slider import SmallSlider -from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage -from openpilot.selfdrive.ui.ui_state import ui_state, device -from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer -from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog +from openpilot.system.ui.widgets.button import SmallCircleIconButton +from openpilot.system.ui.widgets.scroller import NavScroller, Scroller +from openpilot.system.ui.widgets.nav_widget import NavWidget +from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton from openpilot.system.ui.widgets.label import gui_label from openpilot.system.ui.lib.multilang import tr from openpilot.system.version import terms_version, training_version, terms_version_sp - -from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding - - -class OnboardingState(IntEnum): - TERMS = 0 - ONBOARDING = 1 - DECLINE = 2 - SUNNYLINK_CONSENT = 3 +from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined +from openpilot.selfdrive.ui.ui_state import ui_state, device +from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton +from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2 +from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer +from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog +from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage class DriverCameraSetupDialog(BaseDriverCameraDialog): @@ -60,91 +53,62 @@ class DriverCameraSetupDialog(BaseDriverCameraDialog): rl.end_scissor_mode() -class TrainingGuidePreDMTutorial(SetupTermsPage): - def __init__(self, continue_callback): - super().__init__(continue_callback, continue_text="continue") - self._title_header = TermsHeader("driver monitoring setup", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60)) +class TrainingGuidePreDMTutorial(NavScroller): + def __init__(self, continue_callback: Callable[[], None]): + super().__init__() - self._dm_label = UnifiedLabel("Next, we'll ensure comma four is mounted properly.\n\nIf it does not have a clear view of the driver, " + - "unplug and remount before continuing.", 42, - FontWeight.ROMAN) + continue_button = BigPillButton("next") + continue_button.set_click_callback(continue_callback) + + self._scroller.add_widgets([ + GreyBigButton("driver monitoring\ncheck", "scroll to continue", + gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)), + GreyBigButton("", "Next, we'll check if comma four can detect the driver properly."), + GreyBigButton("", "sunnypilot uses the cabin camera to check if the driver is distracted."), + GreyBigButton("", "If it does not have a clear view of the driver, unplug and remount before continuing."), + continue_button, + ]) def show_event(self): super().show_event() # Get driver monitoring model ready for next step - ui_state.params.put_bool("IsDriverViewEnabled", True) - - @property - def _content_height(self): - return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset() - - def _render_content(self, scroll_offset): - self._title_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16 + scroll_offset, - self._title_header.rect.width, - self._title_header.rect.height, - )) - - self._dm_label.render(rl.Rectangle( - self._rect.x + 16, - self._title_header.rect.y + self._title_header.rect.height + 16, - self._rect.width - 32, - self._dm_label.get_content_height(int(self._rect.width - 32)), - )) + ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True) -class DMBadFaceDetected(SetupTermsPage): - def __init__(self, continue_callback, back_callback): - super().__init__(continue_callback, back_callback, continue_text="power off") - self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60)) - self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN) +class DMBadFaceDetected(NavScroller): + def __init__(self): + super().__init__() - @property - def _content_height(self): - return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset() + back_button = BigPillButton("back") + back_button.set_click_callback(self.dismiss) - def _render_content(self, scroll_offset): - self._title_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16 + scroll_offset, - self._title_header.rect.width, - self._title_header.rect.height, - )) - - self._dm_label.render(rl.Rectangle( - self._rect.x + 16, - self._title_header.rect.y + self._title_header.rect.height + 16, - self._rect.width - 32, - self._dm_label.get_content_height(int(self._rect.width - 32)), - )) + self._scroller.add_widgets([ + GreyBigButton("looking for driver", "make sure comma\nfour can see your face", + gui_app.texture("icons_mici/setup/orange_dm.png", 64, 64)), + GreyBigButton("", "Remount if your face is blocked, or driver monitoring has difficulty tracking your face."), + back_button, + ]) -class TrainingGuideDMTutorial(Widget): +class TrainingGuideDMTutorial(NavWidget): PROGRESS_DURATION = 4 LOOKING_THRESHOLD_DEG = 30.0 - def __init__(self, continue_callback): + def __init__(self, continue_callback: Callable[[], None]): super().__init__() - self_ref = weakref.ref(self) - self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48)) - self._back_button.set_click_callback(lambda: self_ref() and self_ref()._show_bad_face_page()) + self._back_button.set_click_callback(lambda: gui_app.push_widget(self._bad_face_page)) + self._back_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing) # for nav stack self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42)) + self._good_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing) # for nav stack - # Wrap the continue callback to restore settings - def wrapped_continue_callback(): - device.set_offroad_brightness(None) - continue_callback() - - self._good_button.set_click_callback(wrapped_continue_callback) + self._good_button.set_click_callback(continue_callback) self._good_button.set_enabled(False) self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps) self._dialog = DriverCameraSetupDialog() - self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, lambda: self_ref() and self_ref()._hide_bad_face_page()) - self._should_show_bad_face_page = False + self._bad_face_page = DMBadFaceDetected() # Disable driver monitoring model when device times out for inactivity def inactivity_callback(): @@ -152,23 +116,11 @@ class TrainingGuideDMTutorial(Widget): device.add_interactive_timeout_callback(inactivity_callback) - def _show_bad_face_page(self): - self._bad_face_page.show_event() - self.hide_event() - self._should_show_bad_face_page = True - - def _hide_bad_face_page(self): - self._bad_face_page.hide_event() - self.show_event() - self._should_show_bad_face_page = False - def show_event(self): super().show_event() self._dialog.show_event() self._progress.x = 0.0 - device.set_offroad_brightness(100) - def _update_state(self): super()._update_state() if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"): @@ -188,7 +140,8 @@ class TrainingGuideDMTutorial(Widget): looking_center = False # stay at 100% once reached - if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99: + in_bad_face = gui_app.get_active_widget() == self._bad_face_page + if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face: slow = self._progress.x < 0.25 duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION self._progress.x += 1.0 / (duration * gui_app.target_fps) @@ -199,9 +152,6 @@ class TrainingGuideDMTutorial(Widget): self._good_button.set_enabled(self._progress.x >= 0.999) def _render(self, _): - if self._should_show_bad_face_page: - return self._bad_face_page.render(self._rect) - self._dialog.render(self._rect) rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80), @@ -258,266 +208,246 @@ class TrainingGuideDMTutorial(Widget): )) # rounded border + rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height)) rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK) + rl.end_scissor_mode() -class TrainingGuideRecordFront(SetupTermsPage): - def __init__(self, continue_callback): - def on_back(): - ui_state.params.put_bool("RecordFront", False) - continue_callback() - - def on_continue(): - ui_state.params.put_bool("RecordFront", True) - continue_callback() - - super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes") - self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60)) - - self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42, - FontWeight.ROMAN) - - def show_event(self): - super().show_event() - # Disable driver monitoring model after last step - ui_state.params.put_bool("IsDriverViewEnabled", False) - - @property - def _content_height(self): - return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset() - - def _render_content(self, scroll_offset): - self._title_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16 + scroll_offset, - self._title_header.rect.width, - self._title_header.rect.height, - )) - - self._dm_label.render(rl.Rectangle( - self._rect.x + 16, - self._title_header.rect.y + self._title_header.rect.height + 16, - self._rect.width - 32, - self._dm_label.get_content_height(int(self._rect.width - 32)), - )) - - -class TrainingGuideAttentionNotice(SetupTermsPage): - def __init__(self, continue_callback): - super().__init__(continue_callback, continue_text="continue") - self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60)) - self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" + - "2. You must pay attention at all times.\n\n" + - "3. You must be ready to take over at any time.\n\n" + - "4. You are fully responsible for driving the car.", 42, - FontWeight.ROMAN) - - @property - def _content_height(self): - return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset() - - def _render_content(self, scroll_offset): - self._title_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16 + scroll_offset, - self._title_header.rect.width, - self._title_header.rect.height, - )) - - self._warning_label.render(rl.Rectangle( - self._rect.x + 16, - self._title_header.rect.y + self._title_header.rect.height + 16, - self._rect.width - 32, - self._warning_label.get_content_height(int(self._rect.width - 32)), - )) - - -class TrainingGuide(Widget): - def __init__(self, completed_callback=None): +class TrainingGuideRecordFront(NavScroller): + def __init__(self, continue_callback: Callable[[], None]): super().__init__() - self._completed_callback = completed_callback - self._step = 0 - self_ref = weakref.ref(self) + def show_accept_dialog(): + def on_accept(): + ui_state.params.put_bool_nonblocking("RecordFront", True) + continue_callback() - def on_continue(): - if obj := self_ref(): - obj._advance_step() + gui_app.push_widget(BigConfirmationDialogV2("allow data uploading", "icons_mici/setup/driver_monitoring/dm_check.png", exit_on_confirm=False, + confirm_callback=on_accept)) + + def show_decline_dialog(): + def on_decline(): + ui_state.params.put_bool_nonblocking("RecordFront", False) + continue_callback() + + gui_app.push_widget(BigConfirmationDialogV2("no, don't upload", "icons_mici/setup/cancel.png", exit_on_confirm=False, confirm_callback=on_decline)) + + self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png") + self._accept_button.set_click_callback(show_accept_dialog) + + self._decline_button = BigCircleButton("icons_mici/setup/cancel.png") + self._decline_button.set_click_callback(show_decline_dialog) + + self._scroller.add_widgets([ + GreyBigButton("driver camera data", "do you want to share video data for training?", + gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)), + GreyBigButton("", "Sharing your data with comma helps improve openpilot and sunnypilot for everyone."), + self._accept_button, + self._decline_button, + ]) + + +class TrainingGuideAttentionNotice(Scroller): + def __init__(self, continue_callback: Callable[[], None]): + super().__init__() + + continue_button = BigPillButton("next") + continue_button.set_click_callback(continue_callback) + + self._scroller.add_widgets([ + GreyBigButton("what is sunnypilot?", "scroll to continue", + gui_app.texture("icons_mici/setup/green_info.png", 64, 64)), + GreyBigButton("", "1. sunnypilot is a driver assistance system."), + GreyBigButton("", "2. You must pay attention at all times."), + GreyBigButton("", "3. You must be ready to take over at any time."), + GreyBigButton("", "4. You are fully responsible for driving the car."), + continue_button, + ]) + + +class TrainingGuide(NavWidget): + def __init__(self, completed_callback: Callable[[], None]): + super().__init__() self._steps = [ - TrainingGuideAttentionNotice(continue_callback=on_continue), - TrainingGuidePreDMTutorial(continue_callback=on_continue), - TrainingGuideDMTutorial(continue_callback=on_continue), - TrainingGuideRecordFront(continue_callback=on_continue), + TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])), + TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])), + TrainingGuideDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[3])), + TrainingGuideRecordFront(continue_callback=completed_callback), ] + self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing) # for nav stack + def show_event(self): super().show_event() - device.set_override_interactive_timeout(300) + self._steps[0].show_event() - def hide_event(self): - super().hide_event() - device.set_override_interactive_timeout(None) + def _render(self, _): + self._steps[0].render(self._rect) - def _advance_step(self): - if self._step < len(self._steps) - 1: - self._step += 1 - self._steps[self._step].show_event() - else: - self._step = 0 - if self._completed_callback: - self._completed_callback() + +class QRCodeWidget(Widget): + def __init__(self, url: str, size: int = 170): + super().__init__() + self.set_rect(rl.Rectangle(0, 0, size, size)) + self._size = size + self._qr_texture: rl.Texture | None = None + self._generate_qr(url) + + def _generate_qr(self, url: str): + qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0) + qr.add_data(url) + qr.make(fit=True) + + pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA') + img_array = np.array(pil_img, dtype=np.uint8) + + rl_image = rl.Image() + rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data) + rl_image.width = pil_img.width + rl_image.height = pil_img.height + rl_image.mipmaps = 1 + rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8 + + self._qr_texture = rl.load_texture_from_image(rl_image) + + def _render(self, _): + if self._qr_texture: + scale = self._size / self._qr_texture.height + rl.draw_texture_ex(self._qr_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, scale, rl.WHITE) + + def __del__(self): + if self._qr_texture and self._qr_texture.id != 0: + rl.unload_texture(self._qr_texture) + + +class TermsPage(Scroller): + def __init__(self, on_accept, on_decline): + super().__init__() + + def show_accept_dialog(): + gui_app.push_widget(BigConfirmationDialogV2("accept\nterms", "icons_mici/setup/driver_monitoring/dm_check.png", + confirm_callback=on_accept)) + + def show_decline_dialog(): + gui_app.push_widget(BigConfirmationDialogV2("decline &\nuninstall", "icons_mici/setup/cancel.png", + red=True, exit_on_confirm=False, confirm_callback=on_decline)) + + self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png") + self._accept_button.set_click_callback(show_accept_dialog) + + self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True) + self._decline_button.set_click_callback(show_decline_dialog) + + self._scroller.add_widgets([ + GreyBigButton("terms and\nconditions", "scroll to continue", + gui_app.texture("icons_mici/setup/green_info.png", 64, 64)), + GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms", + gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)), + QRCodeWidget("https://sunnypilot.ai/terms"), + GreyBigButton("", "You must accept the Terms & Conditions to use sunnypilot."), + self._accept_button, + self._decline_button, + ]) def _render(self, _): rl.draw_rectangle_rec(self._rect, rl.BLACK) - if self._step < len(self._steps): - self._steps[self._step].render(self._rect) - - -class DeclinePage(Widget): - def __init__(self, back_callback=None): - super().__init__() - self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall) - - self._back_button = SmallButton("back") - self._back_button.set_click_callback(back_callback) - - self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot", - gui_app.texture("icons_mici/setup/red_warning.png", 66, 60)) - - def _on_uninstall(self): - ui_state.params.put_bool("DoUninstall", True) - gui_app.request_close() - - def _render(self, _): - self._warning_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16, - self._warning_header.rect.width, - self._warning_header.rect.height, - )) - - self._back_button.set_opacity(1 - self._uninstall_slider.slider_percentage) - self._back_button.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._back_button.rect.height, - self._back_button.rect.width, - self._back_button.rect.height, - )) - - self._uninstall_slider.render(rl.Rectangle( - self._rect.x + self._rect.width - self._uninstall_slider.rect.width, - self._rect.y + self._rect.height - self._uninstall_slider.rect.height, - self._uninstall_slider.rect.width, - self._uninstall_slider.rect.height, - )) - - -class TermsPage(SetupTermsPage): - def __init__(self, on_accept=None, on_decline=None): - super().__init__(on_accept, on_decline, "decline") - - info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60) - self._title_header = TermsHeader("terms of service", info_txt) - - self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " + - "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36, - FontWeight.ROMAN) - - @property - def _content_height(self): - return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset() - - def _render_content(self, scroll_offset): - self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset) - self._title_header.render() - - self._terms_label.render(rl.Rectangle( - self._rect.x + 16, - self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING, - self._rect.width - 100, - self._terms_label.get_content_height(int(self._rect.width - 100)), - )) + super()._render(_) class OnboardingWindow(Widget): - def __init__(self): + def __init__(self, completed_callback: Callable[[], None]): super().__init__() - self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version + self._completed_callback = completed_callback + self._accepted_terms: bool = (ui_state.params.get("HasAcceptedTerms") == terms_version and + ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp) self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version + self._sunnylink_consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in { + sunnylink_consent_version, sunnylink_consent_declined + } - self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING + self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) - self.set_rect(rl.Rectangle(0, 0, 458, gui_app.height)) + # Windows — all pushed onto nav stack, _terms is always rendered as base layer + self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall) + self._terms.set_enabled(lambda: self.enabled) # for nav stack + + self._sunnylink_consent = SunnylinkConsentPage( + on_accept=self._on_sunnylink_accepted, + on_decline=self._on_sunnylink_declined, + ) - # Windows - self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined) self._training_guide = TrainingGuide(completed_callback=self._on_completed_training) - self._decline_page = DeclinePage(back_callback=self._on_decline_back) + self._training_guide.set_enabled(lambda: self.enabled) # for nav stack - # sunnylink consent pages - self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp - self._sunnylink = SunnylinkOnboarding() - if not self._accepted_terms: - self._state = OnboardingState.TERMS - elif not self._sunnylink.completed: - self._state = OnboardingState.SUNNYLINK_CONSENT - elif not self._training_done: - self._state = OnboardingState.ONBOARDING - else: - self._state = OnboardingState.ONBOARDING + self._needs_initial_push = False + + def _on_uninstall(self): + ui_state.params.put_bool("DoUninstall", True) def show_event(self): super().show_event() device.set_override_interactive_timeout(300) + device.set_offroad_brightness(100) + self._needs_initial_push = True def hide_event(self): super().hide_event() + # FIXME: when nav stack sends hide event to widget 2 below on push, this needs to be moved device.set_override_interactive_timeout(None) + device.set_offroad_brightness(None) @property def completed(self) -> bool: - return self._accepted_terms and self._sunnylink.completed and self._training_done - - def _on_terms_declined(self): - self._state = OnboardingState.DECLINE - - def _on_decline_back(self): - self._state = OnboardingState.TERMS + return self._accepted_terms and self._sunnylink_consent_done and self._training_done def close(self): - ui_state.params.put_bool("IsDriverViewEnabled", False) - gui_app.pop_widget() + ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False) + self._completed_callback() def _on_terms_accepted(self): ui_state.params.put("HasAcceptedTerms", terms_version) ui_state.params.put("HasAcceptedTermsSP", terms_version_sp) - if not self._sunnylink.completed: - self._state = OnboardingState.SUNNYLINK_CONSENT + self._accepted_terms = True + if not self._sunnylink_consent_done: + gui_app.push_widget(self._sunnylink_consent) elif not self._training_done: - self._state = OnboardingState.ONBOARDING + gui_app.push_widget(self._training_guide) + else: + self.close() + + def _on_sunnylink_accepted(self): + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) + ui_state.params.put_bool("SunnylinkEnabled", True) + self._sunnylink_consent_done = True + if not self._training_done: + gui_app.push_widget(self._training_guide) + else: + self.close() + + def _on_sunnylink_declined(self): + ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined) + ui_state.params.put_bool("SunnylinkEnabled", False) + self._sunnylink_consent_done = True + if not self._training_done: + gui_app.push_widget(self._training_guide) else: self.close() def _on_completed_training(self): ui_state.params.put("CompletedTrainingVersion", training_version) + self._training_done = True self.close() def _render(self, _): rl.draw_rectangle_rec(self._rect, rl.BLACK) - if self._state == OnboardingState.TERMS: - self._terms.render(self._rect) - elif self._state == OnboardingState.SUNNYLINK_CONSENT: - self._sunnylink.render(self._rect) - if self._sunnylink.completed: - if not self._training_done: - self._state = OnboardingState.ONBOARDING - else: - self.close() - elif self._state == OnboardingState.ONBOARDING: - if not self._training_done: - self._training_guide.render(self._rect) - else: - self.close() - elif self._state == OnboardingState.DECLINE: - self._decline_page.render(self._rect) + + # Deferred from show_event to avoid nested push_widget re-enable bug + if self._needs_initial_push: + self._needs_initial_push = False + if self._accepted_terms and not self._sunnylink_consent_done: + gui_app.push_widget(self._sunnylink_consent) + elif self._accepted_terms and self._sunnylink_consent_done and not self._training_done: + gui_app.push_widget(self._training_guide) + + self._terms.render(self._rect) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 0d253cb26f..b818872913 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -13,15 +13,39 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmatio from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage +from openpilot.system.ui.mici_setup import BigPillButton from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets import Widget -from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.ui_state import device, ui_state from openpilot.system.ui.widgets.label import MiciLabel from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID +class ReviewTermsPage(TermsPage, NavScroller): + """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings.""" + def __init__(self): + super().__init__(on_accept=self.dismiss, on_decline=self.dismiss) + self._accept_button.set_visible(False) + self._decline_button.set_visible(False) + + close_button = BigPillButton("close") + close_button.set_click_callback(self.dismiss) + self._scroller.add_widget(close_button) + + +class ReviewTrainingGuide(TrainingGuide): + def show_event(self): + super().show_event() + device.set_override_interactive_timeout(300) + + def hide_event(self): + super().hide_event() + device.set_override_interactive_timeout(None) + ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False) + + class MiciFccModal(NavRawScrollPanel): def __init__(self, file_path: str | None = None, text: str | None = None): super().__init__() @@ -311,11 +335,11 @@ class DeviceLayoutMici(NavScroller): driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png") - review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(TrainingGuide(completed_callback=gui_app.pop_widget))) + review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self)))) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) terms_btn = BigButton("terms &\nconditions", "", "icons_mici/settings/device/info.png") - terms_btn.set_click_callback(lambda: gui_app.push_widget(TermsPage(on_accept=gui_app.pop_widget))) + terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage())) terms_btn.set_enabled(lambda: ui_state.is_offroad()) self._scroller.add_widgets([ diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py index 553a74fc60..ddbab4b478 100644 --- a/selfdrive/ui/mici/layouts/settings/network/__init__.py +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -1,13 +1,9 @@ import pyray as rl -from openpilot.system.ui.widgets.scroller import NavScroller -from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon -from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle -from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog -from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.selfdrive.ui.lib.prime_state import PrimeType +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiIcon +from openpilot.selfdrive.ui.mici.widgets.button import BigButton from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType, ConnectStatus, SecurityType, normalize_ssid +from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus, SecurityType, normalize_ssid class WifiNetworkButton(BigButton): @@ -62,148 +58,3 @@ class WifiNetworkButton(BigButton): lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7 lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8 rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE) - - -class NetworkLayoutMici(NavScroller): - def __init__(self): - super().__init__() - - self._wifi_manager = WifiManager() - self._wifi_manager.set_active(False) - self._wifi_ui = WifiUIMici(self._wifi_manager) - - self._wifi_manager.add_callbacks( - networks_updated=self._on_network_updated, - ) - - # ******** Tethering ******** - def tethering_toggle_callback(checked: bool): - self._tethering_toggle_btn.set_enabled(False) - self._tethering_password_btn.set_enabled(False) - self._network_metered_btn.set_enabled(False) - self._wifi_manager.set_tethering_active(checked) - - self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) - - def tethering_password_callback(password: str): - if password: - self._tethering_toggle_btn.set_enabled(False) - self._tethering_password_btn.set_enabled(False) - self._wifi_manager.set_tethering_password(password) - - def tethering_password_clicked(): - tethering_password = self._wifi_manager.tethering_password - dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8, - confirm_callback=tethering_password_callback) - gui_app.push_widget(dlg) - - txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54) - self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) - self._tethering_password_btn.set_click_callback(tethering_password_clicked) - - # ******** Network Metered ******** - def network_metered_callback(value: str): - self._network_metered_btn.set_enabled(False) - metered = { - 'default': MeteredType.UNKNOWN, - 'metered': MeteredType.YES, - 'unmetered': MeteredType.NO - }.get(value, MeteredType.UNKNOWN) - self._wifi_manager.set_current_network_metered(metered) - - # TODO: signal for current network metered type when changing networks, this is wrong until you press it once - # TODO: disable when not connected - self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) - self._network_metered_btn.set_enabled(False) - - self._wifi_button = WifiNetworkButton(self._wifi_manager) - self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui)) - - # ******** Advanced settings ******** - # ******** Roaming toggle ******** - self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming) - - # ******** APN settings ******** - self._apn_btn = BigButton("apn settings", "edit") - self._apn_btn.set_click_callback(self._edit_apn) - - # ******** Cellular metered toggle ******** - self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered) - - # Main scroller ---------------------------------- - self._scroller.add_widgets([ - self._wifi_button, - self._network_metered_btn, - self._tethering_toggle_btn, - self._tethering_password_btn, - # /* Advanced settings - self._roaming_btn, - self._apn_btn, - self._cellular_metered_btn, - # */ - ]) - - # Set initial config - roaming_enabled = ui_state.params.get_bool("GsmRoaming") - metered = ui_state.params.get_bool("GsmMetered") - self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered) - - def _update_state(self): - super()._update_state() - - # If not using prime SIM, show GSM settings and enable IPv4 forwarding - show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE) - self._wifi_manager.set_ipv4_forward(show_cell_settings) - self._roaming_btn.set_visible(show_cell_settings) - self._apn_btn.set_visible(show_cell_settings) - self._cellular_metered_btn.set_visible(show_cell_settings) - - def show_event(self): - super().show_event() - self._wifi_manager.set_active(True) - - # Process wifi callbacks while at any point in the nav stack - gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks) - - def hide_event(self): - super().hide_event() - self._wifi_manager.set_active(False) - - gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks) - - def _toggle_roaming(self, checked: bool): - self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered")) - - def _edit_apn(self): - def update_apn(apn: str): - apn = apn.strip() - if apn == "": - ui_state.params.remove("GsmApn") - else: - ui_state.params.put("GsmApn", apn) - - self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered")) - - current_apn = ui_state.params.get("GsmApn") or "" - dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn) - gui_app.push_widget(dlg) - - def _toggle_cellular_metered(self, checked: bool): - self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked) - - def _on_network_updated(self, networks: list[Network]): - # Update tethering state - tethering_active = self._wifi_manager.is_tethering_active() - # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons - self._tethering_toggle_btn.set_enabled(True) - self._tethering_password_btn.set_enabled(True) - self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) - self._tethering_toggle_btn.set_checked(tethering_active) - - # Update network metered - self._network_metered_btn.set_value( - { - MeteredType.UNKNOWN: 'default', - MeteredType.YES: 'metered', - MeteredType.NO: 'unmetered' - }.get(self._wifi_manager.current_network_metered, 'default')) diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py new file mode 100644 index 0000000000..9f6fae4b5f --- /dev/null +++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py @@ -0,0 +1,154 @@ +from openpilot.system.ui.widgets.scroller import NavScroller +from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle +from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog +from openpilot.selfdrive.ui.ui_state import ui_state +from openpilot.selfdrive.ui.lib.prime_state import PrimeType +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType + + +class NetworkLayoutMici(NavScroller): + def __init__(self): + super().__init__() + + self._wifi_manager = WifiManager() + self._wifi_manager.set_active(False) + self._wifi_ui = WifiUIMici(self._wifi_manager) + + self._wifi_manager.add_callbacks( + networks_updated=self._on_network_updated, + ) + + # ******** Tethering ******** + def tethering_toggle_callback(checked: bool): + self._tethering_toggle_btn.set_enabled(False) + self._tethering_password_btn.set_enabled(False) + self._network_metered_btn.set_enabled(False) + self._wifi_manager.set_tethering_active(checked) + + self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) + + def tethering_password_callback(password: str): + if password: + self._tethering_toggle_btn.set_enabled(False) + self._tethering_password_btn.set_enabled(False) + self._wifi_manager.set_tethering_password(password) + + def tethering_password_clicked(): + tethering_password = self._wifi_manager.tethering_password + dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8, + confirm_callback=tethering_password_callback) + gui_app.push_widget(dlg) + + txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54) + self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) + self._tethering_password_btn.set_click_callback(tethering_password_clicked) + + # ******** Network Metered ******** + def network_metered_callback(value: str): + self._network_metered_btn.set_enabled(False) + metered = { + 'default': MeteredType.UNKNOWN, + 'metered': MeteredType.YES, + 'unmetered': MeteredType.NO + }.get(value, MeteredType.UNKNOWN) + self._wifi_manager.set_current_network_metered(metered) + + # TODO: signal for current network metered type when changing networks, this is wrong until you press it once + # TODO: disable when not connected + self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) + self._network_metered_btn.set_enabled(False) + + self._wifi_button = WifiNetworkButton(self._wifi_manager) + self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui)) + + # ******** Advanced settings ******** + # ******** Roaming toggle ******** + self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming) + + # ******** APN settings ******** + self._apn_btn = BigButton("apn settings", "edit") + self._apn_btn.set_click_callback(self._edit_apn) + + # ******** Cellular metered toggle ******** + self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered) + + # Main scroller ---------------------------------- + self._scroller.add_widgets([ + self._wifi_button, + self._network_metered_btn, + self._tethering_toggle_btn, + self._tethering_password_btn, + # /* Advanced settings + self._roaming_btn, + self._apn_btn, + self._cellular_metered_btn, + # */ + ]) + + # Set initial config + roaming_enabled = ui_state.params.get_bool("GsmRoaming") + metered = ui_state.params.get_bool("GsmMetered") + self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered) + + def _update_state(self): + super()._update_state() + + # If not using prime SIM, show GSM settings and enable IPv4 forwarding + show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE) + self._wifi_manager.set_ipv4_forward(show_cell_settings) + self._roaming_btn.set_visible(show_cell_settings) + self._apn_btn.set_visible(show_cell_settings) + self._cellular_metered_btn.set_visible(show_cell_settings) + + def show_event(self): + super().show_event() + self._wifi_manager.set_active(True) + + # Process wifi callbacks while at any point in the nav stack + gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks) + + def hide_event(self): + super().hide_event() + self._wifi_manager.set_active(False) + + gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks) + + def _toggle_roaming(self, checked: bool): + self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered")) + + def _edit_apn(self): + def update_apn(apn: str): + apn = apn.strip() + if apn == "": + ui_state.params.remove("GsmApn") + else: + ui_state.params.put("GsmApn", apn) + + self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered")) + + current_apn = ui_state.params.get("GsmApn") or "" + dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn) + gui_app.push_widget(dlg) + + def _toggle_cellular_metered(self, checked: bool): + self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked) + + def _on_network_updated(self, networks: list[Network]): + # Update tethering state + tethering_active = self._wifi_manager.is_tethering_active() + # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons + self._tethering_toggle_btn.set_enabled(True) + self._tethering_password_btn.set_enabled(True) + self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) + self._tethering_toggle_btn.set_checked(tethering_active) + + # Update network metered + self._network_metered_btn.set_value( + { + MeteredType.UNKNOWN: 'default', + MeteredType.YES: 'metered', + MeteredType.NO: 'unmetered' + }.get(self._wifi_manager.current_network_metered, 'default')) diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py index c7fb3201f5..8e037ccf88 100644 --- a/selfdrive/ui/mici/layouts/settings/settings.py +++ b/selfdrive/ui/mici/layouts/settings/settings.py @@ -2,7 +2,7 @@ from openpilot.common.params import Params from openpilot.system.ui.widgets.scroller import NavScroller from openpilot.selfdrive.ui.mici.widgets.button import BigButton from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici -from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici +from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py index 68b2aef7a5..a9d4f3a48b 100644 --- a/selfdrive/ui/mici/onroad/alert_renderer.py +++ b/selfdrive/ui/mici/onroad/alert_renderer.py @@ -231,7 +231,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer): self._alpha_filter.update(0 if alert is None else 1) if gui_app.sunnypilot_ui(): - ui_state.onroad_brightness_handle_alerts(ui_state.started, alert) + ui_state.onroad_brightness_handle_alerts(ui_state, alert) if alert is None: # If still animating out, keep the previous alert diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 70cc249d2a..73dd648518 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -251,7 +251,7 @@ class AugmentedRoadView(CameraView): # Draw darkened background and text if not onroad if not ui_state.started: rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175)) - self._offroad_label.render(self._content_rect) + self._offroad_label.render(self._rect) # publish uiDebug msg = messaging.new_message('uiDebug') diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py index 89a4926ce9..62fcfd0654 100644 --- a/selfdrive/ui/mici/onroad/cameraview.py +++ b/selfdrive/ui/mici/onroad/cameraview.py @@ -155,11 +155,11 @@ class CameraView(Widget): # Prevent old frames from showing when going onroad. Qt has a separate thread # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough # and only clears internal buffers, not the message queue. - self.frame = None self.available_streams.clear() if self.client: del self.client self.client = VisionIpcClient(self._name, self._stream_type, conflate=True) + self.frame = None def _set_placeholder_color(self, color: rl.Color): """Set a placeholder color to be drawn when no frame is available.""" diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index ccf32023ed..269b244ea0 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -172,8 +172,7 @@ class HudRenderer(Widget): def _render(self, rect: rl.Rectangle) -> None: """Render HUD elements to the screen.""" - if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState': - self._torque_bar.render(rect) + self._torque_bar.render(rect) if self.is_cruise_set: self._draw_set_speed(rect) diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py index c1de694633..f0690c0abf 100644 --- a/selfdrive/ui/mici/onroad/torque_bar.py +++ b/selfdrive/ui/mici/onroad/torque_bar.py @@ -145,6 +145,9 @@ def arc_bar_pts(cx: float, cy: float, return pts +DEFAULT_MAX_LAT_ACCEL = 3.0 # m/s^2 + + class TorqueBar(Widget): def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False): super().__init__() @@ -167,16 +170,23 @@ class TorqueBar(Widget): controls_state = ui_state.sm['controlsState'] car_state = ui_state.sm['carState'] live_parameters = ui_state.sm['liveParameters'] - lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY - # TODO: pull from carparams - max_lateral_acceleration = 3 + car_control = ui_state.sm['carControl'] - # from selfdrived + # Include lateral accel error in estimated torque utilization actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2 desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2 accel_diff = (desired_lateral_accel - actual_lateral_accel) - self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1)) + # Include road roll in estimated torque utilization + # Roll is less accurate near standstill, so reduce its effect at low speed + roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0]) + lateral_acceleration = actual_lateral_accel - roll_compensation + max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL + + if not car_control.latActive: + self._torque_filter.update(0.0) + else: + self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1)) else: self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque) diff --git a/selfdrive/ui/mici/tests/test_widget_leaks.py b/selfdrive/ui/mici/tests/test_widget_leaks.py index be12839cd7..ea7af84293 100755 --- a/selfdrive/ui/mici/tests/test_widget_leaks.py +++ b/selfdrive/ui/mici/tests/test_widget_leaks.py @@ -68,7 +68,9 @@ def test_dialogs_do_not_leak(): for ctor in ( # mici - MiciDriverCameraDialog, MiciTrainingGuide, MiciOnboardingWindow, MiciPairingDialog, + MiciDriverCameraDialog, MiciPairingDialog, + lambda: MiciTrainingGuide(lambda: None), + lambda: MiciOnboardingWindow(lambda: None), lambda: BigDialog("test", "test"), lambda: BigConfirmationDialogV2("test", "icons_mici/settings/network/new/trash.png"), lambda: BigInputDialog("test"), diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index b5bd65e2de..5559a1181c 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -120,6 +120,7 @@ class BigButton(Widget): self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) self._click_delay = 0.075 self._shake_start: float | None = None + self._grow_animation_until: float | None = None self._rotate_icon_t: float | None = None @@ -145,6 +146,9 @@ class BigButton(Widget): self._txt_pressed_bg = gui_app.texture("icons_mici/buttons/button_rectangle_pressed.png", 402, 180) self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180) + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None) + def _width_hint(self) -> int: # Single line if scrolling, so hide behind icon if exists icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0 @@ -182,6 +186,9 @@ class BigButton(Widget): def trigger_shake(self): self._shake_start = rl.get_time() + def trigger_grow_animation(self, duration: float = 0.65): + self._grow_animation_until = rl.get_time() + duration + @property def _shake_offset(self) -> float: SHAKE_DURATION = 0.5 @@ -197,6 +204,10 @@ class BigButton(Widget): super().set_position(x + self._shake_offset, y) def _handle_background(self) -> tuple[rl.Texture, float, float, float]: + if self._grow_animation_until is not None: + if rl.get_time() >= self._grow_animation_until: + self._grow_animation_until = None + # draw _txt_default_bg txt_bg = self._txt_default_bg if not self.enabled: @@ -204,7 +215,7 @@ class BigButton(Widget): elif self.is_pressed: txt_bg = self._txt_pressed_bg - scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0) + scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed or self._grow_animation_until is not None else 1.0) btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2 btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 return txt_bg, btn_x, btn_y, scale diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 619c1ca28f..b2662d8a3b 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -103,11 +103,12 @@ class BigInputDialog(BigDialogBase): hint: str, default_text: str = "", minimum_length: int = 1, - confirm_callback: Callable[[str], None] | None = None): + confirm_callback: Callable[[str], None] | None = None, + auto_return_to_letters: str = ""): super().__init__() self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)), font_weight=FontWeight.MEDIUM) - self._keyboard = MiciKeyboard() + self._keyboard = MiciKeyboard(auto_return_to_letters=auto_return_to_letters) self._keyboard.set_text(default_text) self._keyboard.set_enabled(lambda: self.enabled and not self.is_dismissing) # for nav stack + NavWidget self._minimum_length = minimum_length diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py index 2c21b4006e..6e79d23253 100644 --- a/selfdrive/ui/onroad/alert_renderer.py +++ b/selfdrive/ui/onroad/alert_renderer.py @@ -118,7 +118,7 @@ class AlertRenderer(Widget): alert = self.get_alert(ui_state.sm) if gui_app.sunnypilot_ui(): - ui_state.onroad_brightness_handle_alerts(ui_state.started, alert) + ui_state.onroad_brightness_handle_alerts(ui_state, alert) if not alert: return diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py index d44118d8f4..acd7b52dcc 100644 --- a/selfdrive/ui/sunnypilot/layouts/settings/display.py +++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py @@ -12,8 +12,7 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.lib.multilang import tr from openpilot.system.ui.widgets.scroller_tici import Scroller from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP - -ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}} +from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES class OnroadBrightness(IntEnum): @@ -46,7 +45,7 @@ class DisplayLayout(Widget): title=lambda: tr("Onroad Brightness Delay"), description="", min_value=0, - max_value=11, + max_value=15, value_change_step=1, value_map=ONROAD_BRIGHTNESS_TIMER_VALUES, label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m", @@ -92,7 +91,11 @@ class DisplayLayout(Widget): if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None: _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key)) elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None: - _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True)) + raw_value = self._params.get(_item.action_item.param_key, return_default=True) + if _item.action_item.value_map: + reverse_map = {v: k for k, v in _item.action_item.value_map.items()} + raw_value = reverse_map.get(raw_value, _item.action_item.current_value) + _item.action_item.set_value(raw_value) brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True) self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)) diff --git a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py index 03729f0f2f..9fa2df0e8b 100644 --- a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py +++ b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py @@ -4,90 +4,37 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. This file is part of sunnypilot and is licensed under the MIT License. See the LICENSE.md file in the root directory for more details. """ -import pyray as rl -from openpilot.system.ui.lib.application import FontWeight, gui_app -from openpilot.system.ui.widgets.label import UnifiedLabel -from openpilot.system.ui.widgets.slider import SmallSlider -from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage -from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined -from openpilot.selfdrive.ui.ui_state import ui_state +from collections.abc import Callable + +from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton +from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2 +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.mici_setup import GreyBigButton +from openpilot.system.ui.widgets.scroller import NavScroller -class SunnylinkConsentPage(SetupTermsPage): - def __init__(self, on_accept=None, on_decline=None, left_text: str = "disable", right_text: str = "enable"): - super().__init__(on_accept, on_decline, left_text, continue_text=right_text) +class SunnylinkConsentPage(NavScroller): + def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None): + super().__init__() - self._title_header = TermsHeader("sunnylink", - gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 66, 60)) + def show_accept_dialog(): + gui_app.push_widget(BigConfirmationDialogV2("enable\nsunnylink", "icons_mici/setup/driver_monitoring/dm_check.png", + confirm_callback=on_accept)) - self._terms_label = UnifiedLabel("sunnylink enables secured remote access to your comma device from anywhere, " + - "including settings management, remote monitoring, real-time dashboard, etc.", - 36, FontWeight.ROMAN) + def show_decline_dialog(): + gui_app.push_widget(BigConfirmationDialogV2("disable\nsunnylink", "icons_mici/setup/cancel.png", + red=True, confirm_callback=on_decline)) - @property - def _content_height(self): - return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset() + self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png") + self._accept_button.set_click_callback(show_accept_dialog) - def _render_content(self, scroll_offset): - self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset) - self._title_header.render() + self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True) + self._decline_button.set_click_callback(show_decline_dialog) - self._terms_label.render(rl.Rectangle( - self._rect.x + 16, - self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING, - self._rect.width - 100, - self._terms_label.get_content_height(int(self._rect.width - 100)), - )) - - -class SunnylinkConsentDisableConfirmPage(SunnylinkConsentPage): - def __init__(self, on_accept=None, on_decline=None): - super().__init__(on_accept=on_decline, on_decline=on_accept, left_text="enable", right_text="disable") - - # we flip the continue & disable buttons to use slider for disable - self._continue_slider = True - self._continue_button = SmallSlider("disable", confirm_callback=on_decline) - self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed) - - self._title_header = TermsHeader("disable sunnylink?", - gui_app.texture("icons_mici/setup/red_warning.png", 66, 60)) - - self._terms_label = UnifiedLabel("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " + - "If sunnylink is disabled, features such as settings management, " + - "remote monitoring, real-time dashboards will be unavailable.", - 36, FontWeight.ROMAN) - - -class SunnylinkOnboarding: - def __init__(self): - self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined} - self.disable_confirm = False - - self.consent_page = SunnylinkConsentPage(on_decline=self._on_decline, on_accept=self._on_accept) - self.confirm_page = SunnylinkConsentDisableConfirmPage(on_decline=self._on_confirm_decline, on_accept=self._on_accept) - - @property - def completed(self) -> bool: - return self.consent_done - - def _on_accept(self): - ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version) - ui_state.params.put_bool("SunnylinkEnabled", True) - self.consent_done = True - - def _on_decline(self): - self.disable_confirm = True - - def _on_confirm_decline(self): - ui_state.params.put_bool("SunnylinkEnabled", False) - ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined) - self.consent_done = True - - def render(self, rect): - if self.consent_done: - return - - if self.disable_confirm: - self.confirm_page.render(rect) - else: - self.consent_page.render(rect) + self._scroller.add_widgets([ + GreyBigButton("sunnylink", "scroll to continue", + gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 64, 64)), + GreyBigButton("", "sunnylink enables secured remote access to your comma device from anywhere."), + self._accept_button, + self._decline_button, + ]) diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py index 64d7a3d946..c7dedee540 100644 --- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py +++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py @@ -23,7 +23,7 @@ class AugmentedRoadViewSP: def update_fade_out_bottom_overlay(self, _content_rect): # Fade out bottom of overlays for looks (only when engaged) fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED) - if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2: + if ui_state.torque_bar and fade_alpha > 1e-2: # Scale the fade texture to the content rect rl.draw_texture_pro(self._fade_texture, rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height), diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py index 2a66b3664b..f8e4257733 100644 --- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py +++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py @@ -131,7 +131,7 @@ class HudRendererSP(HudRenderer): def _render(self, rect: rl.Rectangle) -> None: super()._render(rect) - if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState': + if ui_state.torque_bar: torque_rect = rect if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH): torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset()) diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py index 050df6d26d..7766c353ad 100644 --- a/selfdrive/ui/sunnypilot/ui_state.py +++ b/selfdrive/ui/sunnypilot/ui_state.py @@ -49,8 +49,11 @@ class UIStateSP: else: self.sunnylink_state.stop() - def onroad_brightness_handle_alerts(self, started: bool, alert): - has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None + def onroad_brightness_handle_alerts(self, _ui_state, alert): + if _ui_state.sm.recv_frame["carState"] < _ui_state.started_frame: + return + + has_alert = _ui_state.started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None self.update_onroad_brightness(has_alert) if has_alert: diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py index 24191a73a2..70ddb44358 100755 --- a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py +++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py @@ -72,9 +72,10 @@ def _flash_panda(panda: Panda) -> None: _flash_static(panda._handle, code) panda.reconnect() + cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}") -def flash_rivian_long(panda: Panda) -> None: +def flash_rivian_long(panda_serials: list[str]) -> None: if not os.path.isfile(FW_PATH): cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}") return @@ -83,13 +84,18 @@ def flash_rivian_long(panda: Panda) -> None: cloudlog.info("Not a Rivian, skipping longitudinal upgrade...") return - # only flash external black pandas (HW_TYPE_BLACK = 0x03) - if panda.get_type() == b'\x03' and not panda.is_internal(): - try: - _flash_panda(panda) - except Exception: - cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}") + for serial in panda_serials: + panda = Panda(serial) + # only flash external black pandas (HW_TYPE_BLACK = 0x03) + if panda.get_type() == b'\x03' and not panda.is_internal(): + try: + _flash_panda(panda) + except Exception: + cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}") + panda.close() + + return if __name__ == '__main__': - flash_rivian_long(Panda()) + flash_rivian_long(Panda.list()) diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json index 79c2b5caf9..4d66bf8762 100644 --- a/sunnypilot/sunnylink/params_metadata.json +++ b/sunnypilot/sunnylink/params_metadata.json @@ -941,6 +941,22 @@ "title": "Onroad Brightness Delay", "description": "", "options": [ + { + "value": 3, + "label": "3s" + }, + { + "value": 5, + "label": "5s" + }, + { + "value": 7, + "label": "7s" + }, + { + "value": 10, + "label": "10s" + }, { "value": 15, "label": "15s" @@ -991,6 +1007,10 @@ } ] }, + "OnroadScreenOffTimerMigrated": { + "title": "Onroad Brightness Delay Migration Version", + "description": "This param is to track whether OnroadScreenOffTimer needs to be migrated." + }, "OnroadUploads": { "title": "Onroad Uploads", "description": "" @@ -1290,7 +1310,7 @@ "min": 0.1, "max": 5.0, "step": 0.1, - "unit": "m/s²" + "unit": "m/s\u00b2" }, "ToyotaEnforceStockLongitudinal": { "title": "Toyota: Enforce Factory Longitudinal Control", diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py index 013544005b..ea3765420d 100755 --- a/sunnypilot/sunnylink/tools/update_params_metadata.py +++ b/sunnypilot/sunnylink/tools/update_params_metadata.py @@ -10,6 +10,7 @@ import os from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params +from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json") TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json") @@ -56,6 +57,9 @@ def main(): # update onroad screen brightness params update_onroad_brightness_param() + # update onroad screen brightness timer params + update_onroad_brightness_timer_param() + # update torque versions param update_torque_versions_param() @@ -81,6 +85,24 @@ def update_onroad_brightness_param(): print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}") +def update_onroad_brightness_timer_param(): + try: + with open(METADATA_PATH) as f: + params_metadata = json.load(f) + if "OnroadScreenOffTimer" in params_metadata: + options = [] + for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()): + label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m" + options.append({"value": seconds, "label": label}) + params_metadata["OnroadScreenOffTimer"]["options"] = options + with open(METADATA_PATH, 'w') as f: + json.dump(params_metadata, f, indent=2) + f.write('\n') + print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.") + except Exception as e: + print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}") + + def update_torque_versions_param(): with open(TORQUE_VERSIONS_JSON) as f: current_versions = json.load(f) diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py index 6a82f1866d..5e524de06e 100644 --- a/sunnypilot/system/params_migration.py +++ b/sunnypilot/system/params_migration.py @@ -7,13 +7,18 @@ See the LICENSE.md file in the root directory for more details. from openpilot.common.swaglog import cloudlog ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0" +ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0" + +# index → seconds mapping for OnroadScreenOffTimer (SSoT) +ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (i - 5) * 60 for i in range(6, 16)}} +VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values()) def run_migration(_params): # migrate OnroadScreenOffBrightness if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION: try: - val = _params.get("OnroadScreenOffBrightness") + val = _params.get("OnroadScreenOffBrightness", return_default=True) if val >= 2: # old: 5%, new: Screen Off new_val = val + 1 _params.put("OnroadScreenOffBrightness", new_val) @@ -25,3 +30,18 @@ def run_migration(_params): cloudlog.info(log_str + f" Setting OnroadScreenOffBrightnessMigrated to {ONROAD_BRIGHTNESS_MIGRATION_VERSION}") except Exception as e: cloudlog.exception(f"Error migrating OnroadScreenOffBrightness: {e}") + + # migrate OnroadScreenOffTimer + if _params.get("OnroadScreenOffTimerMigrated") != ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: + try: + val = _params.get("OnroadScreenOffTimer", return_default=True) + if val not in VALID_TIMER_VALUES: + _params.put("OnroadScreenOffTimer", 15) + log_str = f"Successfully migrated OnroadScreenOffTimer from {val} to 15 (default)." + else: + log_str = "Migration not required for OnroadScreenOffTimer." + + _params.put("OnroadScreenOffTimerMigrated", ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION) + cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}") + except Exception as e: + cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}") diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic index ec586dbcb3..9674d85f00 100755 --- a/system/hardware/tici/updater_magic +++ b/system/hardware/tici/updater_magic @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c44fb88b3b1643b6b44ae8ac9880348bd0257ff90f4084cbe889de91d71653fe -size 25111329 +oid sha256:d815a9140e69242d85e57f74a14c6372809eebefe8958be9152efa7874928ccc +size 71215510 diff --git a/system/manager/manager.py b/system/manager/manager.py index 8c219909e4..3ec554f904 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -51,7 +51,8 @@ def manager_init() -> None: if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) - run_migration(params) + if not PC: + run_migration(params) # set unset params to their default value for k in params.all_keys(): diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index df4153067c..35aa6ff379 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -436,6 +436,9 @@ class GuiApplication(GuiApplicationExt): return self._nav_stack[-1] return None + def widget_in_stack(self, widget: object) -> bool: + return widget in self._nav_stack + def add_nav_stack_tick(self, tick_function: Callable[[], None]): if tick_function not in self._nav_stack_ticks: self._nav_stack_ticks.append(tick_function) diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py index 37228e2d45..ad4c272c8d 100644 --- a/system/ui/lib/emoji.py +++ b/system/ui/lib/emoji.py @@ -1,12 +1,13 @@ import io import re +import functools +from importlib.resources import as_file from PIL import Image, ImageDraw, ImageFont import pyray as rl from openpilot.system.ui.lib.application import FONT_DIR -_emoji_font: ImageFont.FreeTypeFont | None = None _cache: dict[str, rl.Texture] = {} EMOJI_REGEX = re.compile( @@ -33,11 +34,10 @@ EMOJI_REGEX = re.compile( flags=re.UNICODE ) -def _load_emoji_font() -> ImageFont.FreeTypeFont | None: - global _emoji_font - if _emoji_font is None: - _emoji_font = ImageFont.truetype(str(FONT_DIR.joinpath("NotoColorEmoji.ttf")), 109) - return _emoji_font +@functools.cache +def _load_emoji_font() -> ImageFont.FreeTypeFont: + with as_file(FONT_DIR.joinpath("NotoColorEmoji.ttf")) as font_path: + return ImageFont.truetype(io.BytesIO(font_path.read_bytes()), 109) def find_emoji(text): return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)] diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py index 506fc13b0a..9d25427867 100644 --- a/system/ui/lib/multilang.py +++ b/system/ui/lib/multilang.py @@ -74,7 +74,7 @@ def load_translations(path) -> tuple[dict[str, str], dict[str, list[str]]]: translations: msgid -> msgstr plurals: msgid -> [msgstr[0], msgstr[1], ...] """ - with open(str(path), encoding='utf-8') as f: + with path.open(encoding='utf-8') as f: lines = f.readlines() translations: dict[str, str] = {} diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py index a459927eeb..5ad959badb 100755 --- a/system/ui/mici_reset.py +++ b/system/ui/mici_reset.py @@ -91,6 +91,7 @@ class Reset(Widget): if self._mode == ResetMode.RECOVER: self._cancel_button.set_text("reboot") + self._cancel_button.set_click_callback(self._do_reboot) self._cancel_button.render(rl.Rectangle( rect.x + 8, rect.y + rect.height - self._cancel_button.rect.height, diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index 76fdfd8c68..fd873109f1 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -from abc import abstractmethod import os import re import threading @@ -14,21 +13,22 @@ import pyray as rl from cereal import log from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.system.hardware import HARDWARE, TICI from openpilot.common.realtime import config_realtime_process, set_core_affinity from openpilot.common.swaglog import cloudlog from openpilot.common.utils import run_cmd -from openpilot.system.hardware import HARDWARE, TICI from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.wifi_manager import WifiManager -from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.nav_widget import NavWidget -from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton, - SmallCircleIconButton, WidishRoundedButton, FullRoundedButton) +from openpilot.system.ui.widgets.button import SmallButton from openpilot.system.ui.widgets.label import UnifiedLabel +from openpilot.system.ui.widgets.scroller import Scroller, NavScroller, ITEM_SPACING from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider -from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici +from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog +from openpilot.selfdrive.ui.mici.widgets.button import BigButton NetworkType = log.DeviceState.NetworkType @@ -122,9 +122,9 @@ class SoftwareSelectionPage(NavWidget): use_custom_software_callback: Callable): super().__init__() - self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback) + self._openpilot_slider = LargerSlider("slide to install\nopenpilot", use_openpilot_callback) self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing) - self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False) + self._custom_software_slider = LargerSlider("slide to install\nother software", use_custom_software_callback, green=False) self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing) def show_event(self): @@ -161,199 +161,24 @@ class SoftwareSelectionPage(NavWidget): self._custom_software_slider.render(custom_software_rect) -class TermsHeader(Widget): - def __init__(self, text: str, icon_texture: rl.Texture): - super().__init__() - - self._title = UnifiedLabel(text, 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)), - font_weight=FontWeight.BOLD, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, - line_height=0.8) - self._icon_texture = icon_texture - - self.set_rect(rl.Rectangle(0, 0, gui_app.width - 16 * 2, self._icon_texture.height)) - - def set_title(self, text: str): - self._title.set_text(text) - - def set_icon(self, icon_texture: rl.Texture): - self._icon_texture = icon_texture - - def _render(self, _): - rl.draw_texture_ex(self._icon_texture, rl.Vector2(self._rect.x, self._rect.y), - 0.0, 1.0, rl.WHITE) - - # May expand outside parent rect - title_content_height = self._title.get_content_height(int(self._rect.width - self._icon_texture.width - 16)) - title_rect = rl.Rectangle( - self._rect.x + self._icon_texture.width + 16, - self._rect.y + (self._rect.height - title_content_height) / 2, - self._rect.width - self._icon_texture.width - 16, - title_content_height, - ) - self._title.render(title_rect) - - -class TermsPage(Widget): - ITEM_SPACING = 20 - - def __init__(self, continue_callback: Callable, back_callback: Callable | None = None, - back_text: str = "back", continue_text: str = "accept"): - super().__init__() - - # TODO: use Scroller - self._scroll_panel = GuiScrollPanel2(horizontal=False) - - self._continue_text = continue_text - self._continue_slider: bool = continue_text in ("reboot", "power off") - self._continue_button: WideRoundedButton | FullRoundedButton | SmallSlider - if self._continue_slider: - self._continue_button = SmallSlider(continue_text, confirm_callback=continue_callback) - self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed) - elif back_callback is not None: - self._continue_button = WideRoundedButton(continue_text) - else: - self._continue_button = FullRoundedButton(continue_text) - self._continue_button.set_enabled(False) - self._continue_button.set_opacity(0.0) - self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid) - if not self._continue_slider: - self._continue_button.set_click_callback(continue_callback) - - self._enable_back = back_callback is not None - self._back_button = SmallButton(back_text) - self._back_button.set_opacity(0.0) - self._back_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid) - self._back_button.set_click_callback(back_callback) - - self._scroll_down_indicator = IconButton(gui_app.texture("icons_mici/setup/scroll_down_indicator.png", 64, 78)) - self._scroll_down_indicator.set_enabled(False) - - def reset(self): - self._scroll_panel.set_offset(0) - self._continue_button.set_enabled(False) - self._continue_button.set_opacity(0.0) - self._back_button.set_enabled(False) - self._back_button.set_opacity(0.0) - self._scroll_down_indicator.set_opacity(1.0) - - def show_event(self): - super().show_event() - self.reset() - - @property - @abstractmethod - def _content_height(self): - pass - - @property - def _scrolled_down_offset(self): - return -self._content_height + (self._continue_button.rect.height + 16 + 30) - - @abstractmethod - def _render_content(self, scroll_offset): - pass - - def _render(self, _): - rl.draw_rectangle_rec(self._rect, rl.BLACK) - scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)) - - if scroll_offset <= self._scrolled_down_offset: - # don't show back if not enabled - if self._enable_back: - self._back_button.set_enabled(True) - self._back_button.set_opacity(1.0, smooth=True) - self._continue_button.set_enabled(True) - self._continue_button.set_opacity(1.0, smooth=True) - self._scroll_down_indicator.set_opacity(0.0, smooth=True) - else: - self._back_button.set_enabled(False) - self._back_button.set_opacity(0.0, smooth=True) - self._continue_button.set_enabled(False) - self._continue_button.set_opacity(0.0, smooth=True) - self._scroll_down_indicator.set_opacity(1.0, smooth=True) - - # Render content - self._render_content(scroll_offset) - - # black gradient at top and bottom for scrolling content - rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y), - int(self._rect.width), 20, rl.BLACK, rl.BLANK) - rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20), - int(self._rect.width), 20, rl.BLANK, rl.BLACK) - - # fade out back button as slider is moved - if self._continue_slider and scroll_offset <= self._scrolled_down_offset: - self._back_button.set_opacity(1.0 - self._continue_button.slider_percentage) - self._back_button.set_visible(self._continue_button.slider_percentage < 0.99) - - self._back_button.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._back_button.rect.height, - self._back_button.rect.width, - self._back_button.rect.height, - )) - - continue_x = self._rect.x + 8 - if self._enable_back: - continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8 - if self._continue_slider: - continue_x += 8 - self._continue_button.render(rl.Rectangle( - continue_x, - self._rect.y + self._rect.height - self._continue_button.rect.height, - self._continue_button.rect.width, - self._continue_button.rect.height, - )) - - self._scroll_down_indicator.render(rl.Rectangle( - self._rect.x + self._rect.width - self._scroll_down_indicator.rect.width - 8, - self._rect.y + self._rect.height - self._scroll_down_indicator.rect.height - 8, - self._scroll_down_indicator.rect.width, - self._scroll_down_indicator.rect.height, - )) - - -class CustomSoftwareWarningPage(TermsPage): +class CustomSoftwareWarningPage(NavScroller): def __init__(self, continue_callback: Callable, back_callback: Callable): - super().__init__(continue_callback, back_callback) + super().__init__() + self.set_back_callback(back_callback) - self._title_header = TermsHeader("use caution installing\n3rd party software", - gui_app.texture("icons_mici/setup/warning.png", 66, 60)) - self._body = UnifiedLabel("• It has not been tested by comma.\n" + - "• It may not comply with relevant safety standards.\n" + - "• It may cause damage to your device and/or vehicle.\n", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)), - font_weight=FontWeight.ROMAN) + self._continue_button = BigPillButton("next") + self._continue_button.set_click_callback(continue_callback) - self._restore_header = TermsHeader("how to backup &\nrestore", gui_app.texture("icons_mici/setup/restore.png", 60, 60)) - self._restore_body = UnifiedLabel("To restore your device to a factory state later, use https://flash.comma.ai", - 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)), - font_weight=FontWeight.ROMAN) - - @property - def _content_height(self): - return self._restore_body.rect.y + self._restore_body.rect.height - self._scroll_panel.get_offset() - - def _render_content(self, scroll_offset): - self._title_header.set_position(self._rect.x + 16, self._rect.y + 8 + scroll_offset) - self._title_header.render() - - body_rect = rl.Rectangle( - self._rect.x + 8, - self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING, - self._rect.width - 50, - self._body.get_content_height(int(self._rect.width - 50)), - ) - self._body.render(body_rect) - - self._restore_header.set_position(self._rect.x + 16, self._body.rect.y + self._body.rect.height + self.ITEM_SPACING) - self._restore_header.render() - - self._restore_body.render(rl.Rectangle( - self._rect.x + 8, - self._restore_header.rect.y + self._restore_header.rect.height + self.ITEM_SPACING, - self._rect.width - 50, - self._restore_body.get_content_height(int(self._rect.width - 50)), - )) + self._scroller.add_widgets([ + GreyBigButton("use caution", "when installing\n3rd party software", + gui_app.texture("icons_mici/setup/warning.png", 64, 58)), + GreyBigButton("", "• It has not been tested by comma"), + GreyBigButton("", "• It may not comply with relevant safety standards."), + GreyBigButton("", "• It may cause damage to your device and/or vehicle."), + GreyBigButton("how to restore to a\nfactory state later", "https://flash.comma.ai", + gui_app.texture("icons_mici/setup/restore.png", 64, 64)), + self._continue_button, + ]) class DownloadingPage(Widget): @@ -391,11 +216,9 @@ class DownloadingPage(Widget): )) -class FailedPage(NavWidget): +class FailedPageBase(Widget): def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"): super().__init__() - self.set_back_callback(retry_callback) - self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY) self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)), @@ -446,11 +269,86 @@ class FailedPage(NavWidget): )) -class NetworkSetupPage(NavWidget): +class FailedPage(FailedPageBase, NavWidget): + def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"): + super().__init__(reboot_callback, retry_callback, title) + self.set_back_callback(retry_callback) + + +class GreyBigButton(BigButton): + """Users should manage newlines with this class themselves""" + + LABEL_HORIZONTAL_PADDING = 30 + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.set_touch_valid_callback(lambda: False) + + self._rect.width = 476 + + self._label.set_font_size(36) + self._label.set_font_weight(FontWeight.BOLD) + self._label.set_line_height(1.0) + + self._sub_label.set_font_size(36) + self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9))) + self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR) + self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else + rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) + self._sub_label.set_line_height(0.95) + + @property + def LABEL_VERTICAL_PADDING(self): + return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18 + + def _width_hint(self) -> int: + return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2) + + def _render(self, _): + rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15))) + self._draw_content(self._rect.y) + + +class BigPillButton(BigButton): + def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs): + self._green = green + self._disabled_background = disabled_background + super().__init__(*args, **kwargs) + + self._label.set_font_size(48) + self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) + + def _load_images(self): + if self._green: + self._txt_default_bg = gui_app.texture("icons_mici/setup/start_button.png", 402, 180) + self._txt_pressed_bg = gui_app.texture("icons_mici/setup/start_button_pressed.png", 402, 180) + else: + self._txt_default_bg = gui_app.texture("icons_mici/setup/continue.png", 402, 180) + self._txt_pressed_bg = gui_app.texture("icons_mici/setup/continue_pressed.png", 402, 180) + self._txt_disabled_bg = gui_app.texture("icons_mici/setup/continue_disabled.png", 402, 180) + + def set_green(self, green: bool): + if self._green != green: + self._green = green + self._load_images() + + def _update_label_layout(self): + # Don't change label text size + pass + + def _handle_background(self) -> tuple[rl.Texture, float, float, float]: + txt_bg, btn_x, btn_y, scale = super()._handle_background() + + if self._disabled_background: + txt_bg = self._txt_disabled_bg + return txt_bg, btn_x, btn_y, scale + + +class NetworkSetupPageBase(Scroller): def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None], - back_callback: Callable[[], None] | None): + disable_connect_hint: bool = False): super().__init__() - self.set_back_callback(back_callback) self._wifi_manager = WifiManager() self._wifi_manager.set_active(True) @@ -459,83 +357,106 @@ class NetworkSetupPage(NavWidget): self._prev_has_internet = False self._wifi_ui = WifiUIMici(self._wifi_manager) - self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50) - self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50) - self._waiting_text = "waiting for internet..." - self._network_header = TermsHeader(self._waiting_text, self._no_wifi_txt) + self._connect_button = GreyBigButton("connect to\ninternet", "swipe down to go back", + gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)) + self._connect_button.set_visible(not disable_connect_hint) - back_txt = gui_app.texture("icons_mici/setup/back_new.png", 37, 32) - self._back_button = SmallCircleIconButton(back_txt) - self._back_button.set_click_callback(back_callback) - self._back_button.set_enabled(lambda: self.enabled) # for nav stack - - self._wifi_button = SmallerRoundedButton("wifi") + self._wifi_button = WifiNetworkButton(self._wifi_manager) self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui)) - self._wifi_button.set_enabled(lambda: self.enabled) - self._continue_button = WidishRoundedButton("continue") - self._continue_button.set_enabled(False) + self._show_time = 0.0 + self._pending_has_internet_scroll = False + self._pending_continue_grow_animation = False + self._pending_wifi_grow_animation = False + + def on_waiting_click(): + offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2) + self._scroller.scroll_to(offset, smooth=True, block_interaction=True) + # trigger grow when wifi button in view + self._pending_wifi_grow_animation = True + + self._waiting_button = BigPillButton("waiting for\ninternet...", disabled_background=True) + self._waiting_button.set_click_callback(on_waiting_click) + self._continue_button = BigPillButton("install openpilot", green=True) self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software)) + self._scroller.add_widgets([ + self._connect_button, + self._wifi_button, + self._continue_button, + self._waiting_button, + ]) + gui_app.add_nav_stack_tick(self._nav_stack_tick) def show_event(self): super().show_event() + self._show_time = rl.get_time() self._prev_has_internet = False - self._network_monitor.reset() - self._set_has_internet(False) + self._pending_has_internet_scroll = False + self._pending_continue_grow_animation = False + self._pending_wifi_grow_animation = False def _nav_stack_tick(self): self._wifi_manager.process_callbacks() has_internet = self._network_monitor.network_connected.is_set() - if has_internet != self._prev_has_internet: - self._set_has_internet(has_internet) - if has_internet: - gui_app.pop_widgets_to(self) - self._prev_has_internet = has_internet + if has_internet and not self._prev_has_internet: + self._pending_has_internet_scroll = True + self._prev_has_internet = has_internet - def _set_has_internet(self, has_internet: bool): - if has_internet: - self._network_header.set_title("connected to internet") - self._network_header.set_icon(self._wifi_full_txt) - self._continue_button.set_enabled(lambda: self.enabled) - else: - self._network_header.set_title(self._waiting_text) - self._network_header.set_icon(self._no_wifi_txt) - self._continue_button.set_enabled(False) + if self._pending_has_internet_scroll: + # Scrolls over to continue button, then grows once in view + elapsed = rl.get_time() - self._show_time + if elapsed > 0.5: + self._pending_has_internet_scroll = False + + def scroll_to_download(): + self._scroller._layout() + end_offset = -(self._scroller.content_size - self._rect.width) + remaining = self._scroller.scroll_panel.get_offset() - end_offset + self._scroller.scroll_to(remaining, smooth=True, block_interaction=True) + self._pending_continue_grow_animation = True + + # Animate WifiUi down first before scroll + gui_app.pop_widgets_to(self, scroll_to_download) def set_custom_software(self, custom_software: bool): self._custom_software = custom_software + self._continue_button.set_text("install openpilot" if not custom_software else "choose software") + self._continue_button.set_green(not custom_software) - def _render(self, _): - self._network_header.render(rl.Rectangle( - self._rect.x + 16, - self._rect.y + 16, - self._rect.width - 32, - self._network_header.rect.height, - )) + def set_is_updater(self): + self._continue_button.set_text("download\n& install") + self._continue_button.set_green(False) - self._back_button.render(rl.Rectangle( - self._rect.x + 8, - self._rect.y + self._rect.height - self._back_button.rect.height, - self._back_button.rect.width, - self._back_button.rect.height, - )) + def _update_state(self): + super()._update_state() - self._wifi_button.render(rl.Rectangle( - self._rect.x + 8 + self._back_button.rect.width + 10, - self._rect.y + self._rect.height - self._wifi_button.rect.height, - self._wifi_button.rect.width, - self._wifi_button.rect.height, - )) + if self._pending_continue_grow_animation: + btn_right = self._continue_button.rect.x + self._continue_button.rect.width + visible_right = self._rect.x + self._rect.width + if btn_right < visible_right + 50: + self._pending_continue_grow_animation = False + self._continue_button.trigger_grow_animation() - self._continue_button.render(rl.Rectangle( - self._rect.x + self._rect.width - self._continue_button.rect.width - 8, - self._rect.y + self._rect.height - self._continue_button.rect.height, - self._continue_button.rect.width, - self._continue_button.rect.height, - )) + if self._pending_wifi_grow_animation and abs(self._wifi_button.rect.x - ITEM_SPACING) < 50: + self._pending_wifi_grow_animation = False + self._wifi_button.trigger_grow_animation() + + if self._network_monitor.network_connected.is_set(): + self._continue_button.set_visible(True) + self._waiting_button.set_visible(False) + else: + self._continue_button.set_visible(False) + self._waiting_button.set_visible(True) + + +class NetworkSetupPage(NetworkSetupPageBase, NavScroller): + def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None], + back_callback: Callable[[], None] | None): + super().__init__(network_monitor, continue_callback) + self.set_back_callback(back_callback) class Setup(Widget): @@ -557,13 +478,13 @@ class Setup(Widget): self._start_page.set_click_callback(getting_started_button_callback) self._start_page.set_enabled(lambda: self.enabled) # for nav stack - self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_button_callback, - self._pop_to_software_selection) + self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_callback, self._pop_to_software_selection) + self._software_selection_page = SoftwareSelectionPage(self._use_openpilot, lambda: gui_app.push_widget(self._custom_software_warning_page)) self._download_failed_page = FailedPage(HARDWARE.reboot, self._pop_to_software_selection) - self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue, self._pop_to_software_selection) + self._custom_software_warning_page = CustomSoftwareWarningPage(lambda: self._push_network_setup(True), self._pop_to_software_selection) self._downloading_page = DownloadingPage() @@ -602,17 +523,14 @@ class Setup(Widget): time.sleep(0.1) gui_app.request_close() else: - self._push_network_setup(custom_software=False) + self._push_network_setup() - def _push_network_setup(self, custom_software: bool): + def _push_network_setup(self, custom_software: bool = False): + # to fire the correct continue callback later self._network_setup_page.set_custom_software(custom_software) - gui_app.push_widget(self._network_setup_page) + gui_app.pop_widgets_to(self._software_selection_page, lambda: gui_app.push_widget(self._network_setup_page)) - def _software_selection_custom_software_continue(self): - gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders - self._push_network_setup(custom_software=True) - - def _network_setup_continue_button_callback(self, custom_software): + def _network_setup_continue_callback(self, custom_software: bool): if not custom_software: gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders self._download(OPENPILOT_URL) @@ -623,7 +541,7 @@ class Setup(Widget): gui_app.pop_widgets_to(self._software_selection_page, instant=True) # don't reset sliders self._download(url) - keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result) + keyboard = BigInputDialog("custom software URL...", confirm_callback=handle_keyboard_result, auto_return_to_letters="./") gui_app.push_widget(keyboard) def _download(self, url: str): diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py index c98b310709..cd1f99062c 100755 --- a/system/ui/mici_updater.py +++ b/system/ui/mici_updater.py @@ -5,13 +5,14 @@ import threading import pyray as rl from enum import IntEnum -from openpilot.system.hardware import HARDWARE +from openpilot.common.realtime import config_realtime_process, set_core_affinity +from openpilot.system.hardware import HARDWARE, TICI +from openpilot.common.swaglog import cloudlog from openpilot.system.ui.lib.application import gui_app, FontWeight -from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.button import FullRoundedButton -from openpilot.system.ui.mici_setup import NetworkSetupPage, FailedPage, NetworkConnectivityMonitor +from openpilot.system.ui.mici_setup import NetworkSetupPageBase, FailedPageBase, NetworkConnectivityMonitor class Screen(IntEnum): @@ -32,16 +33,15 @@ class Updater(Widget): self.progress_text = "loading" self.process = None self.update_thread = None - self._wifi_manager = WifiManager() - self._wifi_manager.set_active(True) - - self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_callback, - self._network_setup_back_callback) - self._network_setup_page.set_enabled(lambda: self.enabled) # for nav stack - self._network_monitor = NetworkConnectivityMonitor() self._network_monitor.start() + # TODO: network page is rendered inline, not pushed on nav stack, so auto-dismiss on internet connect doesn't work + self._network_setup_page = NetworkSetupPageBase(self._network_monitor, self._network_setup_continue_callback, + disable_connect_hint=True) + self._network_setup_page.set_is_updater() + self._network_setup_page.set_enabled(lambda: self.enabled) # for nav stack + # Buttons self._continue_button = FullRoundedButton("continue") self._continue_button.set_click_callback(lambda: self.set_current_screen(Screen.WIFI)) @@ -52,8 +52,8 @@ class Updater(Widget): text_color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.ROMAN) - self._update_failed_page = FailedPage(HARDWARE.reboot, self._update_failed_retry_callback, - title="update failed") + self._update_failed_page = FailedPageBase(HARDWARE.reboot, self._update_failed_retry_callback, + title="update failed") self._progress_title_label = UnifiedLabel("", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY, line_height=0.8) @@ -61,10 +61,7 @@ class Updater(Widget): font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) - def _network_setup_back_callback(self): - self.set_current_screen(Screen.PROMPT) - - def _network_setup_continue_callback(self): + def _network_setup_continue_callback(self, _): self.install_update() def _update_failed_retry_callback(self): @@ -99,9 +96,13 @@ class Updater(Widget): def _run_update_process(self): # TODO: just import it and run in a thread without a subprocess - cmd = [self.updater, "--swap", self.manifest] - self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, - text=True, bufsize=1, universal_newlines=True) + try: + cmd = [self.updater, "--swap", self.manifest] + self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, + text=True, bufsize=1, universal_newlines=True) + except Exception: + self.set_current_screen(Screen.FAILED) + return if self.process.stdout is not None: for line in self.process.stdout: @@ -160,14 +161,10 @@ class Updater(Widget): rect.height, )) - def _update_state(self): - self._wifi_manager.process_callbacks() - def _render(self, rect: rl.Rectangle): if self.current_screen == Screen.PROMPT: self.render_prompt_screen(rect) elif self.current_screen == Screen.WIFI: - self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set()) self._network_setup_page.render(rect) elif self.current_screen == Screen.PROGRESS: self.render_progress_screen(rect) @@ -179,6 +176,14 @@ class Updater(Widget): def main(): + config_realtime_process(0, 51) + # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off + if TICI: + try: + set_core_affinity([5]) + except OSError: + cloudlog.exception("Failed to set core affinity for updater process") + if len(sys.argv) < 3: print("Usage: updater.py ") sys.exit(1) diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py index 9824638cd0..3a3b0987d0 100755 --- a/system/ui/tici_updater.py +++ b/system/ui/tici_updater.py @@ -67,9 +67,14 @@ class Updater(Widget): def _run_update_process(self): # TODO: just import it and run in a thread without a subprocess - cmd = [self.updater, "--swap", self.manifest] - self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, - text=True, bufsize=1, universal_newlines=True) + try: + cmd = [self.updater, "--swap", self.manifest] + self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, + text=True, bufsize=1, universal_newlines=True) + except Exception: + self.progress_text = "Update failed" + self.show_reboot_button = True + return if self.process.stdout is not None: for line in self.process.stdout: diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 67125d7091..a608344710 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -228,6 +228,7 @@ class SmallCircleIconButton(Widget): class SmallButton(Widget): def __init__(self, text: str): super().__init__() + self._click_delay = 0.075 self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps) self._load_assets() diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py index 18384fd905..74f1f56346 100644 --- a/system/ui/widgets/mici_keyboard.py +++ b/system/ui/widgets/mici_keyboard.py @@ -146,8 +146,9 @@ class CapsState(IntEnum): class MiciKeyboard(Widget): - def __init__(self): + def __init__(self, auto_return_to_letters: str = ""): super().__init__() + self._auto_return_to_letters = auto_return_to_letters lower_chars = [ "qwertyuiop", @@ -305,6 +306,10 @@ class MiciKeyboard(Widget): if self._caps_state == CapsState.UPPER: self._set_uppercase(False) + # Switch back to letters after common URL delimiters + if self._closest_key[0].char in self._auto_return_to_letters and self._current_keys in (self._special_keys, self._super_special_keys): + self._set_uppercase(False) + # ensure minimum selected animation time key_selected_dt = rl.get_time() - (self._selected_key_t or 0) cur_t = rl.get_time() diff --git a/system/ui/widgets/nav_widget.py b/system/ui/widgets/nav_widget.py index 67203d53f4..3292c53ce8 100644 --- a/system/ui/widgets/nav_widget.py +++ b/system/ui/widgets/nav_widget.py @@ -63,7 +63,7 @@ class NavWidget(Widget, abc.ABC): self._playing_dismiss_animation = False # released and animating away self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1) - self._back_callback: Callable[[], None] | None = None # persistent callback for any back navigation + self._back_callback: Callable[[], None] | None = None # persistent callback for user-initiated back navigation self._dismiss_callback: Callable[[], None] | None = None # transient callback for programmatic dismiss # TODO: move this state into NavBar @@ -150,12 +150,12 @@ class NavWidget(Widget, abc.ABC): if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10: gui_app.pop_widget() - if self._back_callback is not None: - self._back_callback() - + # Only one callback should ever be fired if self._dismiss_callback is not None: self._dismiss_callback() self._dismiss_callback = None + elif self._back_callback is not None: + self._back_callback() self._playing_dismiss_animation = False self._drag_start_pos = None diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index cecb5ed8d9..098a6351b7 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -13,7 +13,6 @@ if arch == "Darwin": has_qt = False else: has_qt = shutil.which('qmake') is not None - if not has_qt: Return() @@ -21,7 +20,7 @@ SConscript(['#tools/replay/SConscript']) Import('replay_lib') qt_env = env.Clone() -qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"] +qt_modules = ["Widgets", "Gui", "Core"] qt_libs = [] if arch == "Darwin": @@ -51,7 +50,7 @@ else: qt_env['QT3DIR'] = qt_env['QTDIR'] qt_env.Tool('qt3') -qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"] +qt_env['CPPPATH'] += qt_dirs qt_flags = [ "-D_REENTRANT", "-DQT_NO_DEBUG", @@ -69,10 +68,8 @@ base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthrea if arch == "Darwin": base_frameworks.append('QtCharts') - base_frameworks.append('QtSerialBus') else: base_libs.append('Qt5Charts') - base_libs.append('Qt5SerialBus') qt_libs = base_libs diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index b5a68c6b26..0be28f06b7 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -111,7 +111,8 @@ void BinaryView::highlight(const cabana::Signal *sig) { if (sig != hovered_sig) { for (int i = 0; i < model->items.size(); ++i) { auto &item_sigs = model->items[i].sigs; - if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) { + auto has = [](const auto &v, auto p) { return std::find(v.begin(), v.end(), p) != v.end(); }; + if ((sig && has(item_sigs, sig)) || (hovered_sig && has(item_sigs, hovered_sig))) { auto index = model->index(i / model->columnCount(), i % model->columnCount()); emit model->dataChanged(index, index, {Qt::DisplayRole}); } @@ -157,7 +158,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::highlightPosition(const QPoint &pos) { if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back(); highlight(sig); } } @@ -208,12 +209,12 @@ void BinaryView::refresh() { highlightPosition(QCursor::pos()); } -QSet BinaryView::getOverlappingSignals() const { - QSet overlapping; +std::set BinaryView::getOverlappingSignals() const { + std::set overlapping; for (const auto &item : model->items) { if (item.sigs.size() > 1) { for (auto s : item.sigs) { - if (s->type == cabana::Signal::Type::Normal) overlapping += s; + if (s->type == cabana::Signal::Type::Normal) overlapping.insert(s); } } } @@ -258,7 +259,7 @@ void BinaryViewModel::refresh() { int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j; int idx = column_count * (pos / 8) + pos % 8; if (idx >= items.size()) { - qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; + qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; break; } if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; @@ -404,7 +405,9 @@ bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, con if (!index.isValid()) return false; auto model = (const BinaryViewModel*)(index.model()); int idx = (index.row() + dy) * model->columnCount() + index.column() + dx; - return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false; + if (idx < 0 || idx >= (int)model->items.size()) return false; + auto &s = model->items[idx].sigs; + return std::find(s.begin(), s.end(), sig) != s.end(); } void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -421,7 +424,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight); painter->fillRect(option.rect, color); painter->setPen(option.palette.color(QPalette::BrightText)); - } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing + } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) { // not resizing if (item->sigs.size() > 0) { for (auto &s : item->sigs) { if (s == bin_view->hovered_sig) { @@ -433,7 +436,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } else if (item->valid && item->bg_color.alpha() > 0) { painter->fillRect(option.rect, item->bg_color); } - auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text; + auto color_role = (std::find(item->sigs.begin(), item->sigs.end(), bin_view->hovered_sig) != item->sigs.end()) ? QPalette::BrightText : QPalette::Text; painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role)); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 920deb0018..e568228b37 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,10 +1,9 @@ #pragma once +#include #include #include -#include -#include #include #include @@ -51,7 +50,7 @@ public: bool is_msb = false; bool is_lsb = false; uint8_t val; - QList sigs; + std::vector sigs; bool valid = false; }; std::vector items; @@ -68,7 +67,7 @@ public: BinaryView(QWidget *parent = nullptr); void setMessage(const MessageId &message_id); void highlight(const cabana::Signal *sig); - QSet getOverlappingSignals() const; + std::set getOverlappingSignals() const; void updateState() { model->updateState(); } void paintEvent(QPaintEvent *event) override { is_message_active = can->isMessageActive(model->msg_id); diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index bc50afc03a..9e4cfc4a51 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -46,13 +46,13 @@ int main(int argc, char *argv[]) { stream = new DeviceStream(&app, cmd_parser.value("zmq")); } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { try { - stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")}); + stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial").toStdString()}); } catch (std::exception &e) { qWarning() << e.what(); return 0; } } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) { - stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")}); + stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan").toStdString()}); } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM; @@ -70,7 +70,7 @@ int main(int argc, char *argv[]) { if (!route.isEmpty()) { auto replay_stream = std::make_unique(&app); bool auto_source = cmd_parser.isSet("auto"); - if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) { + if (!replay_stream->loadRoute(route.toStdString(), cmd_parser.value("data_dir").toStdString(), replay_flags, auto_source)) { return 0; } stream = replay_stream.release(); diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 14491b1eff..9dfdc595f0 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -237,8 +237,8 @@ void ChartView::updateTitle() { for (auto &s : sigs) { auto decoration = s.series->isVisible() ? "none" : "line-through"; s.series->setName(QString("%3 %5 %6") - .arg(decoration, titleColorCss, s.sig->name, - msgColorCss, msgName(s.msg_id), s.msg_id.toString())); + .arg(decoration, titleColorCss, QString::fromStdString(s.sig->name), + msgColorCss, QString::fromStdString(msgName(s.msg_id)), QString::fromStdString(s.msg_id.toString()))); } split_chart_act->setEnabled(sigs.size() > 1); resetChartCache(); @@ -339,13 +339,13 @@ void ChartView::updateAxisY() { double min = std::numeric_limits::max(); double max = std::numeric_limits::lowest(); - QString unit = sigs[0].sig->unit; + QString unit = QString::fromStdString(sigs[0].sig->unit); for (auto &s : sigs) { if (!s.series->isVisible()) continue; // Only show unit when all signals have the same unit - if (unit != s.sig->unit) { + if (unit != QString::fromStdString(s.sig->unit)) { unit.clear(); } @@ -573,11 +573,11 @@ void ChartView::showTip(double sec) { // use reverse iterator to find last item <= sec. auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; }); if (it != s.vals.crend() && it->x() >= axis_x->min()) { - value = s.sig->formatValue(it->y(), false); + value = QString::fromStdString(s.sig->formatValue(it->y(), false)); s.track_pt = *it; x = std::max(x, chart()->mapToPosition(*it).x()); } - QString name = sigs.size() > 1 ? s.sig->name + ": " : ""; + QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : ""; QString min = s.min == std::numeric_limits::max() ? "--" : QString::number(s.min); QString max = s.max == std::numeric_limits::lowest() ? "--" : QString::number(s.max); text_list << QString("■ %2%3 (%4, %5)") @@ -766,7 +766,7 @@ void ChartView::drawSignalValue(QPainter *painter) { for (auto &s : sigs) { auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x + EPSILON; }); - QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--"; + QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--"; QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width()); diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index aba25dcf83..44dca42152 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -1,13 +1,13 @@ #include "tools/cabana/chart/chartswidget.h" #include +#include #include -#include #include +#include #include #include -#include #include "tools/cabana/chart/chart.h" @@ -166,15 +166,16 @@ void ChartsWidget::removeTab(int index) { void ChartsWidget::updateTabBar() { for (int i = 0; i < tabbar->count(); ++i) { const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()]; - tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count())); + tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg((int)charts_in_tab.size())); } } void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) { - QFutureSynchronizer future_synchronizer; + std::vector> futures; for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events)); + futures.push_back(std::async(std::launch::async, &ChartView::updateSeries, c, nullptr, &new_events)); } + for (auto &f : futures) f.get(); } void ChartsWidget::timeRangeChanged(const std::optional> &time_range) { @@ -203,7 +204,7 @@ void ChartsWidget::showValueTip(double sec) { } void ChartsWidget::updateState() { - if (charts.isEmpty()) return; + if (charts.empty()) return; const auto &time_range = can->timeRange(); const double cur_sec = can->currentSec(); @@ -247,7 +248,7 @@ void ChartsWidget::updateToolBar() { redo_zoom_action->setVisible(is_zoomed); reset_zoom_action->setVisible(is_zoomed); reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : ""); - remove_all_btn->setEnabled(!charts.isEmpty()); + remove_all_btn->setEnabled(!charts.empty()); } void ChartsWidget::settingChanged() { @@ -281,9 +282,9 @@ ChartView *ChartsWidget::createChart(int pos) { chart->setMinimumWidth(CHART_MIN_WIDTH); chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start)); - pos = std::clamp(pos, 0, charts.size()); - charts.insert(pos, chart); - currentCharts().insert(pos, chart); + pos = std::clamp(pos, 0, (int)charts.size()); + charts.insert(charts.begin() + pos, chart); + currentCharts().insert(currentCharts().begin() + pos, chart); updateLayout(true); updateToolBar(); return chart; @@ -302,7 +303,7 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo void ChartsWidget::splitChart(ChartView *src_chart) { if (src_chart->sigs.size() > 1) { - int pos = charts.indexOf(src_chart) + 1; + int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1; for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { auto c = createChart(pos); src_chart->chart()->removeSeries(it->series); @@ -327,7 +328,7 @@ QStringList ChartsWidget::serializeChartIds() const { for (auto c : charts) { QStringList ids; for (const auto& s : c->sigs) - ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name); + ids += QString("%1|%2").arg(QString::fromStdString(s.msg_id.toString()), QString::fromStdString(s.sig->name)); chart_ids += ids.join(','); } std::reverse(chart_ids.begin(), chart_ids.end()); @@ -340,9 +341,9 @@ void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) { for (const auto& part : chart_id.split(',')) { const auto sig_parts = part.split('|'); if (sig_parts.size() != 2) continue; - MessageId msg_id = MessageId::fromString(sig_parts[0]); + MessageId msg_id = MessageId::fromString(sig_parts[0].toStdString()); if (auto* msg = dbc()->msg(msg_id)) - if (auto* sig = msg->sig(sig_parts[1])) + if (auto* sig = msg->sig(sig_parts[1].toStdString())) showChart(msg_id, sig, true, index++ > 0); } } @@ -426,14 +427,14 @@ void ChartsWidget::doAutoScroll() { } QSize ChartsWidget::minimumSizeHint() const { - return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height()); + return QSize(CHART_MIN_WIDTH * 1.5, QWidget::minimumSizeHint().height()); } void ChartsWidget::newChart() { SignalSelector dlg(tr("New Chart"), this); if (dlg.exec() == QDialog::Accepted) { auto items = dlg.seletedItems(); - if (!items.isEmpty()) { + if (!items.empty()) { auto c = createChart(); for (auto it : items) { c->addSignal(it->msg_id, it->sig); @@ -443,10 +444,10 @@ void ChartsWidget::newChart() { } void ChartsWidget::removeChart(ChartView *chart) { - charts.removeOne(chart); + charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end()); chart->deleteLater(); for (auto &[_, list] : tab_charts) { - list.removeOne(chart); + list.erase(std::remove(list.begin(), list.end(), chart), list.end()); } updateToolBar(); updateLayout(true); @@ -460,7 +461,7 @@ void ChartsWidget::removeAll() { } tab_charts.clear(); - if (!charts.isEmpty()) { + if (!charts.empty()) { for (auto c : charts) { delete c; } @@ -560,10 +561,11 @@ void ChartsContainer::dropEvent(QDropEvent *event) { auto chart = qobject_cast(event->source()); if (w != chart) { for (auto &[_, list] : charts_widget->tab_charts) { - list.removeOne(chart); + list.erase(std::remove(list.begin(), list.end(), chart), list.end()); } - int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0; - charts_widget->currentCharts().insert(to, chart); + auto &cur = charts_widget->currentCharts(); + int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0; + cur.insert(cur.begin() + to, chart); charts_widget->updateLayout(true); charts_widget->updateTabBar(); event->acceptProposedAction(); diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index f87b1276c5..ef3fbc471a 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -81,7 +81,7 @@ private: bool eventFilter(QObject *obj, QEvent *event) override; void newTab(); void removeTab(int index); - inline QList ¤tCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; } + inline std::vector ¤tCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; } ChartView *findChart(const MessageId &id, const cabana::Signal *sig); QLabel *title_label; @@ -100,8 +100,8 @@ private: QUndoStack *zoom_undo_stack; ToolButton *remove_all_btn; - QList charts; - std::unordered_map> tab_charts; + std::vector charts; + std::unordered_map> tab_charts; TabBar *tabbar; ChartsContainer *charts_container; QScrollArea *charts_scroll; diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc index 63f3a7d575..6f2fd8de46 100644 --- a/tools/cabana/chart/signalselector.cc +++ b/tools/cabana/chart/signalselector.cc @@ -46,7 +46,7 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) for (const auto &[id, _] : can->lastMessages()) { if (auto m = dbc()->msg(id)) { - msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id)); + msgs_combo->addItem(QString("%1 (%2)").arg(QString::fromStdString(m->name)).arg(QString::fromStdString(id.toString())), QVariant::fromValue(id)); } } msgs_combo->model()->sort(0); @@ -92,8 +92,8 @@ void SignalSelector::updateAvailableList(int index) { } void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { - QString text = QString("■ %1").arg(sig->color.name(), sig->name); - if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); + QString text = QString("■ %1").arg(sig->color.name(), QString::fromStdString(sig->name)); + if (show_msg_name) text += QString(" %0 %1").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString())); QLabel *label = new QLabel(text); label->setContentsMargins(5, 0, 5, 0); @@ -102,8 +102,8 @@ void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, cons parent->setItemWidget(new_item, label); } -QList SignalSelector::seletedItems() { - QList ret; +std::vector SignalSelector::seletedItems() { + std::vector ret; for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); return ret; } diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h index f46779f044..5b6e37e56a 100644 --- a/tools/cabana/chart/signalselector.h +++ b/tools/cabana/chart/signalselector.h @@ -15,7 +15,7 @@ public: }; SignalSelector(QString title, QWidget *parent); - QList seletedItems(); + std::vector seletedItems(); inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } private: diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index 52861723f4..f158528b51 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -4,22 +4,22 @@ // EditMsgCommand -EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, - const QString &node, const QString &comment, QUndoCommand *parent) +EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size, + const std::string &node, const std::string &comment, QUndoCommand *parent) : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { old_name = msg->name; old_size = msg->size; old_node = msg->transmitter; old_comment = msg->comment; - setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address)); + setText(QObject::tr("edit message %1:%2").arg(QString::fromStdString(name)).arg(id.address)); } else { - setText(QObject::tr("new message %1:%2").arg(name).arg(id.address)); + setText(QObject::tr("new message %1:%2").arg(QString::fromStdString(name)).arg(id.address)); } } void EditMsgCommand::undo() { - if (old_name.isEmpty()) + if (old_name.empty()) dbc()->removeMsg(id); else dbc()->updateMsg(id, old_name, old_size, old_node, old_comment); @@ -34,12 +34,12 @@ void EditMsgCommand::redo() { RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { message = *msg; - setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address)); + setText(QObject::tr("remove message %1:%2").arg(QString::fromStdString(message.name)).arg(id.address)); } } void RemoveMsgCommand::undo() { - if (!message.name.isEmpty()) { + if (!message.name.empty()) { dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment); for (auto s : message.getSignals()) dbc()->addSignal(id, *s); @@ -47,7 +47,7 @@ void RemoveMsgCommand::undo() { } void RemoveMsgCommand::redo() { - if (!message.name.isEmpty()) + if (!message.name.empty()) dbc()->removeMsg(id); } @@ -55,7 +55,7 @@ void RemoveMsgCommand::redo() { AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent) : id(id), signal(sig), QUndoCommand(parent) { - setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); + setText(QObject::tr("add signal %1 to %2:%3").arg(QString::fromStdString(sig.name)).arg(QString::fromStdString(msgName(id))).arg(id.address)); } void AddSigCommand::undo() { @@ -85,7 +85,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si } } } - setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address)); + setText(QObject::tr("remove signal %1 from %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address)); } void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); } @@ -108,7 +108,7 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal * } } } - setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address)); + setText(QObject::tr("edit signal %1 in %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address)); } void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 0736d9b83f..4081f86985 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -1,6 +1,8 @@ #pragma once +#include #include +#include #include #include @@ -10,14 +12,14 @@ class EditMsgCommand : public QUndoCommand { public: - EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node, - const QString &comment, QUndoCommand *parent = nullptr); + EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node, + const std::string &comment, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - QString old_name, new_name, old_comment, new_comment, old_node, new_node; + std::string old_name, new_name, old_comment, new_comment, old_node, new_node; int old_size = 0, new_size = 0; }; @@ -52,7 +54,7 @@ public: private: const MessageId id; - QList sigs; + std::vector sigs; }; class EditSignalCommand : public QUndoCommand { @@ -63,7 +65,7 @@ public: private: const MessageId id; - QList> sigs; // QList<{old_sig, new_sig}> + std::vector> sigs; // {old_sig, new_sig} }; namespace UndoStack { diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 9b0de92218..8e41cf54e3 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -4,10 +4,6 @@ #include "tools/cabana/utils/util.h" -uint qHash(const MessageId &item) { - return qHash(item.source) ^ qHash(item.address); -} - // cabana::Msg cabana::Msg::~Msg() { @@ -22,7 +18,7 @@ cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) { return s; } -cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) { +cabana::Signal *cabana::Msg::updateSignal(const std::string &sig_name, const cabana::Signal &new_sig) { auto s = sig(sig_name); if (s) { *s = new_sig; @@ -31,7 +27,7 @@ cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana: return s; } -void cabana::Msg::removeSignal(const QString &sig_name) { +void cabana::Msg::removeSignal(const std::string &sig_name) { auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; }); if (it != sigs.end()) { delete *it; @@ -57,7 +53,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) { return *this; } -cabana::Signal *cabana::Msg::sig(const QString &sig_name) const { +cabana::Signal *cabana::Msg::sig(const std::string &sig_name) const { auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; }); return it != sigs.end() ? *it : nullptr; } @@ -69,17 +65,17 @@ int cabana::Msg::indexOf(const cabana::Signal *sig) const { return -1; } -QString cabana::Msg::newSignalName() { - QString new_name; +std::string cabana::Msg::newSignalName() { + std::string new_name; for (int i = 1; /**/; ++i) { - new_name = QString("NEW_SIGNAL_%1").arg(i); + new_name = "NEW_SIGNAL_" + std::to_string(i); if (sig(new_name) == nullptr) break; } return new_name; } void cabana::Msg::update() { - if (transmitter.isEmpty()) { + if (transmitter.empty()) { transmitter = DEFAULT_NODE_NAME; } mask.assign(size, 0x00); @@ -129,13 +125,13 @@ void cabana::Msg::update() { void cabana::Signal::update() { updateMsbLsb(*this); - if (receiver_name.isEmpty()) { + if (receiver_name.empty()) { receiver_name = DEFAULT_NODE_NAME; } float h = 19 * (float)lsb / 64.0; h = fmod(h, 1.0); - size_t hash = qHash(name); + size_t hash = std::hash{}(name); float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; @@ -143,7 +139,7 @@ void cabana::Signal::update() { precision = std::max(num_decimals(factor), num_decimals(offset)); } -QString cabana::Signal::formatValue(double value, bool with_unit) const { +std::string cabana::Signal::formatValue(double value, bool with_unit) const { // Show enum string int64_t raw_value = round((value - offset) / factor); for (const auto &[val, desc] : val_desc) { @@ -152,8 +148,10 @@ QString cabana::Signal::formatValue(double value, bool with_unit) const { } } - QString val_str = QString::number(value, 'f', precision); - if (with_unit && !unit.isEmpty()) { + char buf[64]; + snprintf(buf, sizeof(buf), "%.*f", precision, value); + std::string val_str(buf); + if (with_unit && !unit.empty()) { val_str += " " + unit; } return val_str; diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index 134d88a919..a10e7871fe 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,29 +1,35 @@ #pragma once +#include +#include +#include #include +#include #include #include #include #include -#include -const QString UNTITLED = "untitled"; -const QString DEFAULT_NODE_NAME = "XXX"; +const std::string UNTITLED = "untitled"; +const std::string DEFAULT_NODE_NAME = "XXX"; constexpr int CAN_MAX_DATA_BYTES = 64; struct MessageId { uint8_t source = 0; uint32_t address = 0; - QString toString() const { - return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper()); + std::string toString() const { + char buf[64]; + snprintf(buf, sizeof(buf), "%u:%X", source, address); + return buf; } - inline static MessageId fromString(const QString &str) { - auto parts = str.split(':'); - if (parts.size() != 2) return {}; - return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)}; + inline static MessageId fromString(const std::string &str) { + auto pos = str.find(':'); + if (pos == std::string::npos) return {}; + return MessageId{.source = uint8_t(std::stoul(str.substr(0, pos))), + .address = uint32_t(std::stoul(str.substr(pos + 1), nullptr, 16))}; } bool operator==(const MessageId &other) const { @@ -43,15 +49,17 @@ struct MessageId { } }; -uint qHash(const MessageId &item); Q_DECLARE_METATYPE(MessageId); template <> struct std::hash { - std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } + std::size_t operator()(const MessageId &k) const noexcept { + return std::hash{}(k.source) ^ (std::hash{}(k.address) << 1); + } }; -typedef std::vector> ValueDescription; +typedef std::vector> ValueDescription; +Q_DECLARE_METATYPE(ValueDescription); namespace cabana { @@ -61,7 +69,7 @@ public: Signal(const Signal &other) = default; void update(); bool getValue(const uint8_t *data, size_t data_size, double *val) const; - QString formatValue(double value, bool with_unit = true) const; + std::string formatValue(double value, bool with_unit = true) const; bool operator==(const cabana::Signal &other) const; inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); } @@ -72,16 +80,16 @@ public: }; Type type = Type::Normal; - QString name; + std::string name; int start_bit, msb, lsb, size; double factor = 1.0; double offset = 0; bool is_signed; bool is_little_endian; double min, max; - QString unit; - QString comment; - QString receiver_name; + std::string unit; + std::string comment; + std::string receiver_name; ValueDescription val_desc; int precision = 0; QColor color; @@ -97,20 +105,20 @@ public: Msg(const Msg &other) { *this = other; } ~Msg(); cabana::Signal *addSignal(const cabana::Signal &sig); - cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig); - void removeSignal(const QString &sig_name); + cabana::Signal *updateSignal(const std::string &sig_name, const cabana::Signal &sig); + void removeSignal(const std::string &sig_name); Msg &operator=(const Msg &other); int indexOf(const cabana::Signal *sig) const; - cabana::Signal *sig(const QString &sig_name) const; - QString newSignalName(); + cabana::Signal *sig(const std::string &sig_name) const; + std::string newSignalName(); void update(); inline const std::vector &getSignals() const { return sigs; } uint32_t address; - QString name; + std::string name; uint32_t size; - QString comment; - QString transmitter; + std::string comment; + std::string transmitter; std::vector sigs; std::vector mask; @@ -123,4 +131,8 @@ public: double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig); void updateMsbLsb(cabana::Signal &s); inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; } -inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits::digits10); } +inline std::string doubleToString(double value) { + char buf[64]; + snprintf(buf, sizeof(buf), "%.*g", std::numeric_limits::digits10, value); + return buf; +} diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 1c03c8a0aa..d9c129ee81 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -3,11 +3,12 @@ #include #include #include +#include -DBCFile::DBCFile(const QString &dbc_file_name) { - QFile file(dbc_file_name); +DBCFile::DBCFile(const std::string &dbc_file_name) { + QFile file(QString::fromStdString(dbc_file_name)); if (file.open(QIODevice::ReadOnly)) { - name_ = QFileInfo(dbc_file_name).baseName(); + name_ = QFileInfo(QString::fromStdString(dbc_file_name)).baseName().toStdString(); filename = dbc_file_name; parse(file.readAll()); } else { @@ -15,34 +16,35 @@ DBCFile::DBCFile(const QString &dbc_file_name) { } } -DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") { - parse(content); +DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name), filename("") { + parse(QString::fromStdString(content)); } bool DBCFile::save() { - assert(!filename.isEmpty()); + assert(!filename.empty()); return writeContents(filename); } -bool DBCFile::saveAs(const QString &new_filename) { +bool DBCFile::saveAs(const std::string &new_filename) { filename = new_filename; return save(); } -bool DBCFile::writeContents(const QString &fn) { - QFile file(fn); +bool DBCFile::writeContents(const std::string &fn) { + QFile file(QString::fromStdString(fn)); if (file.open(QIODevice::WriteOnly)) { - return file.write(generateDBC().toUtf8()) >= 0; + std::string content = generateDBC(); + return file.write(content.c_str(), content.size()) >= 0; } return false; } -void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) { +void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) { auto &m = msgs[id.address]; m.address = id.address; m.name = name; m.size = size; - m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node; + m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node; m.comment = comment; } @@ -51,12 +53,12 @@ cabana::Msg *DBCFile::msg(uint32_t address) { return it != msgs.end() ? &it->second : nullptr; } -cabana::Msg *DBCFile::msg(const QString &name) { +cabana::Msg *DBCFile::msg(const std::string &name) { auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; }); return it != msgs.end() ? &(it->second) : nullptr; } -cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) { +cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) { auto m = msg(address); return m ? (cabana::Signal *)m->sig(name) : nullptr; } @@ -93,13 +95,13 @@ void DBCFile::parse(const QString &content) { seen = false; } } catch (std::exception &e) { - throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString()); + throw std::runtime_error(QString("[%1:%2]%3: %4").arg(QString::fromStdString(filename)).arg(line_num).arg(e.what()).arg(line).toStdString()); } if (seen) { seen_first = true; } else if (!seen_first) { - header += raw_line + "\n"; + header += raw_line.toStdString() + "\n"; } } @@ -122,9 +124,9 @@ cabana::Msg *DBCFile::parseBO(const QString &line) { // Create a new message object cabana::Msg *msg = &msgs[address]; msg->address = address; - msg->name = match.captured("name"); + msg->name = match.captured("name").toStdString(); msg->size = match.captured("size").toULong(); - msg->transmitter = match.captured("transmitter").trimmed(); + msg->transmitter = match.captured("transmitter").trimmed().toStdString(); return msg; } @@ -141,7 +143,7 @@ void DBCFile::parseCM_BO(const QString &line, const QString &content, const QStr throw std::runtime_error("Invalid message comment format"); if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt())) - m->comment = match.captured("comment").trimmed().replace("\\\"", "\""); + m->comment = match.captured("comment").trimmed().replace("\\\"", "\"").toStdString(); } void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) { @@ -160,7 +162,7 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip if (!match.hasMatch()) throw std::runtime_error("Invalid SG_ line format"); - QString name = match.captured(1); + std::string name = match.captured(1).toStdString(); if (current_msg->sig(name) != nullptr) throw std::runtime_error("Duplicate signal name"); @@ -188,8 +190,8 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip s.offset = match.captured(offset + 7).toDouble(); s.min = match.captured(8 + offset).toDouble(); s.max = match.captured(9 + offset).toDouble(); - s.unit = match.captured(10 + offset); - s.receiver_name = match.captured(11 + offset).trimmed(); + s.unit = match.captured(10 + offset).toStdString(); + s.receiver_name = match.captured(11 + offset).trimmed().toStdString(); current_msg->sigs.push_back(new cabana::Signal(s)); } @@ -205,8 +207,8 @@ void DBCFile::parseCM_SG(const QString &line, const QString &content, const QStr if (!match.hasMatch()) throw std::runtime_error("Invalid CM_ SG_ line format"); - if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) { - s->comment = match.captured(3).trimmed().replace("\\\"", "\""); + if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) { + s->comment = match.captured(3).trimmed().replace("\\\"", "\"").toStdString(); } } @@ -217,55 +219,60 @@ void DBCFile::parseVAL(const QString &line) { if (!match.hasMatch()) throw std::runtime_error("invalid VAL_ line format"); - if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) { + if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) { QStringList desc_list = match.captured(3).trimmed().split('"'); for (int i = 0; i < desc_list.size(); i += 2) { auto val = desc_list[i].trimmed(); if (!val.isEmpty() && (i + 1) < desc_list.size()) { auto desc = desc_list[i + 1].trimmed(); - s->val_desc.push_back({val.toDouble(), desc}); + s->val_desc.push_back({val.toDouble(), desc.toStdString()}); } } } } -QString DBCFile::generateDBC() { - QString dbc_string, comment, val_desc; +std::string DBCFile::generateDBC() { + std::string dbc_string, comment, val_desc; for (const auto &[address, m] : msgs) { - const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter; - dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter); - if (!m.comment.isEmpty()) { - comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\"")); + const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter; + dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n"; + if (!m.comment.empty()) { + std::string escaped_comment = m.comment; + // Replace " with \" + for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2) + escaped_comment.replace(pos, 1, "\\\""); + comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped_comment + "\";\n"; } for (auto sig : m.getSignals()) { - QString multiplexer_indicator; + std::string multiplexer_indicator; if (sig->type == cabana::Signal::Type::Multiplexor) { multiplexer_indicator = "M "; } else if (sig->type == cabana::Signal::Type::Multiplexed) { - multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value); + multiplexer_indicator = "m" + std::to_string(sig->multiplex_value) + " "; } - dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n") - .arg(sig->name) - .arg(multiplexer_indicator) - .arg(sig->start_bit) - .arg(sig->size) - .arg(sig->is_little_endian ? '1' : '0') - .arg(sig->is_signed ? '-' : '+') - .arg(doubleToString(sig->factor)) - .arg(doubleToString(sig->offset)) - .arg(doubleToString(sig->min)) - .arg(doubleToString(sig->max)) - .arg(sig->unit) - .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name); - if (!sig->comment.isEmpty()) { - comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\"")); + const std::string &recv = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name; + dbc_string += " SG_ " + sig->name + " " + multiplexer_indicator + ": " + + std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" + + std::string(1, sig->is_little_endian ? '1' : '0') + + std::string(1, sig->is_signed ? '-' : '+') + + " (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" + + " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "]" + + " \"" + sig->unit + "\" " + recv + "\n"; + if (!sig->comment.empty()) { + std::string escaped_comment = sig->comment; + for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2) + escaped_comment.replace(pos, 1, "\\\""); + comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped_comment + "\";\n"; } if (!sig->val_desc.empty()) { - QStringList text; + std::string text; for (auto &[val, desc] : sig->val_desc) { - text << QString("%1 \"%2\"").arg(val).arg(desc); + if (!text.empty()) text += " "; + char val_buf[64]; + snprintf(val_buf, sizeof(val_buf), "%g", val); + text += std::string(val_buf) + " \"" + desc + "\""; } - val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); + val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n"; } } dbc_string += "\n"; diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index bd267898f9..decb566abd 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -1,34 +1,35 @@ #pragma once #include +#include #include #include "tools/cabana/dbc/dbc.h" class DBCFile { public: - DBCFile(const QString &dbc_file_name); - DBCFile(const QString &name, const QString &content); + DBCFile(const std::string &dbc_file_name); + DBCFile(const std::string &name, const std::string &content); ~DBCFile() {} bool save(); - bool saveAs(const QString &new_filename); - bool writeContents(const QString &fn); - QString generateDBC(); + bool saveAs(const std::string &new_filename); + bool writeContents(const std::string &fn); + std::string generateDBC(); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); + void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment); inline void removeMsg(const MessageId &id) { msgs.erase(id.address); } inline const std::map &getMessages() const { return msgs; } cabana::Msg *msg(uint32_t address); - cabana::Msg *msg(const QString &name); + cabana::Msg *msg(const std::string &name); inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - cabana::Signal *signal(uint32_t address, const QString &name); + cabana::Signal *signal(uint32_t address, const std::string &name); - inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } - inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); } + inline std::string name() const { return name_.empty() ? "untitled" : name_; } + inline bool isEmpty() const { return msgs.empty() && name_.empty(); } - QString filename; + std::string filename; private: void parse(const QString &content); @@ -38,7 +39,7 @@ private: void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream); void parseVAL(const QString &line); - QString header; + std::string header; std::map msgs; - QString name_; + std::string name_; }; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 8e98d95322..2236a93da1 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -1,10 +1,9 @@ #include "tools/cabana/dbc/dbcmanager.h" -#include #include -#include +#include -bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) { +bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, QString *error) { try { auto it = std::find_if(dbc_files.begin(), dbc_files.end(), [&](auto &f) { return f.second && f.second->filename == dbc_file_name; }); @@ -21,7 +20,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS return true; } -bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) { +bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error) { try { auto file = std::make_shared(name, content); for (auto s : sources) { @@ -64,7 +63,7 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { } } -void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { +void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) { if (auto m = msg(id)) { if (auto s = m->updateSignal(sig_name, sig)) { emit signalUpdated(s); @@ -73,7 +72,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons } } -void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { +void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) { if (auto m = msg(id)) { if (auto s = m->sig(sig_name)) { emit signalRemoved(s); @@ -83,7 +82,7 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } -void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) { +void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) { auto dbc_file = findDBCFile(id); assert(dbc_file); // This should be impossible dbc_file->updateMsg(id, name, size, node, comment); @@ -98,11 +97,13 @@ void DBCManager::removeMsg(const MessageId &id) { emit maskUpdated(); } -QString DBCManager::newMsgName(const MessageId &id) { - return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); +std::string DBCManager::newMsgName(const MessageId &id) { + char buf[64]; + snprintf(buf, sizeof(buf), "NEW_MSG_%X", id.address); + return buf; } -QString DBCManager::newSignalName(const MessageId &id) { +std::string DBCManager::newSignalName(const MessageId &id) { auto m = msg(id); return m ? m->newSignalName() : ""; } @@ -118,14 +119,14 @@ cabana::Msg *DBCManager::msg(const MessageId &id) { return dbc_file ? dbc_file->msg(id) : nullptr; } -cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) { +cabana::Msg *DBCManager::msg(uint8_t source, const std::string &name) { auto dbc_file = findDBCFile(source); return dbc_file ? dbc_file->msg(name) : nullptr; } -QStringList DBCManager::signalNames() { +std::vector DBCManager::signalNames() { // Used for autocompletion - QSet names; + std::set names; for (auto &f : allDBCFiles()) { for (auto &[_, m] : f->getMessages()) { for (auto sig : m.getSignals()) { @@ -133,8 +134,8 @@ QStringList DBCManager::signalNames() { } } } - QStringList ret = names.values(); - ret.sort(); + std::vector ret(names.begin(), names.end()); + std::sort(ret.begin(), ret.end()); return ret; } @@ -165,11 +166,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const { return sources; } -QString toString(const SourceSet &ss) { - return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) { - if (!str.isEmpty()) str += ", "; - return str + (source == -1 ? QStringLiteral("all") : QString::number(source)); - }); +std::string toString(const SourceSet &ss) { + std::string result; + for (int source : ss) { + if (!result.empty()) result += ", "; + result += (source == -1) ? "all" : std::to_string(source); + } + return result; } DBCManager *dbc() { diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 5f183752d2..4a122073ea 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -4,6 +4,8 @@ #include #include #include +#include +#include #include "tools/cabana/dbc/dbcfile.h" @@ -18,27 +20,27 @@ class DBCManager : public QObject { public: DBCManager(QObject *parent) : QObject(parent) {} ~DBCManager() {} - bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr); - bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr); + bool open(const SourceSet &sources, const std::string &dbc_file_name, QString *error = nullptr); + bool open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error = nullptr); void close(const SourceSet &sources); void close(DBCFile *dbc_file); void closeAll(); void addSignal(const MessageId &id, const cabana::Signal &sig); - void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); - void removeSignal(const MessageId &id, const QString &sig_name); + void updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig); + void removeSignal(const MessageId &id, const std::string &sig_name); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); + void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment); void removeMsg(const MessageId &id); - QString newMsgName(const MessageId &id); - QString newSignalName(const MessageId &id); + std::string newMsgName(const MessageId &id); + std::string newSignalName(const MessageId &id); const std::map &getMessages(uint8_t source); cabana::Msg *msg(const MessageId &id); - cabana::Msg* msg(uint8_t source, const QString &name); + cabana::Msg* msg(uint8_t source, const std::string &name); - QStringList signalNames(); + std::vector signalNames(); inline int dbcCount() { return allDBCFiles().size(); } int nonEmptyDBCCount(); @@ -62,8 +64,8 @@ private: DBCManager *dbc(); -QString toString(const SourceSet &ss); -inline QString msgName(const MessageId &id) { +std::string toString(const SourceSet &ss); +inline std::string msgName(const MessageId &id) { auto msg = dbc()->msg(id); return msg ? msg->name : UNTITLED; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 35492c8efa..148b059e5b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -124,9 +124,9 @@ int DetailWidget::findOrAddTab(const MessageId& message_id) { if (tabbar->tabData(index).value() == message_id) break; } if (index == -1) { - index = tabbar->addTab(message_id.toString()); + index = tabbar->addTab(QString::fromStdString(message_id.toString())); tabbar->setTabData(index, QVariant::fromValue(message_id)); - tabbar->setTabToolTip(index, msgName(message_id)); + tabbar->setTabToolTip(index, QString::fromStdString(msgName(message_id))); } return index; } @@ -151,21 +151,21 @@ std::pair DetailWidget::serializeMessageIds() const { QStringList msgs; for (int i = 0; i < tabbar->count(); ++i) { MessageId id = tabbar->tabData(i).value(); - msgs.append(id.toString()); + msgs.append(QString::fromStdString(id.toString())); } - return std::make_pair(msg_id.toString(), msgs); + return std::make_pair(QString::fromStdString(msg_id.toString()), msgs); } void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) { tabbar->blockSignals(true); for (const auto& str_id : msg_ids) { - MessageId id = MessageId::fromString(str_id); + MessageId id = MessageId::fromString(str_id.toStdString()); if (dbc()->msg(id) != nullptr) findOrAddTab(id); } tabbar->blockSignals(false); - auto active_id = MessageId::fromString(active_msg_id); + auto active_id = MessageId::fromString(active_msg_id.toStdString()); if (dbc()->msg(active_id) != nullptr) setMessage(active_id); } @@ -180,10 +180,10 @@ void DetailWidget::refresh() { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } for (auto s : binary_view->getOverlappingSignals()) { - warnings.push_back(tr("%1 has overlapping bits.").arg(s->name)); + warnings.push_back(tr("%1 has overlapping bits.").arg(QString::fromStdString(s->name))); } } - QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id); + QString msg_name = msg ? QString("%1 (%2)").arg(QString::fromStdString(msg->name), QString::fromStdString(msg->transmitter)) : QString::fromStdString(msgName(msg_id)); name_label->setText(msg_name); name_label->setToolTip(msg_name); action_remove_msg->setEnabled(msg != nullptr); @@ -208,10 +208,10 @@ void DetailWidget::updateState(const std::set *msgs) { void DetailWidget::editMsg() { auto msg = dbc()->msg(msg_id); int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); - EditMessageDialog dlg(msg_id, msgName(msg_id), size, this); + EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(), - dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(), + dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString())); } } @@ -223,7 +223,7 @@ void DetailWidget::removeMsg() { EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent) : original_name(title), msg_id(msg_id), QDialog(parent) { - setWindowTitle(tr("Edit message: %1").arg(msg_id.toString())); + setWindowTitle(tr("Edit message: %1").arg(QString::fromStdString(msg_id.toString()))); QFormLayout *form_layout = new QFormLayout(this); form_layout->addRow("", error_label = new QLabel); @@ -241,8 +241,8 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel)); if (auto msg = dbc()->msg(msg_id)) { - node->setText(msg->transmitter); - comment_edit->setText(msg->comment); + node->setText(QString::fromStdString(msg->transmitter)); + comment_edit->setText(QString::fromStdString(msg->comment)); } validateName(name_edit->text()); setFixedWidth(parent->width() * 0.9); @@ -252,10 +252,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit } void EditMessageDialog::validateName(const QString &text) { - bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; + bool valid = text.compare(QString::fromStdString(UNTITLED), Qt::CaseInsensitive) != 0; error_label->setVisible(false); if (!text.isEmpty() && valid && text != original_name) { - valid = dbc()->msg(msg_id.source, text) == nullptr; + valid = dbc()->msg(msg_id.source, text.toStdString()) == nullptr; if (!valid) { error_label->setText(tr("Name already exists")); error_label->setVisible(true); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 3dbdf5a7cd..fb79ff9cea 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -14,7 +14,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { const int col = index.column(); if (role == Qt::DisplayRole) { if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3); - if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false); + if (!isHexMode()) return QString::fromStdString(sigs[col - 1]->formatValue(m.sig_values[col - 1], false)); } else if (role == Qt::TextAlignmentRole) { return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter); } @@ -49,8 +49,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) return "Time"; if (isHexMode()) return "Data"; - QString name = sigs[section - 1]->name; - QString unit = sigs[section - 1]->unit; + QString name = QString::fromStdString(sigs[section - 1]->name); + QString unit = QString::fromStdString(sigs[section - 1]->unit); return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit); } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) { // Alpha-blend the signal color with the background to ensure contrast @@ -216,7 +216,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { void LogsWidget::modelReset() { signals_cb->clear(); for (auto s : model->sigs) { - signals_cb->addItem(s->name); + signals_cb->addItem(QString::fromStdString(s->name)); } export_btn->setEnabled(false); value_edit->clear(); @@ -238,8 +238,8 @@ void LogsWidget::filterChanged() { } void LogsWidget::exportToCSV() { - QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id)); - QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)), + QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id))); + QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(QString::fromStdString(msgName(model->msg_id))), dir, tr("csv (*.csv)")); if (!fn.isEmpty()) { model->isHexMode() ? utils::exportToCSV(fn, model->msg_id) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index a7040f891e..39fb979c79 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -234,7 +234,7 @@ void MainWindow::DBCFileChanged() { QStringList title; for (auto f : dbc()->allDBCFiles()) { - title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); + title.push_back(tr("(%1) %2").arg(QString::fromStdString(toString(dbc()->sources(f))), QString::fromStdString(f->name()))); } setWindowFilePath(title.join(" | ")); @@ -259,7 +259,7 @@ void MainWindow::closeStream() { } void MainWindow::exportToCSV() { - QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName()); + QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName())); QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)")); if (!fn.isEmpty()) { utils::exportToCSV(fn); @@ -268,7 +268,7 @@ void MainWindow::exportToCSV() { void MainWindow::newFile(SourceSet s) { closeFile(s); - dbc()->open(s, "", ""); + dbc()->open(s, std::string(""), std::string("")); } void MainWindow::openFile(SourceSet s) { @@ -284,7 +284,7 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) { closeFile(s); QString error; - if (dbc()->open(s, fn, &error)) { + if (dbc()->open(s, fn.toStdString(), &error)) { updateRecentFiles(fn); statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); } else { @@ -304,7 +304,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { QString dbc_str = QGuiApplication::clipboard()->text(); QString error; - bool ret = dbc()->open(s, "", dbc_str, &error); + bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error); if (ret && dbc()->nonEmptyDBCCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { @@ -333,7 +333,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) { can->start(); loadFile(dbc_file); - statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000); + statusBar()->showMessage(tr("Stream [%1] started").arg(QString::fromStdString(can->routeName())), 2000); bool has_stream = dynamic_cast(can) == nullptr; close_stream_act->setEnabled(has_stream); @@ -341,7 +341,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) { tools_menu->setEnabled(has_stream); createDockWidgets(); - video_dock->setWindowTitle(can->routeName()); + video_dock->setWindowTitle(QString::fromStdString(can->routeName())); if (can->liveStreaming() || video_splitter->sizes()[0] == 0) { // display video at minimum size. video_splitter->setSizes({1, 1}); @@ -368,9 +368,9 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) { } void MainWindow::eventsMerged() { - if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) { + if (!can->liveStreaming() && std::exchange(car_fingerprint, QString::fromStdString(can->carFingerprint())) != car_fingerprint) { video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2") - .arg(can->routeName()) + .arg(QString::fromStdString(can->routeName())) .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); // Don't overwrite already loaded DBC if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) { @@ -416,7 +416,7 @@ void MainWindow::closeFile(DBCFile *dbc_file) { void MainWindow::saveFile(DBCFile *dbc_file) { assert(dbc_file != nullptr); - if (!dbc_file->filename.isEmpty()) { + if (!dbc_file->filename.empty()) { dbc_file->save(); UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved"), 2000); @@ -426,10 +426,10 @@ void MainWindow::saveFile(DBCFile *dbc_file) { } void MainWindow::saveFileAs(DBCFile *dbc_file) { - QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file))); + QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file)))); QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { - dbc_file->saveAs(fn); + dbc_file->saveAs(fn.toStdString()); UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000); updateRecentFiles(fn); @@ -446,7 +446,7 @@ void MainWindow::saveToClipboard() { void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { assert(dbc_file != nullptr); - QGuiApplication::clipboard()->setText(dbc_file->generateDBC()); + QGuiApplication::clipboard()->setText(QString::fromStdString(dbc_file->generateDBC())); QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } @@ -467,14 +467,14 @@ void MainWindow::updateLoadSaveMenus() { auto dbc_file = dbc()->findDBCFile(source); if (dbc_file) { bus_menu->addSeparator(); - bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false); + bus_menu->addAction(QString::fromStdString(dbc_file->name()) + " (" + QString::fromStdString(toString(dbc()->sources(dbc_file))) + ")")->setEnabled(false); bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); }); bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); }); bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); }); bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); }); bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); }); } - bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded")); + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? QString::fromStdString(dbc_file->name()) : "No DBCs loaded")); manage_dbcs_menu->addMenu(bus_menu); } @@ -627,7 +627,7 @@ void MainWindow::saveSessionState() { settings.active_charts.clear(); for (auto &f : dbc()->allDBCFiles()) - if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; } + if (!f->isEmpty()) { settings.recent_dbc_file = QString::fromStdString(f->filename); break; } if (auto *detail = center_widget->getDetailWidget()) { auto [active_id, ids] = detail->serializeMessageIds(); @@ -643,7 +643,7 @@ void MainWindow::restoreSessionState() { QString dbc_file; for (auto& f : dbc()->allDBCFiles()) - if (!f->isEmpty()) { dbc_file = f->filename; break; } + if (!f->isEmpty()) { dbc_file = QString::fromStdString(f->filename); break; } if (dbc_file != settings.recent_dbc_file) return; if (!settings.selected_msg_ids.isEmpty()) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index ed9aeaf311..ec8c82dd98 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -205,7 +205,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) { auto msg = dbc()->msg(item.id); auto tooltip = item.name; - if (msg && !msg->comment.isEmpty()) tooltip += "
" + msg->comment + ""; + if (msg && !msg->comment.empty()) tooltip += "
" + QString::fromStdString(msg->comment) + ""; return tooltip; } return {}; @@ -277,7 +277,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) { if (!match) { const auto m = dbc()->msg(item.id); match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(), - [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); }); + [&txt](const auto &s) { return QString::fromStdString(s->name).contains(txt, Qt::CaseInsensitive); }); } break; } @@ -323,8 +323,8 @@ bool MessageListModel::filterAndSort() { if (show_inactive_messages || can->isMessageActive(id)) { auto msg = dbc()->msg(id); Item item = {.id = id, - .name = msg ? msg->name : UNTITLED, - .node = msg ? msg->transmitter : QString()}; + .name = msg ? QString::fromStdString(msg->name) : QString::fromStdString(UNTITLED), + .node = msg ? QString::fromStdString(msg->transmitter) : QString()}; if (match(item)) items.emplace_back(item); } diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index a9ceacd806..15baabe512 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signalview.h" #include +#include #include #include @@ -11,7 +12,6 @@ #include #include #include -#include #include #include "tools/cabana/commands.h" @@ -34,8 +34,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p } void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) { - Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = sig->name}; - root_item->children.insert(pos, parent_item); + Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = QString::fromStdString(sig->name)}; + root_item->children.insert(root_item->children.begin() + pos, parent_item); QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"}; for (int i = 0; i < std::size(titles); ++i) { @@ -63,7 +63,7 @@ void SignalModel::refresh() { root.reset(new SignalModel::Item); if (auto msg = dbc()->msg(msg_id)) { for (auto s : msg->getSignals()) { - if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) { + if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) { insertItem(root.get(), root->children.size(), s); } } @@ -124,25 +124,25 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { const Item *item = getItem(index); if (role == Qt::DisplayRole || role == Qt::EditRole) { if (index.column() == 0) { - return item->type == Item::Sig ? item->sig->name : item->title; + return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title; } else { switch (item->type) { case Item::Sig: return item->sig_val; - case Item::Name: return item->sig->name; + case Item::Name: return QString::fromStdString(item->sig->name); case Item::Size: return item->sig->size; - case Item::Node: return item->sig->receiver_name; + case Item::Node: return QString::fromStdString(item->sig->receiver_name); case Item::SignalType: return signalTypeToString(item->sig->type); case Item::MultiplexValue: return item->sig->multiplex_value; - case Item::Offset: return doubleToString(item->sig->offset); - case Item::Factor: return doubleToString(item->sig->factor); - case Item::Unit: return item->sig->unit; - case Item::Comment: return item->sig->comment; - case Item::Min: return doubleToString(item->sig->min); - case Item::Max: return doubleToString(item->sig->max); + case Item::Offset: return QString::fromStdString(doubleToString(item->sig->offset)); + case Item::Factor: return QString::fromStdString(doubleToString(item->sig->factor)); + case Item::Unit: return QString::fromStdString(item->sig->unit); + case Item::Comment: return QString::fromStdString(item->sig->comment); + case Item::Min: return QString::fromStdString(doubleToString(item->sig->min)); + case Item::Max: return QString::fromStdString(doubleToString(item->sig->max)); case Item::Desc: { QStringList val_desc; for (auto &[val, desc] : item->sig->val_desc) { - val_desc << QString("%1 \"%2\"").arg(val).arg(desc); + val_desc << QString("%1 \"%2\"").arg(val).arg(QString::fromStdString(desc)); } return val_desc.join(" "); } @@ -165,17 +165,17 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r Item *item = getItem(index); cabana::Signal s = *item->sig; switch (item->type) { - case Item::Name: s.name = value.toString(); break; + case Item::Name: s.name = value.toString().toStdString(); break; case Item::Size: s.size = value.toInt(); break; - case Item::Node: s.receiver_name = value.toString().trimmed(); break; + case Item::Node: s.receiver_name = value.toString().trimmed().toStdString(); break; case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break; case Item::MultiplexValue: s.multiplex_value = value.toInt(); break; case Item::Endian: s.is_little_endian = value.toBool(); break; case Item::Signed: s.is_signed = value.toBool(); break; case Item::Offset: s.offset = value.toDouble(); break; case Item::Factor: s.factor = value.toDouble(); break; - case Item::Unit: s.unit = value.toString(); break; - case Item::Comment: s.comment = value.toString(); break; + case Item::Unit: s.unit = value.toString().toStdString(); break; + case Item::Comment: s.comment = value.toString().toStdString(); break; case Item::Min: s.min = value.toDouble(); break; case Item::Max: s.max = value.toDouble(); break; case Item::Desc: s.val_desc = value.value(); break; @@ -189,7 +189,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) { auto msg = dbc()->msg(msg_id); if (s.name != origin_s->name && msg->sig(s.name) != nullptr) { - QString text = tr("There is already a signal with the same name '%1'").arg(s.name); + QString text = tr("There is already a signal with the same name '%1'").arg(QString::fromStdString(s.name)); QMessageBox::warning(nullptr, tr("Failed to save signal"), text); return false; } @@ -214,7 +214,7 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { beginInsertRows({}, i, i); insertItem(root.get(), i, sig); endInsertRows(); - } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) { + } else if (QString::fromStdString(sig->name).contains(filter_str, Qt::CaseInsensitive)) { refresh(); } } @@ -229,7 +229,9 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { int to = dbc()->msg(msg_id)->indexOf(sig); if (to != row) { beginMoveRows({}, row, row, {}, to > row ? to + 1 : to); - root->children.move(row, to); + auto item = root->children[row]; + root->children.erase(root->children.begin() + row); + root->children.insert(root->children.begin() + to, item); endMoveRows(); } } @@ -239,7 +241,8 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { beginRemoveRows({}, row, row); - delete root->children.takeAt(row); + delete root->children[row]; + root->children.erase(root->children.begin() + row); endRemoveRows(); } } @@ -373,7 +376,10 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie else e->setValidator(double_validator); if (item->type == SignalModel::Item::Name) { - QCompleter *completer = new QCompleter(dbc()->signalNames(), e); + auto names = dbc()->signalNames(); + QStringList qnames; + for (const auto &n : names) qnames.push_back(QString::fromStdString(n)); + QCompleter *completer = new QCompleter(qnames, e); completer->setCaseSensitivity(Qt::CaseInsensitive); completer->setFilterMode(Qt::MatchContains); e->setCompleter(completer); @@ -395,7 +401,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie return c; } else if (item->type == SignalModel::Item::Desc) { ValueDescriptionDlg dlg(item->sig->val_desc, parent); - dlg.setWindowTitle(item->sig->name); + dlg.setWindowTitle(QString::fromStdString(item->sig->name)); if (dlg.exec()) { ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc)); } @@ -621,7 +627,7 @@ void SignalView::updateState(const std::set *msgs) { for (auto item : model->root->children) { double value = 0; if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) { - item->sig_val = item->sig->formatValue(value); + item->sig_val = QString::fromStdString(item->sig->formatValue(value)); max_value_width = std::max(max_value_width, fontMetrics().horizontalAdvance(item->sig_val)); } } @@ -635,13 +641,13 @@ void SignalView::updateState(const std::set *msgs) { delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2); auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts)); - QFutureSynchronizer synchronizer; + std::vector> futures; for (int i = first_visible.row(); i <= last_visible.row(); ++i) { auto item = model->getItem(model->index(i, 1)); - synchronizer.addFuture(QtConcurrent::run( - &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size)); + futures.push_back(std::async(std::launch::async, + &Sparkline::update, &item->sparkline, item->sig, first, last, settings.sparkline_range, size)); } - synchronizer.waitForFinished(); + for (auto &f : futures) f.get(); } for (int i = 0; i < model->rowCount(); ++i) { @@ -677,7 +683,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q int row = 0; for (auto &[val, desc] : descriptions) { table->setItem(row, 0, new QTableWidgetItem(QString::number(val))); - table->setItem(row, 1, new QTableWidgetItem(desc)); + table->setItem(row, 1, new QTableWidgetItem(QString::fromStdString(desc))); ++row; } @@ -706,7 +712,7 @@ void ValueDescriptionDlg::save() { QString val = table->item(i, 0)->text().trimmed(); QString desc = table->item(i, 1)->text().trimmed(); if (!val.isEmpty() && !desc.isEmpty()) { - val_desc.push_back({val.toDouble(), desc}); + val_desc.push_back({val.toDouble(), desc.toStdString()}); } } QDialog::accept(); diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 4e746ea105..42db830df7 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -20,12 +20,15 @@ class SignalModel : public QAbstractItemModel { public: struct Item { enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc }; - ~Item() { qDeleteAll(children); } - inline int row() { return parent->children.indexOf(this); } + ~Item() { for (auto c : children) delete c; } + inline int row() { + auto it = std::find(parent->children.begin(), parent->children.end(), this); + return it != parent->children.end() ? std::distance(parent->children.begin(), it) : -1; + } Type type = Type::Root; Item *parent = nullptr; - QList children; + std::vector children; const cabana::Signal *sig = nullptr; QString title; diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index f35b19d34f..7d66a420dc 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -65,8 +65,8 @@ public: virtual void start() = 0; virtual bool liveStreaming() const { return true; } virtual void seekTo(double ts) {} - virtual QString routeName() const = 0; - virtual QString carFingerprint() const { return ""; } + virtual std::string routeName() const = 0; + virtual std::string carFingerprint() const { return ""; } virtual QDateTime beginDateTime() const { return {}; } virtual uint64_t beginMonoTime() const { return 0; } virtual double minSeconds() const { return 0; } @@ -149,7 +149,7 @@ class DummyStream : public AbstractStream { Q_OBJECT public: DummyStream(QObject *parent) : AbstractStream(parent) {} - QString routeName() const override { return tr("No Stream"); } + std::string routeName() const override { return "No Stream"; } void start() override {} }; diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h index 6beb300d7a..4bcdb5351d 100644 --- a/tools/cabana/streams/devicestream.h +++ b/tools/cabana/streams/devicestream.h @@ -9,8 +9,8 @@ class DeviceStream : public LiveStream { public: DeviceStream(QObject *parent, QString address = {}); ~DeviceStream(); - inline QString routeName() const override { - return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); + inline std::string routeName() const override { + return "Live Streaming From " + (zmq_address.isEmpty() ? std::string("127.0.0.1") : zmq_address.toStdString()); } protected: diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index a2430c665f..3692f71a11 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -16,8 +16,8 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co bool PandaStream::connect() { try { - qDebug() << "Connecting to panda " << config.serial; - panda.reset(new Panda(config.serial.toStdString())); + qDebug() << "Connecting to panda " << config.serial.c_str(); + panda.reset(new Panda(config.serial)); config.bus_config.resize(3); qDebug() << "Connected"; } catch (const std::exception& e) { @@ -81,7 +81,7 @@ void PandaStream::streamThread() { OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { form_layout = new QFormLayout(this); if (can && dynamic_cast(can) != nullptr) { - form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName()))); + form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName())))); form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.")); QTimer::singleShot(0, [this]() { emit enableOpenButton(false); }); return; @@ -129,7 +129,7 @@ void OpenPandaWidget::buildConfigForm() { } if (has_panda) { - config.serial = serial; + config.serial = serial.toStdString(); config.bus_config.resize(3); for (int i = 0; i < config.bus_config.size(); i++) { QHBoxLayout *bus_layout = new QHBoxLayout; diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index e17ad887fc..f8847f65e5 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -19,7 +19,7 @@ struct BusConfig { }; struct PandaStreamConfig { - QString serial = ""; + std::string serial = ""; std::vector bus_config; }; @@ -28,8 +28,8 @@ class PandaStream : public LiveStream { public: PandaStream(QObject *parent, PandaStreamConfig config_ = {}); ~PandaStream() { stop(); } - inline QString routeName() const override { - return QString("Panda: %1").arg(config.serial); + inline std::string routeName() const override { + return "Panda: " + config.serial; } protected: diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index b8cf1be299..f42bf2601c 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -46,9 +46,9 @@ void ReplayStream::mergeSegments() { } } -bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) { - replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, - {}, nullptr, replay_flags, data_dir.toStdString(), auto_source)); +bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) { + replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, + {}, nullptr, replay_flags, data_dir, auto_source)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter([this](const Event *event) { return eventFilter(event); }); @@ -72,17 +72,17 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint "This will grant access to routes from your comma account."; } else { message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n" - "This is likely a private route.").arg(route); + "This is likely a private route.").arg(QString::fromStdString(route)); } QMessageBox::warning(nullptr, tr("Access Denied"), message); } else if (replay->lastRouteError() == RouteLoadError::NetworkError) { QMessageBox::warning(nullptr, tr("Network Error"), - tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route)); + tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route))); } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) { QMessageBox::warning(nullptr, tr("Route Not Found"), - tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route)); + tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route))); } else { - QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route)); + QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route))); } } return success; @@ -168,7 +168,7 @@ AbstractStream *OpenReplayWidget::open() { if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM; if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC; - if (replay_stream->loadRoute(route, data_dir, flags)) { + if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) { return replay_stream.release(); } } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index d429ed1f95..40f8ec8cfb 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -18,12 +18,12 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); void start() override { replay->start(); } - bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false); + bool loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } bool liveStreaming() const override { return false; } - inline QString routeName() const override { return QString::fromStdString(replay->route().name()); } - inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } + inline std::string routeName() const override { return replay->route().name(); } + inline std::string carFingerprint() const override { return replay->carFingerprint(); } double minSeconds() const override { return replay->minSeconds(); } double maxSeconds() const { return replay->maxSeconds(); } inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); } diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc index 8539a00b5b..1e69a45cea 100644 --- a/tools/cabana/streams/routes.cc +++ b/tools/cabana/streams/routes.cc @@ -11,7 +11,7 @@ #include #include #include -#include +#include #include "tools/replay/py_downloader.h" @@ -72,13 +72,12 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) { // Fetch devices QPointer self = this; - QtConcurrent::run([self]() { + std::thread([self]() { std::string result = PyDownloader::getDevices(); - auto [success, error_code] = checkApiResponse(result); - QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), success, error_code]() { - if (self) self->parseDeviceList(r, success, error_code); + QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result)]() { + if (self) self->parseDeviceList(r, response.first, response.second); }, Qt::QueuedConnection); - }); + }).detach(); } void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) { @@ -114,14 +113,13 @@ void RoutesDialog::fetchRoutes() { int request_id = ++fetch_id_; QPointer self = this; - QtConcurrent::run([self, did, start_ms, end_ms, preserved, request_id]() { + std::thread([self, did, start_ms, end_ms, preserved, request_id]() { std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved); if (!self || self->fetch_id_ != request_id) return; - auto [success, error_code] = checkApiResponse(result); - QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), success, error_code, request_id]() { - if (self && self->fetch_id_ == request_id) self->parseRouteList(r, success, error_code); + QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() { + if (self && self->fetch_id_ == request_id) self->parseRouteList(r, response.first, response.second); }, Qt::QueuedConnection); - }); + }).detach(); } void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) { diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc index e4801df9c0..768465d5a3 100644 --- a/tools/cabana/streams/socketcanstream.cc +++ b/tools/cabana/streams/socketcanstream.cc @@ -1,6 +1,14 @@ #include "tools/cabana/streams/socketcanstream.h" +#include +#include +#include +#include +#include +#include + #include +#include #include #include #include @@ -9,59 +17,82 @@ SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) { if (!available()) { - throw std::runtime_error("SocketCAN plugin not available"); + throw std::runtime_error("SocketCAN not available"); } - qDebug() << "Connecting to SocketCAN device" << config.device; + qDebug() << "Connecting to SocketCAN device" << config.device.c_str(); if (!connect()) { throw std::runtime_error("Failed to connect to SocketCAN device"); } } +SocketCanStream::~SocketCanStream() { + stop(); + if (sock_fd >= 0) { + ::close(sock_fd); + sock_fd = -1; + } +} + bool SocketCanStream::available() { - return QCanBus::instance()->plugins().contains("socketcan"); + int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (fd < 0) return false; + ::close(fd); + return true; } bool SocketCanStream::connect() { - // Connecting might generate some warnings about missing socketcan/libsocketcan libraries - // These are expected and can be ignored, we don't need the advanced features of libsocketcan - QString errorString; - device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString)); - device->setConfigurationParameter(QCanBusDevice::CanFdKey, true); - - if (!device) { - qDebug() << "Failed to create SocketCAN device" << errorString; + sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); + if (sock_fd < 0) { + qDebug() << "Failed to create CAN socket"; return false; } - if (!device->connectDevice()) { - qDebug() << "Failed to connect to device"; + // Enable CAN-FD + int fd_enable = 1; + setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable)); + + struct ifreq ifr = {}; + strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1); + if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) { + qDebug() << "Failed to get interface index for" << config.device.c_str(); + ::close(sock_fd); + sock_fd = -1; return false; } + struct sockaddr_can addr = {}; + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + qDebug() << "Failed to bind CAN socket"; + ::close(sock_fd); + sock_fd = -1; + return false; + } + + // Set read timeout so the thread can check for interruption + struct timeval tv = {.tv_sec = 0, .tv_usec = 100000}; // 100ms + setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)); + return true; } void SocketCanStream::streamThread() { - while (!QThread::currentThread()->isInterruptionRequested()) { - QThread::msleep(1); + struct canfd_frame frame; - auto frames = device->readAllFrames(); - if (frames.size() == 0) continue; + while (!QThread::currentThread()->isInterruptionRequested()) { + ssize_t nbytes = read(sock_fd, &frame, sizeof(frame)); + if (nbytes <= 0) continue; + + uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len; // works for both CAN and CAN-FD MessageBuilder msg; auto evt = msg.initEvent(); - auto canData = evt.initCan(frames.size()); - - for (uint i = 0; i < frames.size(); i++) { - if (!frames[i].isValid()) continue; - - canData[i].setAddress(frames[i].frameId()); - canData[i].setSrc(0); - - auto payload = frames[i].payload(); - canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size())); - } + auto canData = evt.initCan(1); + canData[0].setAddress(frame.can_id & CAN_EFF_MASK); + canData[0].setSrc(0); + canData[0].setDat(kj::arrayPtr(frame.data, len)); handleEvent(capnp::messageToFlatArray(msg)); } @@ -87,7 +118,7 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi main_layout->addStretch(1); QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices); - QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); }); + QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); }); // Populate devices refreshDevices(); @@ -95,12 +126,19 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi void OpenSocketCanWidget::refreshDevices() { device_edit->clear(); - for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) { - device_edit->addItem(device.name()); + // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN) + QDir net_dir("/sys/class/net"); + for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) { + QFile type_file(net_dir.filePath(iface) + "/type"); + if (type_file.open(QIODevice::ReadOnly)) { + int type = type_file.readAll().trimmed().toInt(); + if (type == 280) { + device_edit->addItem(iface); + } + } } } - AbstractStream *OpenSocketCanWidget::open() { try { return new SocketCanStream(qApp, config); diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index 8083b687e9..3c5cd184f7 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -1,27 +1,22 @@ #pragma once -#include - -#include -#include -#include #include #include "tools/cabana/streams/livestream.h" struct SocketCanStreamConfig { - QString device = ""; // TODO: support multiple devices/buses at once + std::string device = ""; // TODO: support multiple devices/buses at once }; class SocketCanStream : public LiveStream { Q_OBJECT public: SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); - ~SocketCanStream() { stop(); } + ~SocketCanStream(); static bool available(); - inline QString routeName() const override { - return QString("Live Streaming From Socket CAN %1").arg(config.device); + inline std::string routeName() const override { + return "Live Streaming From Socket CAN " + config.device; } protected: @@ -29,7 +24,7 @@ protected: bool connect(); SocketCanStreamConfig config = {}; - std::unique_ptr device; + int sock_fd = -1; }; class OpenSocketCanWidget : public AbstractOpenStreamWidget { diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index d9fcae6f21..833cfbe4b5 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -8,7 +8,7 @@ const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; TEST_CASE("DBCFile::generateDBC") { - QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can"); + std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc"; DBCFile dbc_origin(fn); DBCFile dbc_from_generated("", dbc_origin.generateDBC()); @@ -30,7 +30,7 @@ TEST_CASE("DBCFile::generateDBC") { TEST_CASE("DBCFile::generateDBC - comment order") { // Ensure that message comments are followed by signal comments and in the correct order - auto content = R"(BO_ 160 message_1: 8 EON + std::string content = R"(BO_ 160 message_1: 8 EON SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX BO_ 162 message_2: 8 EON @@ -46,7 +46,7 @@ CM_ SG_ 162 signal_2 "signal comment"; } TEST_CASE("DBCFile::generateDBC -- preserve original header") { - QString content = R"(VERSION "1.0" + std::string content = R"(VERSION "1.0" NS_ : CM_ @@ -66,7 +66,7 @@ CM_ SG_ 160 signal_1 "signal comment"; } TEST_CASE("DBCFile::generateDBC - escaped quotes") { - QString content = R"(BO_ 160 message_1: 8 EON + std::string content = R"(BO_ 160 message_1: 8 EON SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX CM_ BO_ 160 "message comment with \"escaped quotes\""; @@ -77,7 +77,7 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\""; } TEST_CASE("parse_dbc") { - QString content = R"( + std::string content = R"( BO_ 160 message_1: 8 EON SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX @@ -119,9 +119,9 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\""; REQUIRE(sig_1->comment == "signal comment"); REQUIRE(sig_1->receiver_name == "XXX"); REQUIRE(sig_1->val_desc.size() == 3); - REQUIRE(sig_1->val_desc[0] == std::pair{0, "disabled"}); - REQUIRE(sig_1->val_desc[1] == std::pair{1.2, "initializing"}); - REQUIRE(sig_1->val_desc[2] == std::pair{2, "fault"}); + REQUIRE(sig_1->val_desc[0] == std::pair{0, "disabled"}); + REQUIRE(sig_1->val_desc[1] == std::pair{1.2, "initializing"}); + REQUIRE(sig_1->val_desc[2] == std::pair{2, "fault"}); auto &sig_2 = msg->sigs[1]; REQUIRE(sig_2->comment == "multiple line comment \n1\n2"); @@ -147,7 +147,7 @@ TEST_CASE("parse_opendbc") { QStringList errors; for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) { try { - auto dbc = DBCFile(dir.filePath(fn)); + auto dbc = DBCFile(dir.filePath(fn).toStdString()); } catch (std::exception &e) { errors.push_back(e.what()); } diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index ec56fcaac0..b131893942 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -1,10 +1,11 @@ #include "tools/cabana/tools/findsignal.h" +#include + #include #include #include #include -#include #include #include @@ -20,7 +21,7 @@ QVariant FindSignalModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { const auto &s = filtered_signals[index.row()]; switch (index.column()) { - case 0: return s.id.toString(); + case 0: return QString::fromStdString(s.id.toString()); case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size); case 2: return s.values.join(" "); } @@ -32,36 +33,49 @@ void FindSignalModel::search(std::function cmp) { beginResetModel(); std::mutex lock; - const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals; + const auto prev_sigs = !histories.empty() ? histories.back() : initial_signals; filtered_signals.clear(); filtered_signals.reserve(prev_sigs.size()); - QtConcurrent::blockingMap(prev_sigs, [&](auto &s) { - const auto &events = can->events(s.id); - auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent()); - auto last = events.cend(); - if (last_time < std::numeric_limits::max()) { - last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent()); - } - auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); - if (it != last) { - auto values = s.values; - values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); - std::lock_guard lk(lock); - filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); - } - }); + unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency()); + size_t chunk = (prev_sigs.size() + num_threads - 1) / num_threads; + std::vector threads; + for (unsigned int t = 0; t < num_threads && t * chunk < (size_t)prev_sigs.size(); ++t) { + size_t start = t * chunk; + size_t end = std::min(start + chunk, (size_t)prev_sigs.size()); + threads.emplace_back([&, start, end]() { + for (size_t i = start; i < end; ++i) { + const auto &s = prev_sigs[i]; + const auto &events = can->events(s.id); + auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent()); + auto last = events.cend(); + if (last_time < std::numeric_limits::max()) { + last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent()); + } + + auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); + if (it != last) { + auto values = s.values; + values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); + std::lock_guard lk(lock); + filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); + } + } + }); + } + for (auto &th : threads) th.join(); + histories.push_back(filtered_signals); endResetModel(); } void FindSignalModel::undo() { - if (!histories.isEmpty()) { + if (!histories.empty()) { beginResetModel(); histories.pop_back(); filtered_signals.clear(); - if (!histories.isEmpty()) filtered_signals = histories.back(); + if (!histories.empty()) filtered_signals = histories.back(); endResetModel(); } } @@ -172,7 +186,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags( } void FindSignalDlg::search() { - if (model->histories.isEmpty()) { + if (model->histories.empty()) { setInitialSignals(); } auto v1 = value1->text().toDouble(); @@ -246,12 +260,12 @@ void FindSignalDlg::setInitialSignals() { } void FindSignalDlg::modelReset() { - properties_group->setEnabled(model->histories.isEmpty()); - message_group->setEnabled(model->histories.isEmpty()); - search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next")); - reset_btn->setEnabled(!model->histories.isEmpty()); + properties_group->setEnabled(model->histories.empty()); + message_group->setEnabled(model->histories.empty()); + search_btn->setText(model->histories.empty() ? tr("Find") : tr("Find Next")); + reset_btn->setEnabled(!model->histories.empty()); undo_btn->setEnabled(model->histories.size() > 1); - search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty()); + search_btn->setEnabled(model->rowCount() > 0 || model->histories.empty()); stats_label->setVisible(true); stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size())); } diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h index 5ef7461fee..239a08c9c4 100644 --- a/tools/cabana/tools/findsignal.h +++ b/tools/cabana/tools/findsignal.h @@ -2,6 +2,8 @@ #include #include +#include +#include #include #include @@ -26,14 +28,14 @@ public: QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; } - int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); } + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min((int)filtered_signals.size(), 300); } void search(std::function cmp); void reset(); void undo(); - QList filtered_signals; - QList initial_signals; - QList> histories; + std::vector filtered_signals; + std::vector initial_signals; + std::vector> histories; uint64_t last_time = std::numeric_limits::max(); }; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index c3c659791a..8062b61199 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -1,6 +1,7 @@ #include "tools/cabana/tools/findsimilarbits.h" #include +#include #include #include @@ -31,7 +32,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi msg_cb = new QComboBox(this); // TODO: update when src_bus_combo changes for (auto &[address, msg] : dbc()->getMessages(-1)) { - msg_cb->addItem(msg.name, address); + msg_cb->addItem(QString::fromStdString(msg.name), address); } msg_cb->model()->sort(0); msg_cb->setCurrentIndex(0); @@ -114,10 +115,10 @@ void FindSimilarBitsDlg::find() { search_btn->setEnabled(true); } -QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, - int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) { - QHash> mismatches; - QHash msg_count; +std::vector FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, + int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) { + std::unordered_map> mismatches; + std::unordered_map msg_count; const auto &events = can->allEvents(); int bit_to_find = -1; for (const CanEvent *e : events) { @@ -143,14 +144,14 @@ QList FindSimilarBitsDlg::calcBits(uint8_ } } - QList result; + std::vector result; result.reserve(mismatches.size()); for (auto it = mismatches.begin(); it != mismatches.end(); ++it) { - if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) { - auto &mismatched = it.value(); - for (int i = 0; i < mismatched.size(); ++i) { + if (auto cnt = msg_count[it->first]; cnt > (uint32_t)min_msgs_cnt) { + auto &mismatched = it->second; + for (int i = 0; i < (int)mismatched.size(); ++i) { if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) { - result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc}); + result.push_back({it->first, (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc}); } } } diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index 77bfac19ca..3451360654 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include @@ -22,7 +24,7 @@ private: uint32_t address, byte_idx, bit_idx, mismatches, total; float perc; }; - QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus, + std::vector calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt); void find(); diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc index 79ca97ba8f..a7f910193f 100644 --- a/tools/cabana/utils/export.cc +++ b/tools/cabana/utils/export.cc @@ -26,7 +26,7 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) { QTextStream stream(&file); stream << "time,addr,bus"; for (auto s : msg->sigs) - stream << "," << s->name; + stream << "," << s->name.c_str(); stream << "\n"; for (auto e : can->events(msg_id)) { diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc index 61e4ee0514..50ab764423 100644 --- a/tools/cabana/utils/util.cc +++ b/tools/cabana/utils/util.cc @@ -17,8 +17,7 @@ #include #include #include -#include -#include +#include #include "common/util.h" // SegmentTree @@ -278,7 +277,7 @@ QString signalToolTip(const cabana::Signal *sig) { Start Bit: %2 Size: %3
MSB: %4 LSB: %5
Little Endian: %6 Signed: %7 - )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb) + )").arg(QString::fromStdString(sig->name)).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb) .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); } @@ -325,36 +324,49 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { setSurfaceFormat(); } -static QHash load_bootstrap_icons() { - QHash icons; +static std::unordered_map load_bootstrap_icons() { + std::unordered_map icons; QFile f(":/bootstrap-icons.svg"); if (f.open(QIODevice::ReadOnly | QIODevice::Text)) { - QDomDocument xml; - xml.setContent(&f); - QDomNode n = xml.documentElement().firstChild(); - while (!n.isNull()) { - QDomElement e = n.toElement(); - if (!e.isNull() && e.hasAttribute("id")) { - QString svg_str; - QTextStream stream(&svg_str); - n.save(stream, 0); - svg_str.replace("", ""); - icons[e.attribute("id")] = svg_str.toUtf8(); + std::string content = f.readAll().toStdString(); + const std::string sym_open = " with + svg_str.replace(0, 7, " ""); // "" (9) -> "" (6) + icons[id] = std::move(svg_str); + } } - n = n.nextSibling(); + pos = end; } } return icons; } QPixmap bootstrapPixmap(const QString &id) { - static QHash icons = load_bootstrap_icons(); + static auto icons = load_bootstrap_icons(); QPixmap pixmap; - if (auto it = icons.find(id); it != icons.end()) { - pixmap.loadFromData(it.value(), "svg"); + auto it = icons.find(id.toStdString()); + if (it != icons.end()) { + pixmap.loadFromData((const uchar *)it->second.data(), it->second.size(), "svg"); } return pixmap; } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index a05bf24b4a..f203ec663e 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/videowidget.h" #include +#include #include #include @@ -9,7 +10,6 @@ #include #include #include -#include #include "tools/cabana/tools/routeinfo.h" @@ -334,19 +334,31 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str void StreamCameraView::parseQLog(std::shared_ptr qlog) { std::mutex mutex; - QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) { - if (e.which == cereal::Event::Which::THUMBNAIL) { - capnp::FlatArrayMessageReader reader(e.data); - auto thumb_data = reader.getRoot().getThumbnail(); - auto image_data = thumb_data.getThumbnail(); - if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) { - QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof())); - std::lock_guard lock(mutex); - thumbnails[thumb_data.getTimestampEof()] = generated_thumb; - big_thumbnails[thumb_data.getTimestampEof()] = thumb; + const auto &events = qlog->events; + unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency()); + size_t chunk = (events.size() + num_threads - 1) / num_threads; + std::vector threads; + for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) { + size_t start = t * chunk; + size_t end = std::min(start + chunk, events.size()); + threads.emplace_back([this, &mutex, &events, start, end]() { + for (size_t i = start; i < end; ++i) { + const Event &e = events[i]; + if (e.which == cereal::Event::Which::THUMBNAIL) { + capnp::FlatArrayMessageReader reader(e.data); + auto thumb_data = reader.getRoot().getThumbnail(); + auto image_data = thumb_data.getThumbnail(); + if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) { + QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof())); + std::lock_guard lock(mutex); + thumbnails[thumb_data.getTimestampEof()] = generated_thumb; + big_thumbnails[thumb_data.getTimestampEof()] = thumb; + } + } } - } - }); + }); + } + for (auto &th : threads) th.join(); update(); } @@ -384,9 +396,9 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) { void StreamCameraView::drawScrubThumbnail(QPainter &p) { p.fillRect(rect(), Qt::black); - auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time)); + auto it = big_thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time)); if (it != big_thumbnails.end()) { - QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); + QPixmap scaled_thumb = it->second.scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size()); p.drawPixmap(thumb_rect.topLeft(), scaled_thumb); drawTime(p, thumb_rect, thumbnail_dispaly_time); @@ -394,9 +406,9 @@ void StreamCameraView::drawScrubThumbnail(QPainter &p) { } void StreamCameraView::drawThumbnail(QPainter &p) { - auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time)); + auto it = thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time)); if (it != thumbnails.end()) { - const QPixmap &thumb = it.value(); + const QPixmap &thumb = it->second; auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds())); int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec); int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 6da0023123..e52e92ebd1 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -47,8 +48,8 @@ private: void drawTime(QPainter &p, const QRect &rect, double seconds); QPropertyAnimation *fade_animation; - QMap big_thumbnails; - QMap thumbnails; + std::map big_thumbnails; + std::map thumbnails; double thumbnail_dispaly_time = -1; friend class VideoWidget; }; diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/car_porting/measure_steering_accuracy.py similarity index 100% rename from tools/tuning/measure_steering_accuracy.py rename to tools/car_porting/measure_steering_accuracy.py diff --git a/tools/jotpluggler/README.md b/tools/jotpluggler/README.md deleted file mode 100644 index d5e4b8ab0f..0000000000 --- a/tools/jotpluggler/README.md +++ /dev/null @@ -1,67 +0,0 @@ -# JotPluggler - -JotPluggler is a tool to quickly visualize openpilot logs. - -## Usage - -``` -$ ./jotpluggler/pluggle.py -h -usage: pluggle.py [-h] [--demo] [--layout LAYOUT] [route] - -A tool for visualizing openpilot logs. - -positional arguments: - route Optional route name to load on startup. - -options: - -h, --help show this help message and exit - --demo Use the demo route instead of providing one - --layout LAYOUT Path to YAML layout file to load on startup -``` - -Example using route name: - -`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496"` - -Examples using segment: - -`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496/1"` - -`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496/1/q" # use qlogs` - -Example using segment range: - -`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496/0:1"` - -## Demo - -For a quick demo, run this command: - -`./pluggle.py --demo --layout=layouts/torque-controller.yaml` - - -## Basic Usage/Features: -- The text box to load a route is a the top left of the page, accepts standard openpilot format routes (e.g. `5beb9b58bd12b691/0000010a--a51155e496/0:1`, `https://connect.comma.ai/5beb9b58bd12b691/0000010a--a51155e496/`) -- The Play/Pause button is at the bottom of the screen, you can drag the bottom slider to seek. The timeline in timeseries plots are synced with the slider. -- The Timeseries List sidebar has several dropdowns, the fields each show the field name and value, synced with the timeline (will show N/A until the time of the first message in that field is reached). -- There is a search bar for the timeseries list, you can search for structs or fields, or both by separating with a "/" -- You can drag and drop any numeric/boolean field from the timeseries list into a timeseries panel. -- You can create more panels with the split buttons (buttons with two rectangles, either horizontal or vertical). You can resize the panels by dragging the grip in between any panel. -- You can load and save layouts with the corresponding buttons. Layouts will save all tabs, panels, titles, timeseries, etc. - -## Layouts - -If you create a layout that's useful for others, consider upstreaming it. - -## Plot Interaction Controls - -- **Left click and drag within the plot area** to pan X - - Left click and drag on an axis to pan an individual axis (disabled for Y-axis) -- **Scroll in the plot area** to zoom in X axes, Y-axis is autofit - - Scroll on an axis to zoom an individual axis -- **Right click and drag** to select data and zoom into the selected data - - Left click while box selecting to cancel the selection -- **Double left click** to fit all visible data - - Double left click on an axis to fit the individual axis (disabled for Y-axis, always autofit) -- **Double right click** to open the plot context menu -- **Click legend label icons** to show/hide plot items diff --git a/tools/jotpluggler/assets/pause.png b/tools/jotpluggler/assets/pause.png deleted file mode 100644 index 8040099831..0000000000 --- a/tools/jotpluggler/assets/pause.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3ea96d8193eb9067a5efdc5d88a3099730ecafa40efcd09d7402bb3efd723603 -size 2305 diff --git a/tools/jotpluggler/assets/play.png b/tools/jotpluggler/assets/play.png deleted file mode 100644 index b1556cf0ab..0000000000 --- a/tools/jotpluggler/assets/play.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:53097ac5403b725ff1841dfa186ea770b4bb3714205824bde36ec3c2a0fb5dba -size 2758 diff --git a/tools/jotpluggler/assets/plus.png b/tools/jotpluggler/assets/plus.png deleted file mode 100644 index 6f8388b24d..0000000000 --- a/tools/jotpluggler/assets/plus.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:248b71eafd1b42b0861da92114da3d625221cd88121fff01e0514bf3d79ff3b1 -size 1364 diff --git a/tools/jotpluggler/assets/split_h.png b/tools/jotpluggler/assets/split_h.png deleted file mode 100644 index 4fd88806e1..0000000000 --- a/tools/jotpluggler/assets/split_h.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:54dd035ff898d881509fa686c402a61af8ef5fb408b92414722da01f773b0d33 -size 2900 diff --git a/tools/jotpluggler/assets/split_v.png b/tools/jotpluggler/assets/split_v.png deleted file mode 100644 index 752e62a4ae..0000000000 --- a/tools/jotpluggler/assets/split_v.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:adbd4e5df1f58694dca9dde46d1d95b4e7471684e42e6bca9f41ea5d346e67c5 -size 3669 diff --git a/tools/jotpluggler/assets/x.png b/tools/jotpluggler/assets/x.png deleted file mode 100644 index 3b2eabd447..0000000000 --- a/tools/jotpluggler/assets/x.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a6d9c90cb0dd906e0b15e1f7f3fd9f0dfad3c3b0b34eeed7a7882768dc5f3961 -size 2053 diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py deleted file mode 100644 index 756b87bd20..0000000000 --- a/tools/jotpluggler/data.py +++ /dev/null @@ -1,360 +0,0 @@ -import numpy as np -import threading -import multiprocessing -import bisect -from collections import defaultdict -from tqdm import tqdm -from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.test.process_replay.migration import migrate_all -from openpilot.tools.lib.logreader import _LogFileReader, LogReader - - -def flatten_dict(d: dict, sep: str = "/", prefix: str | None = None) -> dict: - result = {} - stack: list[tuple] = [(d, prefix)] - - while stack: - obj, current_prefix = stack.pop() - - if isinstance(obj, dict): - for key, val in obj.items(): - new_prefix = key if current_prefix is None else f"{current_prefix}{sep}{key}" - if isinstance(val, (dict, list)): - stack.append((val, new_prefix)) - else: - result[new_prefix] = val - elif isinstance(obj, list): - for i, item in enumerate(obj): - new_prefix = f"{current_prefix}{sep}{i}" - if isinstance(item, (dict, list)): - stack.append((item, new_prefix)) - else: - result[new_prefix] = item - else: - if current_prefix is not None: - result[current_prefix] = obj - return result - - -def extract_field_types(schema, prefix, field_types_dict): - stack = [(schema, prefix)] - - while stack: - current_schema, current_prefix = stack.pop() - - for field in current_schema.fields_list: - field_name = field.proto.name - field_path = f"{current_prefix}/{field_name}" - field_proto = field.proto - field_which = field_proto.which() - - field_type = field_proto.slot.type.which() if field_which == 'slot' else field_which - field_types_dict[field_path] = field_type - - if field_which == 'slot': - slot_type = field_proto.slot.type - type_which = slot_type.which() - - if type_which == 'list': - element_type = slot_type.list.elementType.which() - list_path = f"{field_path}/*" - field_types_dict[list_path] = element_type - - if element_type == 'struct': - stack.append((field.schema.elementType, list_path)) - - elif type_which == 'struct': - stack.append((field.schema, field_path)) - - elif field_which == 'group': - stack.append((field.schema, field_path)) - - -def _convert_to_optimal_dtype(values_list, capnp_type): - dtype_mapping = { - 'bool': np.bool_, 'int8': np.int8, 'int16': np.int16, 'int32': np.int32, 'int64': np.int64, - 'uint8': np.uint8, 'uint16': np.uint16, 'uint32': np.uint32, 'uint64': np.uint64, - 'float32': np.float32, 'float64': np.float64, 'text': object, 'data': object, - 'enum': object, 'anyPointer': object, - } - - target_dtype = dtype_mapping.get(capnp_type, object) - return np.array(values_list, dtype=target_dtype) - - -def _match_field_type(field_path, field_types): - if field_path in field_types: - return field_types[field_path] - - path_parts = field_path.split('/') - template_parts = [p if not p.isdigit() else '*' for p in path_parts] - template_path = '/'.join(template_parts) - return field_types.get(template_path) - - -def _get_field_times_values(segment, field_name): - if field_name not in segment: - return None, None - - field_data = segment[field_name] - segment_times = segment['t'] - - if field_data['sparse']: - if len(field_data['t_index']) == 0: - return None, None - return segment_times[field_data['t_index']], field_data['values'] - else: - return segment_times, field_data['values'] - - -def msgs_to_time_series(msgs): - """Extract scalar fields and return (time_series_data, start_time, end_time).""" - collected_data = defaultdict(lambda: {'timestamps': [], 'columns': defaultdict(list), 'sparse_fields': set()}) - field_types = {} - extracted_schemas = set() - min_time = max_time = None - - for msg in msgs: - typ = msg.which() - timestamp = msg.logMonoTime * 1e-9 - if typ != 'initData': - if min_time is None: - min_time = timestamp - max_time = timestamp - - sub_msg = getattr(msg, typ) - if not hasattr(sub_msg, 'to_dict'): - continue - - if hasattr(sub_msg, 'schema') and typ not in extracted_schemas: - extract_field_types(sub_msg.schema, typ, field_types) - extracted_schemas.add(typ) - - try: - msg_dict = sub_msg.to_dict(verbose=True) - except Exception as e: - cloudlog.warning(f"Failed to convert sub_msg.to_dict() for message of type: {typ}: {e}") - continue - - flat_dict = flatten_dict(msg_dict) - flat_dict['_valid'] = msg.valid - field_types[f"{typ}/_valid"] = 'bool' - - type_data = collected_data[typ] - columns, sparse_fields = type_data['columns'], type_data['sparse_fields'] - known_fields = set(columns.keys()) - missing_fields = known_fields - flat_dict.keys() - - for field, value in flat_dict.items(): - if field not in known_fields and type_data['timestamps']: - sparse_fields.add(field) - columns[field].append(value) - if value is None: - sparse_fields.add(field) - - for field in missing_fields: - columns[field].append(None) - sparse_fields.add(field) - - type_data['timestamps'].append(timestamp) - - final_result = {} - for typ, data in collected_data.items(): - if not data['timestamps']: - continue - - typ_result = {'t': np.array(data['timestamps'], dtype=np.float64)} - sparse_fields = data['sparse_fields'] - - for field_name, values in data['columns'].items(): - if len(values) < len(data['timestamps']): - values = [None] * (len(data['timestamps']) - len(values)) + values - sparse_fields.add(field_name) - - capnp_type = _match_field_type(f"{typ}/{field_name}", field_types) - - if field_name in sparse_fields: # extract non-None values and their indices - non_none_indices = [] - non_none_values = [] - for i, value in enumerate(values): - if value is not None: - non_none_indices.append(i) - non_none_values.append(value) - - if non_none_values: # check if indices > uint16 max, currently would require a 1000+ Hz signal since indices are within segments - assert max(non_none_indices) <= 65535, f"Sparse field {typ}/{field_name} has timestamp indices exceeding uint16 max. Max: {max(non_none_indices)}" - - typ_result[field_name] = { - 'values': _convert_to_optimal_dtype(non_none_values, capnp_type), - 'sparse': True, - 't_index': np.array(non_none_indices, dtype=np.uint16), - } - else: # dense representation - typ_result[field_name] = {'values': _convert_to_optimal_dtype(values, capnp_type), 'sparse': False} - - final_result[typ] = typ_result - - return final_result, min_time or 0.0, max_time or 0.0 - - -def _process_segment(segment_identifier: str): - try: - lr = _LogFileReader(segment_identifier, sort_by_time=True) - migrated_msgs = migrate_all(lr) - return msgs_to_time_series(migrated_msgs) - except Exception as e: - cloudlog.warning(f"Warning: Failed to process segment {segment_identifier}: {e}") - return {}, 0.0, 0.0 - - -class DataManager: - def __init__(self): - self._segments = [] - self._segment_starts = [] - self._start_time = 0.0 - self._duration = 0.0 - self._paths = set() - self._observers = [] - self._loading = False - self._lock = threading.RLock() - - def load_route(self, route: str) -> None: - if self._loading: - return - self._reset() - threading.Thread(target=self._load_async, args=(route,), daemon=True).start() - - def get_timeseries(self, path: str): - with self._lock: - msg_type, field = path.split('/', 1) - times, values = [], [] - - for segment in self._segments: - if msg_type in segment: - field_times, field_values = _get_field_times_values(segment[msg_type], field) - if field_times is not None: - times.append(field_times) - values.append(field_values) - - if not times: - return np.array([]), np.array([]) - - combined_times = np.concatenate(times) - self._start_time - - if len(values) > 1: - first_dtype = values[0].dtype - if all(arr.dtype == first_dtype for arr in values): # check if all arrays have compatible dtypes - combined_values = np.concatenate(values) - else: - combined_values = np.concatenate([arr.astype(object) for arr in values]) - else: - combined_values = values[0] if values else np.array([]) - - return combined_times, combined_values - - def get_value_at(self, path: str, time: float): - with self._lock: - MAX_LOOKBACK = 5.0 # seconds - absolute_time = self._start_time + time - message_type, field = path.split('/', 1) - current_index = bisect.bisect_right(self._segment_starts, absolute_time) - 1 - for index in (current_index, current_index - 1): - if not 0 <= index < len(self._segments): - continue - segment = self._segments[index].get(message_type) - if not segment: - continue - times, values = _get_field_times_values(segment, field) - if times is None or len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK): - continue - position = np.searchsorted(times, absolute_time, 'right') - 1 - if position >= 0 and absolute_time - times[position] <= MAX_LOOKBACK: - return values[position] - return None - - def get_all_paths(self): - with self._lock: - return sorted(self._paths) - - def get_duration(self): - with self._lock: - return self._duration - - def is_plottable(self, path: str): - _, values = self.get_timeseries(path) - if len(values) == 0: - return False - return np.issubdtype(values.dtype, np.number) or np.issubdtype(values.dtype, np.bool_) - - def add_observer(self, callback): - with self._lock: - self._observers.append(callback) - - def remove_observer(self, callback): - with self._lock: - if callback in self._observers: - self._observers.remove(callback) - - def _reset(self): - with self._lock: - self._loading = True - self._segments.clear() - self._segment_starts.clear() - self._paths.clear() - self._start_time = self._duration = 0.0 - observers = self._observers.copy() - - for callback in observers: - callback({'reset': True}) - - def _load_async(self, route: str): - try: - lr = LogReader(route, sort_by_time=True) - if not lr.logreader_identifiers: - cloudlog.warning(f"Warning: No log segments found for route: {route}") - return - - total_segments = len(lr.logreader_identifiers) - with self._lock: - observers = self._observers.copy() - for callback in observers: - callback({'metadata_loaded': True, 'total_segments': total_segments}) - - num_processes = max(1, multiprocessing.cpu_count() // 2) - with multiprocessing.Pool(processes=num_processes) as pool, tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar: - for segment_result, start_time, end_time in pool.imap(_process_segment, lr.logreader_identifiers): - pbar.update(1) - if segment_result: - self._add_segment(segment_result, start_time, end_time) - except Exception: - cloudlog.exception(f"Error loading route {route}:") - finally: - self._finalize_loading() - - def _add_segment(self, segment_data: dict, start_time: float, end_time: float): - with self._lock: - self._segments.append(segment_data) - self._segment_starts.append(start_time) - - if len(self._segments) == 1: - self._start_time = start_time - self._duration = end_time - self._start_time - - for msg_type, data in segment_data.items(): - for field_name in data.keys(): - if field_name != 't': - self._paths.add(f"{msg_type}/{field_name}") - - observers = self._observers.copy() - - for callback in observers: - callback({'segment_added': True, 'duration': self._duration, 'segment_count': len(self._segments)}) - - def _finalize_loading(self): - with self._lock: - self._loading = False - observers = self._observers.copy() - duration = self._duration - - for callback in observers: - callback({'loading_complete': True, 'duration': duration}) diff --git a/tools/jotpluggler/datatree.py b/tools/jotpluggler/datatree.py deleted file mode 100644 index 4f3219dc1b..0000000000 --- a/tools/jotpluggler/datatree.py +++ /dev/null @@ -1,315 +0,0 @@ -import os -import re -import threading -import numpy as np -import dearpygui.dearpygui as dpg - - -class DataTreeNode: - def __init__(self, name: str, full_path: str = "", parent=None): - self.name = name - self.full_path = full_path - self.parent = parent - self.children: dict[str, DataTreeNode] = {} - self.filtered_children: dict[str, DataTreeNode] = {} - self.created_children: dict[str, DataTreeNode] = {} - self.is_leaf = False - self.is_plottable: bool | None = None - self.ui_created = False - self.children_ui_created = False - self.ui_tag: str | None = None - - -class DataTree: - MAX_NODES_PER_FRAME = 50 - - def __init__(self, data_manager, playback_manager): - self.data_manager = data_manager - self.playback_manager = playback_manager - self.current_search = "" - self.data_tree = DataTreeNode(name="root") - self._build_queue: dict[str, tuple[DataTreeNode, DataTreeNode, str | int]] = {} # full_path -> (node, parent, before_tag) - self._current_created_paths: set[str] = set() - self._current_filtered_paths: set[str] = set() - self._path_to_node: dict[str, DataTreeNode] = {} # full_path -> node - self._expanded_tags: set[str] = set() - self._item_handlers: dict[str, str] = {} # ui_tag -> handler_tag - self._char_width = None - self._queued_search = None - self._new_data = False - self._ui_lock = threading.RLock() - self._handlers_to_delete = [] - self.data_manager.add_observer(self._on_data_loaded) - - def create_ui(self, parent_tag: str): - with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1): - dpg.add_text("Timeseries List") - dpg.add_separator() - dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data) - dpg.add_separator() - with dpg.child_window(border=False, width=-1, height=-1): - with dpg.group(tag="data_tree_container"): - pass - - def _on_data_loaded(self, data: dict): - with self._ui_lock: - if data.get('segment_added') or data.get('reset'): - self._new_data = True - - def update_frame(self, font): - if self._handlers_to_delete: # we need to do everything in main thread, frame callbacks are flaky - dpg.render_dearpygui_frame() # wait a frame to ensure queued callbacks are done - with self._ui_lock: - for handler in self._handlers_to_delete: - dpg.delete_item(handler) - self._handlers_to_delete.clear() - - with self._ui_lock: - if self._char_width is None: - if size := dpg.get_text_size(" ", font=font): - self._char_width = size[0] / 2 # we scale font 2x and downscale to fix hidpi bug - - if self._new_data: - self._process_path_change() - self._new_data = False - return - - if self._queued_search is not None: - self.current_search = self._queued_search - self._process_path_change() - self._queued_search = None - return - - nodes_processed = 0 - while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME: - child_node, parent, before_tag = self._build_queue.pop(next(iter(self._build_queue))) - parent_tag = "data_tree_container" if parent.name == "root" else parent.ui_tag - if not child_node.ui_created: - if child_node.is_leaf: - self._create_leaf_ui(child_node, parent_tag, before_tag) - else: - self._create_tree_node_ui(child_node, parent_tag, before_tag) - parent.created_children[child_node.name] = parent.children[child_node.name] - self._current_created_paths.add(child_node.full_path) - nodes_processed += 1 - - def _process_path_change(self): - self._build_queue.clear() - search_term = self.current_search.strip().lower() - all_paths = set(self.data_manager.get_all_paths()) - new_filtered_leafs = {path for path in all_paths if self._should_show_path(path, search_term)} - new_filtered_paths = set(new_filtered_leafs) - for path in new_filtered_leafs: - parts = path.split('/') - for i in range(1, len(parts)): - prefix = '/'.join(parts[:i]) - new_filtered_paths.add(prefix) - created_paths_to_remove = self._current_created_paths - new_filtered_paths - filtered_paths_to_remove = self._current_filtered_paths - new_filtered_leafs - - if created_paths_to_remove or filtered_paths_to_remove: - self._remove_paths_from_tree(created_paths_to_remove, filtered_paths_to_remove) - self._apply_expansion_to_tree(self.data_tree, search_term) - - paths_to_add = new_filtered_leafs - self._current_created_paths - if paths_to_add: - self._add_paths_to_tree(paths_to_add) - self._apply_expansion_to_tree(self.data_tree, search_term) - self._current_filtered_paths = new_filtered_paths - - def _remove_paths_from_tree(self, created_paths_to_remove, filtered_paths_to_remove): - for path in sorted(created_paths_to_remove, reverse=True): - current_node = self._path_to_node[path] - - if len(current_node.created_children) == 0: - self._current_created_paths.remove(current_node.full_path) - if item_handler_tag := self._item_handlers.get(current_node.ui_tag): - dpg.configure_item(item_handler_tag, show=False) - self._handlers_to_delete.append(item_handler_tag) - del self._item_handlers[current_node.ui_tag] - dpg.delete_item(current_node.ui_tag) - current_node.ui_created = False - current_node.ui_tag = None - current_node.children_ui_created = False - del current_node.parent.created_children[current_node.name] - del current_node.parent.filtered_children[current_node.name] - - for path in filtered_paths_to_remove: - parts = path.split('/') - current_node = self._path_to_node[path] - - part_array_index = -1 - while len(current_node.filtered_children) == 0 and part_array_index >= -len(parts): - current_node = current_node.parent - if parts[part_array_index] in current_node.filtered_children: - del current_node.filtered_children[parts[part_array_index]] - part_array_index -= 1 - - def _add_paths_to_tree(self, paths): - parent_nodes_to_recheck = set() - for path in sorted(paths): - parts = path.split('/') - current_node = self.data_tree - current_path_prefix = "" - - for i, part in enumerate(parts): - current_path_prefix = f"{current_path_prefix}/{part}" if current_path_prefix else part - if i < len(parts): - parent_nodes_to_recheck.add(current_node) # for incremental changes from new data - if part not in current_node.children: - current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix, parent=current_node) - self._path_to_node[current_path_prefix] = current_node.children[part] - current_node.filtered_children[part] = current_node.children[part] - current_node = current_node.children[part] - - if not current_node.is_leaf: - current_node.is_leaf = True - - for p_node in parent_nodes_to_recheck: - p_node.children_ui_created = False - self._request_children_build(p_node) - - def _get_node_label_and_expand(self, node: DataTreeNode, search_term: str): - label = f"{node.name} ({len(node.filtered_children)} fields)" - expand = len(search_term) > 0 and any(search_term in path for path in self._get_descendant_paths(node)) - if expand and node.parent and len(node.parent.filtered_children) > 100 and len(node.filtered_children) > 2: - label += " (+)" # symbol for large lists which aren't fully expanded for performance (only affects procLog rn) - expand = False - return label, expand - - def _apply_expansion_to_tree(self, node: DataTreeNode, search_term: str): - if node.ui_created and not node.is_leaf and node.ui_tag and dpg.does_item_exist(node.ui_tag): - label, expand = self._get_node_label_and_expand(node, search_term) - if expand: - self._expanded_tags.add(node.ui_tag) - dpg.set_value(node.ui_tag, expand) - elif node.ui_tag in self._expanded_tags: # not expanded and was expanded - self._expanded_tags.remove(node.ui_tag) - dpg.set_value(node.ui_tag, expand) - dpg.delete_item(node.ui_tag, children_only=True) # delete children (not visible since collapsed) - self._reset_ui_state_recursive(node) - node.children_ui_created = False - dpg.set_item_label(node.ui_tag, label) - for child in node.created_children.values(): - self._apply_expansion_to_tree(child, search_term) - - def _reset_ui_state_recursive(self, node: DataTreeNode): - for child in node.created_children.values(): - if child.ui_tag is not None: - if item_handler_tag := self._item_handlers.get(child.ui_tag): - self._handlers_to_delete.append(item_handler_tag) - dpg.configure_item(item_handler_tag, show=False) - del self._item_handlers[child.ui_tag] - self._reset_ui_state_recursive(child) - child.ui_created = False - child.ui_tag = None - child.children_ui_created = False - self._current_created_paths.remove(child.full_path) - node.created_children.clear() - - def search_data(self): - with self._ui_lock: - self._queued_search = dpg.get_value("search_input") - - def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, before: str | int): - node.ui_tag = f"tree_{node.full_path}" - search_term = self.current_search.strip().lower() - label, expand = self._get_node_label_and_expand(node, search_term) - if expand: - self._expanded_tags.add(node.ui_tag) - elif node.ui_tag in self._expanded_tags: - self._expanded_tags.remove(node.ui_tag) - - with dpg.tree_node( - label=label, parent=parent_tag, tag=node.ui_tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True - ): - with dpg.item_handler_registry() as handler_tag: - dpg.add_item_toggled_open_handler(callback=lambda s, a, u: self._request_children_build(node)) - dpg.add_item_visible_handler(callback=lambda s, a, u: self._request_children_build(node)) - dpg.bind_item_handler_registry(node.ui_tag, handler_tag) - self._item_handlers[node.ui_tag] = handler_tag - node.ui_created = True - - def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str, before: str | int): - node.ui_tag = f"leaf_{node.full_path}" - with dpg.group(parent=parent_tag, tag=node.ui_tag, before=before, delay_search=True): - with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp, delay_search=True): - dpg.add_table_column(init_width_or_weight=0.5) - dpg.add_table_column(init_width_or_weight=0.5) - with dpg.table_row(): - dpg.add_text(node.name) - dpg.add_text("N/A", tag=f"value_{node.full_path}") - - if node.is_plottable is None: - node.is_plottable = self.data_manager.is_plottable(node.full_path) - if node.is_plottable: - with dpg.drag_payload(parent=node.ui_tag, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"): - dpg.add_text(f"Plot: {node.full_path}") - - with dpg.item_handler_registry() as handler_tag: - dpg.add_item_visible_handler(callback=self._on_item_visible, user_data=node.full_path) - dpg.bind_item_handler_registry(node.ui_tag, handler_tag) - self._item_handlers[node.ui_tag] = handler_tag - node.ui_created = True - - def _on_item_visible(self, sender, app_data, user_data): - with self._ui_lock: - path = user_data - value_tag = f"value_{path}" - if not dpg.does_item_exist(value_tag): - return - value_column_width = dpg.get_item_rect_size(f"leaf_{path}")[0] // 2 - value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s) - if value is not None: - formatted_value = self.format_and_truncate(value, value_column_width, self._char_width) - dpg.set_value(value_tag, formatted_value) - else: - dpg.set_value(value_tag, "N/A") - - def _request_children_build(self, node: DataTreeNode): - with self._ui_lock: - if not node.children_ui_created and (node.name == "root" or (node.ui_tag is not None and dpg.get_value(node.ui_tag))): # check root or node expanded - sorted_children = sorted(node.filtered_children.values(), key=self._natural_sort_key) - next_existing: list[int | str] = [0] * len(sorted_children) - current_before_tag: int | str = 0 - - for i in range(len(sorted_children) - 1, -1, -1): # calculate "before_tag" for correct ordering when incrementally building tree - child = sorted_children[i] - next_existing[i] = current_before_tag - if child.ui_created: - candidate_tag = f"leaf_{child.full_path}" if child.is_leaf else f"tree_{child.full_path}" - if dpg.does_item_exist(candidate_tag): - current_before_tag = candidate_tag - - for i, child_node in enumerate(sorted_children): - if not child_node.ui_created: - before_tag = next_existing[i] - self._build_queue[child_node.full_path] = (child_node, node, before_tag) - node.children_ui_created = True - - def _should_show_path(self, path: str, search_term: str) -> bool: - if 'DEPRECATED' in path and not os.environ.get('SHOW_DEPRECATED'): - return False - return not search_term or search_term in path.lower() - - def _natural_sort_key(self, node: DataTreeNode): - node_type_key = node.is_leaf - parts = [int(p) if p.isdigit() else p.lower() for p in re.split(r'(\d+)', node.name) if p] - return (node_type_key, parts) - - def _get_descendant_paths(self, node: DataTreeNode): - for child_name, child_node in node.filtered_children.items(): - child_name_lower = child_name.lower() - if child_node.is_leaf: - yield child_name_lower - else: - for path in self._get_descendant_paths(child_node): - yield f"{child_name_lower}/{path}" - - @staticmethod - def format_and_truncate(value, available_width: float, char_width: float) -> str: - s = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value) - max_chars = int(available_width / char_width) - if len(s) > max_chars: - return s[: max(0, max_chars - 3)] + "..." - return s diff --git a/tools/jotpluggler/layout.py b/tools/jotpluggler/layout.py deleted file mode 100644 index 13fbee54e2..0000000000 --- a/tools/jotpluggler/layout.py +++ /dev/null @@ -1,477 +0,0 @@ -import dearpygui.dearpygui as dpg -from openpilot.tools.jotpluggler.data import DataManager -from openpilot.tools.jotpluggler.views import TimeSeriesPanel - -GRIP_SIZE = 4 -MIN_PANE_SIZE = 60 - -class LayoutManager: - def __init__(self, data_manager, playback_manager, worker_manager, scale: float = 1.0): - self.data_manager = data_manager - self.playback_manager = playback_manager - self.worker_manager = worker_manager - self.scale = scale - self.container_tag = "plot_layout_container" - self.tab_bar_tag = "tab_bar_container" - self.tab_content_tag = "tab_content_area" - - self.active_tab = 0 - initial_panel_layout = PanelLayoutManager(data_manager, playback_manager, worker_manager, scale) - self.tabs: dict = {0: {"name": "Tab 1", "panel_layout": initial_panel_layout}} - self._next_tab_id = self.active_tab + 1 - - def to_dict(self) -> dict: - return { - "tabs": { - str(tab_id): { - "name": tab_data["name"], - "panel_layout": tab_data["panel_layout"].to_dict() - } - for tab_id, tab_data in self.tabs.items() - } - } - - def clear_and_load_from_dict(self, data: dict): - tab_ids_to_close = list(self.tabs.keys()) - for tab_id in tab_ids_to_close: - self.close_tab(tab_id, force=True) - - for tab_id_str, tab_data in data["tabs"].items(): - tab_id = int(tab_id_str) - panel_layout = PanelLayoutManager.load_from_dict( - tab_data["panel_layout"], self.data_manager, self.playback_manager, - self.worker_manager, self.scale - ) - self.tabs[tab_id] = { - "name": tab_data["name"], - "panel_layout": panel_layout - } - - self.active_tab = min(self.tabs.keys()) if self.tabs else 0 - self._next_tab_id = max(self.tabs.keys()) + 1 if self.tabs else 1 - - def create_ui(self, parent_tag: str): - if dpg.does_item_exist(self.container_tag): - dpg.delete_item(self.container_tag) - - with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True): - self._create_tab_bar() - self._create_tab_content() - dpg.bind_item_theme(self.tab_bar_tag, "tab_bar_theme") - - def _create_tab_bar(self): - text_size = int(13 * self.scale) - with dpg.child_window(tag=self.tab_bar_tag, parent=self.container_tag, height=(text_size + 8), border=False, horizontal_scrollbar=True): - with dpg.group(horizontal=True, tag="tab_bar_group"): - for tab_id, tab_data in self.tabs.items(): - self._create_tab_ui(tab_id, tab_data["name"]) - dpg.add_image_button(texture_tag="plus_texture", callback=self.add_tab, width=text_size, height=text_size, tag="add_tab_button") - dpg.bind_item_theme("add_tab_button", "inactive_tab_theme") - - def _create_tab_ui(self, tab_id: int, tab_name: str): - text_size = int(13 * self.scale) - tab_width = int(140 * self.scale) - with dpg.child_window(width=tab_width, height=-1, border=False, no_scrollbar=True, tag=f"tab_window_{tab_id}", parent="tab_bar_group"): - with dpg.group(horizontal=True, tag=f"tab_group_{tab_id}"): - dpg.add_input_text( - default_value=tab_name, width=tab_width - text_size - 16, callback=lambda s, v, u: self.rename_tab(u, v), user_data=tab_id, tag=f"tab_input_{tab_id}" - ) - dpg.add_image_button( - texture_tag="x_texture", callback=lambda s, a, u: self.close_tab(u), user_data=tab_id, width=text_size, height=text_size, tag=f"tab_close_{tab_id}" - ) - with dpg.item_handler_registry(tag=f"tab_handler_{tab_id}"): - dpg.add_item_clicked_handler(callback=lambda s, a, u: self.switch_tab(u), user_data=tab_id) - dpg.bind_item_handler_registry(f"tab_group_{tab_id}", f"tab_handler_{tab_id}") - - theme_tag = "active_tab_theme" if tab_id == self.active_tab else "inactive_tab_theme" - dpg.bind_item_theme(f"tab_window_{tab_id}", theme_tag) - - def _create_tab_content(self): - with dpg.child_window(tag=self.tab_content_tag, parent=self.container_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True): - if self.active_tab in self.tabs: - active_panel_layout = self.tabs[self.active_tab]["panel_layout"] - active_panel_layout.create_ui() - - def add_tab(self): - new_panel_layout = PanelLayoutManager(self.data_manager, self.playback_manager, self.worker_manager, self.scale) - new_tab = {"name": f"Tab {self._next_tab_id + 1}", "panel_layout": new_panel_layout} - self.tabs[self._next_tab_id] = new_tab - self._create_tab_ui(self._next_tab_id, new_tab["name"]) - dpg.move_item("add_tab_button", parent="tab_bar_group") # move plus button to end - self.switch_tab(self._next_tab_id) - self._next_tab_id += 1 - - def close_tab(self, tab_id: int, force = False): - if len(self.tabs) <= 1 and not force: - return # don't allow closing the last tab - - tab_to_close = self.tabs[tab_id] - tab_to_close["panel_layout"].destroy_ui() - for suffix in ["window", "group", "input", "close", "handler"]: - tag = f"tab_{suffix}_{tab_id}" - if dpg.does_item_exist(tag): - dpg.delete_item(tag) - del self.tabs[tab_id] - - if self.active_tab == tab_id and self.tabs: # switch to another tab if we closed the active one - self.active_tab = next(iter(self.tabs.keys())) - self._switch_tab_content() - dpg.bind_item_theme(f"tab_window_{self.active_tab}", "active_tab_theme") - - def switch_tab(self, tab_id: int): - if tab_id == self.active_tab or tab_id not in self.tabs: - return - - current_panel_layout = self.tabs[self.active_tab]["panel_layout"] - current_panel_layout.destroy_ui() - dpg.bind_item_theme(f"tab_window_{self.active_tab}", "inactive_tab_theme") # deactivate old tab - self.active_tab = tab_id - dpg.bind_item_theme(f"tab_window_{tab_id}", "active_tab_theme") # activate new tab - self._switch_tab_content() - - def _switch_tab_content(self): - dpg.delete_item(self.tab_content_tag, children_only=True) - active_panel_layout = self.tabs[self.active_tab]["panel_layout"] - active_panel_layout.create_ui() - active_panel_layout.update_all_panels() - - def rename_tab(self, tab_id: int, new_name: str): - if tab_id in self.tabs: - self.tabs[tab_id]["name"] = new_name - - def update_all_panels(self): - self.tabs[self.active_tab]["panel_layout"].update_all_panels() - - def on_viewport_resize(self): - self.tabs[self.active_tab]["panel_layout"].on_viewport_resize() - -class PanelLayoutManager: - def __init__(self, data_manager: DataManager, playback_manager, worker_manager, scale: float = 1.0): - self.data_manager = data_manager - self.playback_manager = playback_manager - self.worker_manager = worker_manager - self.scale = scale - self.active_panels: list = [] - self.parent_tag = "tab_content_area" - self._queue_resize = False - self._created_handler_tags: set[str] = set() - - self.grip_size = int(GRIP_SIZE * self.scale) - self.min_pane_size = int(MIN_PANE_SIZE * self.scale) - - initial_panel = TimeSeriesPanel(data_manager, playback_manager, worker_manager) - self.layout: dict = {"type": "panel", "panel": initial_panel} - - def to_dict(self) -> dict: - return self._layout_to_dict(self.layout) - - def _layout_to_dict(self, layout: dict) -> dict: - if layout["type"] == "panel": - return { - "type": "panel", - "panel": layout["panel"].to_dict() - } - else: # split - return { - "type": "split", - "orientation": layout["orientation"], - "proportions": layout["proportions"], - "children": [self._layout_to_dict(child) for child in layout["children"]] - } - - @classmethod - def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager, scale: float = 1.0): - manager = cls(data_manager, playback_manager, worker_manager, scale) - manager.layout = manager._dict_to_layout(data) - return manager - - def _dict_to_layout(self, data: dict) -> dict: - if data["type"] == "panel": - panel_data = data["panel"] - if panel_data["type"] == "timeseries": - panel = TimeSeriesPanel.load_from_dict( - panel_data, self.data_manager, self.playback_manager, self.worker_manager - ) - return {"type": "panel", "panel": panel} - else: - # Handle future panel types here or make a general mapping - raise ValueError(f"Unknown panel type: {panel_data['type']}") - else: # split - return { - "type": "split", - "orientation": data["orientation"], - "proportions": data["proportions"], - "children": [self._dict_to_layout(child) for child in data["children"]] - } - - def create_ui(self): - self.active_panels.clear() - if dpg.does_item_exist(self.parent_tag): - dpg.delete_item(self.parent_tag, children_only=True) - self._cleanup_all_handlers() - - container_width, container_height = dpg.get_item_rect_size(self.parent_tag) - if container_width == 0 and container_height == 0: - self._queue_resize = True - self._create_ui_recursive(self.layout, self.parent_tag, [], container_width, container_height) - - def destroy_ui(self): - self._cleanup_ui_recursive(self.layout, []) - self._cleanup_all_handlers() - self.active_panels.clear() - - def _cleanup_all_handlers(self): - for handler_tag in list(self._created_handler_tags): - if dpg.does_item_exist(handler_tag): - dpg.delete_item(handler_tag) - self._created_handler_tags.clear() - - def _create_ui_recursive(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int): - if layout["type"] == "panel": - self._create_panel_ui(layout, parent_tag, path, width, height) - else: - self._create_split_ui(layout, parent_tag, path, width, height) - - def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int): - panel_tag = self._path_to_tag(path, "panel") - panel = layout["panel"] - self.active_panels.append(panel) - text_size = int(13 * self.scale) - bar_height = (text_size + 24) if width < int(329 * self.scale + 64) else (text_size + 8) # adjust height to allow for scrollbar - - with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True): - with dpg.group(horizontal=True): - with dpg.child_window(tag=panel_tag, width=-(text_size + 16), height=bar_height, horizontal_scrollbar=True, no_scroll_with_mouse=True, border=False): - with dpg.group(horizontal=True): - # if you change the widths make sure to change the sum of widths (currently 329 * scale) - dpg.add_input_text(default_value=panel.title, width=int(150 * self.scale), callback=lambda s, v: setattr(panel, "title", v)) - dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale)) - dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale)) - dpg.add_image_button(texture_tag="split_h_texture", callback=lambda: self.split_panel(path, 0), width=text_size, height=text_size) - dpg.add_image_button(texture_tag="split_v_texture", callback=lambda: self.split_panel(path, 1), width=text_size, height=text_size) - dpg.add_image_button(texture_tag="x_texture", callback=lambda: self.delete_panel(path), width=text_size, height=text_size) - - dpg.add_separator() - - content_tag = self._path_to_tag(path, "content") - with dpg.child_window(tag=content_tag, border=False, height=-1, width=-1, no_scrollbar=True): - panel.create_ui(content_tag) - - def _create_split_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int): - split_tag = self._path_to_tag(path, "split") - orientation, _, pane_sizes = self._get_split_geometry(layout, (width, height)) - - with dpg.group(tag=split_tag, parent=parent_tag, horizontal=orientation == 0): - for i, child_layout in enumerate(layout["children"]): - child_path = path + [i] - container_tag = self._path_to_tag(child_path, "container") - pane_width, pane_height = [(pane_sizes[i], -1), (-1, pane_sizes[i])][orientation] # fill 2nd dim up to the border - with dpg.child_window(tag=container_tag, width=pane_width, height=pane_height, border=False, no_scrollbar=True): - child_width, child_height = [(pane_sizes[i], height), (width, pane_sizes[i])][orientation] - self._create_ui_recursive(child_layout, container_tag, child_path, child_width, child_height) - if i < len(layout["children"]) - 1: - self._create_grip(split_tag, path, i, orientation) - - def clear_panel(self, panel): - panel.clear() - - def delete_panel(self, panel_path: list[int]): - if not panel_path: # Root deletion - old_panel = self.layout["panel"] - old_panel.destroy_ui() - self.active_panels.remove(old_panel) - new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager) - self.layout = {"type": "panel", "panel": new_panel} - self._rebuild_ui_at_path([]) - return - - parent, child_index = self._get_parent_and_index(panel_path) - layout_to_delete = parent["children"][child_index] - self._cleanup_ui_recursive(layout_to_delete, panel_path) - - parent["children"].pop(child_index) - parent["proportions"].pop(child_index) - - if len(parent["children"]) == 1: # remove parent and collapse - remaining_child = parent["children"][0] - if len(panel_path) == 1: # parent is at root level - promote remaining child to root - self.layout = remaining_child - self._rebuild_ui_at_path([]) - else: # replace parent with remaining child in grandparent - grandparent_path = panel_path[:-2] - parent_index = panel_path[-2] - self._replace_layout_at_path(grandparent_path + [parent_index], remaining_child) - self._rebuild_ui_at_path(grandparent_path + [parent_index]) - else: # redistribute proportions - equal_prop = 1.0 / len(parent["children"]) - parent["proportions"] = [equal_prop] * len(parent["children"]) - self._rebuild_ui_at_path(panel_path[:-1]) - - def split_panel(self, panel_path: list[int], orientation: int): - current_layout = self._get_layout_at_path(panel_path) - existing_panel = current_layout["panel"] - new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager) - parent, child_index = self._get_parent_and_index(panel_path) - - if parent is None: # Root split - self.layout = { - "type": "split", - "orientation": orientation, - "children": [{"type": "panel", "panel": existing_panel}, {"type": "panel", "panel": new_panel}], - "proportions": [0.5, 0.5], - } - self._rebuild_ui_at_path([]) - elif parent["type"] == "split" and parent["orientation"] == orientation: # Same orientation - insert into existing split - parent["children"].insert(child_index + 1, {"type": "panel", "panel": new_panel}) - parent["proportions"] = [1.0 / len(parent["children"])] * len(parent["children"]) - self._rebuild_ui_at_path(panel_path[:-1]) - else: # Different orientation - create new split level - new_split = {"type": "split", "orientation": orientation, "children": [current_layout, {"type": "panel", "panel": new_panel}], "proportions": [0.5, 0.5]} - self._replace_layout_at_path(panel_path, new_split) - self._rebuild_ui_at_path(panel_path) - - def _rebuild_ui_at_path(self, path: list[int]): - layout = self._get_layout_at_path(path) - if path: - container_tag = self._path_to_tag(path, "container") - else: # Root update - container_tag = self.parent_tag - - self._cleanup_ui_recursive(layout, path) - dpg.delete_item(container_tag, children_only=True) - width, height = dpg.get_item_rect_size(container_tag) - self._create_ui_recursive(layout, container_tag, path, width, height) - - def _cleanup_ui_recursive(self, layout: dict, path: list[int]): - if layout["type"] == "panel": - panel = layout["panel"] - panel.destroy_ui() - if panel in self.active_panels: - self.active_panels.remove(panel) - else: - for i in range(len(layout["children"]) - 1): - handler_tag = f"{self._path_to_tag(path, f'grip_{i}')}_handler" - if dpg.does_item_exist(handler_tag): - dpg.delete_item(handler_tag) - self._created_handler_tags.discard(handler_tag) - - for i, child in enumerate(layout["children"]): - self._cleanup_ui_recursive(child, path + [i]) - - def update_all_panels(self): - if self._queue_resize: - if (size := dpg.get_item_rect_size(self.parent_tag)) != [0, 0]: - self._queue_resize = False - self._resize_splits_recursive(self.layout, [], *size) - for panel in self.active_panels: - panel.update() - - def on_viewport_resize(self): - self._resize_splits_recursive(self.layout, []) - - def _resize_splits_recursive(self, layout: dict, path: list[int], width: int | None = None, height: int | None = None): - if layout["type"] == "split": - split_tag = self._path_to_tag(path, "split") - if dpg.does_item_exist(split_tag): - available_sizes = (width, height) if width and height else dpg.get_item_rect_size(dpg.get_item_parent(split_tag)) - orientation, _, pane_sizes = self._get_split_geometry(layout, available_sizes) - size_properties = ("width", "height") - - for i, child_layout in enumerate(layout["children"]): - child_path = path + [i] - container_tag = self._path_to_tag(child_path, "container") - if dpg.does_item_exist(container_tag): - dpg.configure_item(container_tag, **{size_properties[orientation]: pane_sizes[i]}) - child_width, child_height = [(pane_sizes[i], available_sizes[1]), (available_sizes[0], pane_sizes[i])][orientation] - self._resize_splits_recursive(child_layout, child_path, child_width, child_height) - else: # leaf node/panel - adjust bar height to allow for scrollbar - panel_tag = self._path_to_tag(path, "panel") - if width is not None and width < int(329 * self.scale + 64): # scaled widths of the elements in top bar + fixed 8 padding on left and right of each item - dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 24)) - else: - dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 8)) - - def _get_split_geometry(self, layout: dict, available_size: tuple[int, int]) -> tuple[int, int, list[int]]: - orientation = layout["orientation"] - num_grips = len(layout["children"]) - 1 - usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * (self.grip_size + 8 * (2 - orientation)))) # approximate, scaling is weird - pane_sizes = [max(self.min_pane_size, int(usable_size * prop)) for prop in layout["proportions"]] - return orientation, usable_size, pane_sizes - - def _get_layout_at_path(self, path: list[int]) -> dict: - current = self.layout - for index in path: - current = current["children"][index] - return current - - def _get_parent_and_index(self, path: list[int]) -> tuple: - return (None, -1) if not path else (self._get_layout_at_path(path[:-1]), path[-1]) - - def _replace_layout_at_path(self, path: list[int], new_layout: dict): - if not path: - self.layout = new_layout - else: - parent, index = self._get_parent_and_index(path) - parent["children"][index] = new_layout - - def _path_to_tag(self, path: list[int], prefix: str = "") -> str: - path_str = "_".join(map(str, path)) if path else "root" - return f"{prefix}_{path_str}" if prefix else path_str - - def _create_grip(self, parent_tag: str, path: list[int], grip_index: int, orientation: int): - grip_tag = self._path_to_tag(path, f"grip_{grip_index}") - handler_tag = f"{grip_tag}_handler" - width, height = [(self.grip_size, -1), (-1, self.grip_size)][orientation] - - with dpg.child_window(tag=grip_tag, parent=parent_tag, width=width, height=height, no_scrollbar=True, border=False): - button_tag = dpg.add_button(label="", width=-1, height=-1) - - with dpg.item_handler_registry(tag=handler_tag): - user_data = (path, grip_index, orientation) - dpg.add_item_active_handler(callback=self._on_grip_drag, user_data=user_data) - dpg.add_item_deactivated_handler(callback=self._on_grip_end, user_data=user_data) - dpg.bind_item_handler_registry(button_tag, handler_tag) - self._created_handler_tags.add(handler_tag) - - def _on_grip_drag(self, sender, app_data, user_data): - path, grip_index, orientation = user_data - layout = self._get_layout_at_path(path) - - if "_drag_data" not in layout: - layout["_drag_data"] = {"initial_proportions": layout["proportions"][:], "start_mouse": dpg.get_mouse_pos(local=False)[orientation]} - return - - drag_data = layout["_drag_data"] - split_tag = self._path_to_tag(path, "split") - if not dpg.does_item_exist(split_tag): - return - - _, usable_size, _ = self._get_split_geometry(layout, dpg.get_item_rect_size(split_tag)) - current_coord = dpg.get_mouse_pos(local=False)[orientation] - delta = current_coord - drag_data["start_mouse"] - delta_prop = delta / usable_size - - left_idx = grip_index - right_idx = left_idx + 1 - initial = drag_data["initial_proportions"] - min_prop = self.min_pane_size / usable_size - - new_left = max(min_prop, initial[left_idx] + delta_prop) - new_right = max(min_prop, initial[right_idx] - delta_prop) - - total_available = initial[left_idx] + initial[right_idx] - if new_left + new_right > total_available: - if new_left > new_right: - new_left = total_available - new_right - else: - new_right = total_available - new_left - - layout["proportions"] = initial[:] - layout["proportions"][left_idx] = new_left - layout["proportions"][right_idx] = new_right - - self._resize_splits_recursive(layout, path) - - def _on_grip_end(self, sender, app_data, user_data): - path, _, _ = user_data - self._get_layout_at_path(path).pop("_drag_data", None) diff --git a/tools/jotpluggler/layouts/torque-controller.yaml b/tools/jotpluggler/layouts/torque-controller.yaml deleted file mode 100644 index 5503be9e64..0000000000 --- a/tools/jotpluggler/layouts/torque-controller.yaml +++ /dev/null @@ -1,128 +0,0 @@ -tabs: - '0': - name: Lateral Plan Conformance - panel_layout: - type: split - orientation: 1 - proportions: - - 0.3333333333333333 - - 0.3333333333333333 - - 0.3333333333333333 - children: - - type: panel - panel: - type: timeseries - title: desired vs actual - series_paths: - - controlsState/lateralControlState/torqueState/desiredLateralAccel - - controlsState/lateralControlState/torqueState/actualLateralAccel - - type: panel - panel: - type: timeseries - title: ff vs output - series_paths: - - controlsState/lateralControlState/torqueState/f - - carState/steeringPressed - - carControl/actuators/torque - - type: panel - panel: - type: timeseries - title: vehicle speed - series_paths: - - carState/vEgo - '1': - name: Actuator Performance - panel_layout: - type: split - orientation: 1 - proportions: - - 0.3333333333333333 - - 0.3333333333333333 - - 0.3333333333333333 - children: - - type: panel - panel: - type: timeseries - title: calc vs learned latAccelFactor - series_paths: - - liveTorqueParameters/latAccelFactorFiltered - - liveTorqueParameters/latAccelFactorRaw - - carParams/lateralTuning/torque/latAccelFactor - - type: panel - panel: - type: timeseries - title: learned latAccelOffset - series_paths: - - liveTorqueParameters/latAccelOffsetRaw - - liveTorqueParameters/latAccelOffsetFiltered - - type: panel - panel: - type: timeseries - title: calc vs learned friction - series_paths: - - liveTorqueParameters/frictionCoefficientFiltered - - liveTorqueParameters/frictionCoefficientRaw - - carParams/lateralTuning/torque/friction - '2': - name: Vehicle Dynamics - panel_layout: - type: split - orientation: 1 - proportions: - - 0.3333333333333333 - - 0.3333333333333333 - - 0.3333333333333333 - children: - - type: panel - panel: - type: timeseries - title: initial vs learned steerRatio - series_paths: - - carParams/steerRatio - - liveParameters/steerRatio - - type: panel - panel: - type: timeseries - title: initial vs learned tireStiffnessFactor - series_paths: - - carParams/tireStiffnessFactor - - liveParameters/stiffnessFactor - - type: panel - panel: - type: timeseries - title: live steering angle offsets - series_paths: - - liveParameters/angleOffsetDeg - - liveParameters/angleOffsetAverageDeg - '3': - name: Controller PIF Terms - panel_layout: - type: split - orientation: 1 - proportions: - - 0.3333333333333333 - - 0.3333333333333333 - - 0.3333333333333333 - children: - - type: panel - panel: - type: timeseries - title: ff vs output - series_paths: - - carControl/actuators/torque - - controlsState/lateralControlState/torqueState/f - - carState/steeringPressed - - type: panel - panel: - type: timeseries - title: PIF terms - series_paths: - - controlsState/lateralControlState/torqueState/f - - controlsState/lateralControlState/torqueState/p - - controlsState/lateralControlState/torqueState/i - - type: panel - panel: - type: timeseries - title: road roll angle - series_paths: - - liveParameters/roll diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py deleted file mode 100755 index 2fb6e3e2f4..0000000000 --- a/tools/jotpluggler/pluggle.py +++ /dev/null @@ -1,368 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -import dearpygui.dearpygui as dpg -import multiprocessing -import uuid -import signal -import yaml -from openpilot.common.swaglog import cloudlog -from openpilot.common.basedir import BASEDIR -from openpilot.tools.jotpluggler.data import DataManager -from openpilot.tools.jotpluggler.datatree import DataTree -from openpilot.tools.jotpluggler.layout import LayoutManager - -DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496" - - -class WorkerManager: - def __init__(self, max_workers=None): - self.pool = multiprocessing.Pool(max_workers or min(4, multiprocessing.cpu_count()), initializer=WorkerManager.worker_initializer) - self.active_tasks = {} - - def submit_task(self, func, args_list, callback=None, task_id=None): - task_id = task_id or str(uuid.uuid4()) - - if task_id in self.active_tasks: - try: - self.active_tasks[task_id].terminate() - except Exception: - pass - - def handle_success(result): - self.active_tasks.pop(task_id, None) - if callback: - try: - callback(result) - except Exception as e: - print(f"Callback for task {task_id} failed: {e}") - - def handle_error(error): - self.active_tasks.pop(task_id, None) - print(f"Task {task_id} failed: {error}") - - async_result = self.pool.starmap_async(func, args_list, callback=handle_success, error_callback=handle_error) - self.active_tasks[task_id] = async_result - return task_id - - @staticmethod - def worker_initializer(): - signal.signal(signal.SIGINT, signal.SIG_IGN) - - def shutdown(self): - for task in self.active_tasks.values(): - try: - task.terminate() - except Exception: - pass - self.pool.terminate() - self.pool.join() - - -class PlaybackManager: - def __init__(self): - self.is_playing = False - self.current_time_s = 0.0 - self.duration_s = 0.0 - self.num_segments = 0 - - self.x_axis_bounds = (0.0, 0.0) # (min_time, max_time) - self.x_axis_observers = [] # callbacks for x-axis changes - self._updating_x_axis = False - - def set_route_duration(self, duration: float): - self.duration_s = duration - self.seek(min(self.current_time_s, duration)) - - def toggle_play_pause(self): - if not self.is_playing and self.current_time_s >= self.duration_s: - self.seek(0.0) - self.is_playing = not self.is_playing - texture_tag = "pause_texture" if self.is_playing else "play_texture" - dpg.configure_item("play_pause_button", texture_tag=texture_tag) - - def seek(self, time_s: float): - self.current_time_s = max(0.0, min(time_s, self.duration_s)) - - def update_time(self, delta_t: float): - if self.is_playing: - self.current_time_s = min(self.current_time_s + delta_t, self.duration_s) - if self.current_time_s >= self.duration_s: - self.is_playing = False - dpg.configure_item("play_pause_button", texture_tag="play_texture") - return self.current_time_s - - def set_x_axis_bounds(self, min_time: float, max_time: float, source_panel=None): - if self._updating_x_axis: - return - - new_bounds = (min_time, max_time) - if new_bounds == self.x_axis_bounds: - return - - self.x_axis_bounds = new_bounds - self._updating_x_axis = True # prevent recursive updates - - try: - for callback in self.x_axis_observers: - try: - callback(min_time, max_time, source_panel) - except Exception as e: - print(f"Error in x-axis sync callback: {e}") - finally: - self._updating_x_axis = False - - def add_x_axis_observer(self, callback): - if callback not in self.x_axis_observers: - self.x_axis_observers.append(callback) - - def remove_x_axis_observer(self, callback): - if callback in self.x_axis_observers: - self.x_axis_observers.remove(callback) - -class MainController: - def __init__(self, scale: float = 1.0): - self.scale = scale - self.data_manager = DataManager() - self.playback_manager = PlaybackManager() - self.worker_manager = WorkerManager() - self._create_global_themes() - self.data_tree = DataTree(self.data_manager, self.playback_manager) - self.layout_manager = LayoutManager(self.data_manager, self.playback_manager, self.worker_manager, scale=self.scale) - self.data_manager.add_observer(self.on_data_loaded) - self._total_segments = 0 - - def _create_global_themes(self): - with dpg.theme(tag="line_theme"): - with dpg.theme_component(dpg.mvLineSeries): - scaled_thickness = max(1.0, self.scale) - dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots) - - with dpg.theme(tag="timeline_theme"): - with dpg.theme_component(dpg.mvInfLineSeries): - scaled_thickness = max(1.0, self.scale) - dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots) - dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots) - - for tag, color in (("active_tab_theme", (37, 37, 38, 255)), ("inactive_tab_theme", (70, 70, 75, 255))): - with dpg.theme(tag=tag): - for cmp, target in ((dpg.mvChildWindow, dpg.mvThemeCol_ChildBg), (dpg.mvInputText, dpg.mvThemeCol_FrameBg), (dpg.mvImageButton, dpg.mvThemeCol_Button)): - with dpg.theme_component(cmp): - dpg.add_theme_color(target, color) - - with dpg.theme(tag="tab_bar_theme"): - with dpg.theme_component(dpg.mvChildWindow): - dpg.add_theme_color(dpg.mvThemeCol_ChildBg, (51, 51, 55, 255)) - - def on_data_loaded(self, data: dict): - duration = data.get('duration', 0.0) - self.playback_manager.set_route_duration(duration) - - if data.get('metadata_loaded'): - self.playback_manager.num_segments = data.get('total_segments', 0) - self._total_segments = data.get('total_segments', 0) - dpg.set_value("load_status", f"Loading... 0/{self._total_segments} segments processed") - elif data.get('reset'): - self.playback_manager.current_time_s = 0.0 - self.playback_manager.duration_s = 0.0 - self.playback_manager.is_playing = False - self._total_segments = 0 - dpg.set_value("load_status", "Loading...") - dpg.set_value("timeline_slider", 0.0) - dpg.configure_item("timeline_slider", max_value=0.0) - dpg.configure_item("play_pause_button", texture_tag="play_texture") - dpg.configure_item("load_button", enabled=True) - elif data.get('loading_complete'): - num_paths = len(self.data_manager.get_all_paths()) - dpg.set_value("load_status", f"Loaded {num_paths} data paths") - dpg.configure_item("load_button", enabled=True) - elif data.get('segment_added'): - segment_count = data.get('segment_count', 0) - dpg.set_value("load_status", f"Loading... {segment_count}/{self._total_segments} segments processed") - - dpg.configure_item("timeline_slider", max_value=duration) - - def save_layout_to_yaml(self, filepath: str): - layout_dict = self.layout_manager.to_dict() - with open(filepath, 'w') as f: - yaml.dump(layout_dict, f, default_flow_style=False, sort_keys=False) - - def load_layout_from_yaml(self, filepath: str): - with open(filepath) as f: - layout_dict = yaml.safe_load(f) - self.layout_manager.clear_and_load_from_dict(layout_dict) - self.layout_manager.create_ui("main_plot_area") - - def save_layout_dialog(self): - if dpg.does_item_exist("save_layout_dialog"): - dpg.delete_item("save_layout_dialog") - with dpg.file_dialog( - callback=self._save_layout_callback, tag="save_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale), - default_filename="layout", default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts") - ): - dpg.add_file_extension(".yaml") - - def load_layout_dialog(self): - if dpg.does_item_exist("load_layout_dialog"): - dpg.delete_item("load_layout_dialog") - with dpg.file_dialog( - callback=self._load_layout_callback, tag="load_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale), - default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts") - ): - dpg.add_file_extension(".yaml") - - def _save_layout_callback(self, sender, app_data): - filepath = app_data['file_path_name'] - try: - self.save_layout_to_yaml(filepath) - dpg.set_value("load_status", f"Layout saved to {os.path.basename(filepath)}") - except Exception: - dpg.set_value("load_status", "Error saving layout") - cloudlog.exception(f"Error saving layout to {filepath}") - dpg.delete_item("save_layout_dialog") - - def _load_layout_callback(self, sender, app_data): - filepath = app_data['file_path_name'] - try: - self.load_layout_from_yaml(filepath) - dpg.set_value("load_status", f"Layout loaded from {os.path.basename(filepath)}") - except Exception: - dpg.set_value("load_status", "Error loading layout") - cloudlog.exception(f"Error loading layout from {filepath}:") - dpg.delete_item("load_layout_dialog") - - def setup_ui(self): - with dpg.texture_registry(): - script_dir = os.path.dirname(os.path.realpath(__file__)) - for image in ["play", "pause", "x", "split_h", "split_v", "plus"]: - texture = dpg.load_image(os.path.join(script_dir, "assets", f"{image}.png")) - dpg.add_static_texture(width=texture[0], height=texture[1], default_value=texture[3], tag=f"{image}_texture") - - with dpg.window(tag="Primary Window"): - with dpg.group(horizontal=True): - # Left panel - Data tree - with dpg.child_window(label="Sidebar", width=int(300 * self.scale), tag="sidebar_window", border=True, resizable_x=True): - with dpg.group(horizontal=True): - dpg.add_input_text(tag="route_input", width=int(-75 * self.scale), hint="Enter route name...") - dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1) - dpg.add_text("Ready to load route", tag="load_status") - dpg.add_separator() - - with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp): - dpg.add_table_column(init_width_or_weight=0.5) - dpg.add_table_column(init_width_or_weight=0.5) - with dpg.table_row(): - dpg.add_button(label="Save Layout", callback=self.save_layout_dialog, width=-1) - dpg.add_button(label="Load Layout", callback=self.load_layout_dialog, width=-1) - dpg.add_separator() - - self.data_tree.create_ui("sidebar_window") - - # Right panel - Plots and timeline - with dpg.group(tag="right_panel"): - with dpg.child_window(label="Plot Window", border=True, height=int(-(32 + 13 * self.scale)), tag="main_plot_area"): - self.layout_manager.create_ui("main_plot_area") - - with dpg.child_window(label="Timeline", border=True): - with dpg.table(header_row=False): - btn_size = int(13 * self.scale) - dpg.add_table_column(width_fixed=True, init_width_or_weight=(btn_size + 8)) # Play button - dpg.add_table_column(width_stretch=True) # Timeline slider - dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale)) # FPS counter - with dpg.table_row(): - dpg.add_image_button(texture_tag="play_texture", tag="play_pause_button", callback=self.toggle_play_pause, width=btn_size, height=btn_size) - dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag) - dpg.add_text("", tag="fps_counter") - with dpg.item_handler_registry(tag="plot_resize_handler"): - dpg.add_item_resize_handler(callback=self.on_plot_resize) - dpg.bind_item_handler_registry("right_panel", "plot_resize_handler") - - dpg.set_primary_window("Primary Window", True) - - def on_plot_resize(self, sender, app_data, user_data): - self.layout_manager.on_viewport_resize() - - def load_route(self): - route_name = dpg.get_value("route_input").strip() - if route_name: - dpg.set_value("load_status", "Loading route...") - dpg.configure_item("load_button", enabled=False) - self.data_manager.load_route(route_name) - - def toggle_play_pause(self, sender): - self.playback_manager.toggle_play_pause() - - def timeline_drag(self, sender, app_data): - self.playback_manager.seek(app_data) - - def update_frame(self, font): - self.data_tree.update_frame(font) - - new_time = self.playback_manager.update_time(dpg.get_delta_time()) - if not dpg.is_item_active("timeline_slider"): - dpg.set_value("timeline_slider", new_time) - - self.layout_manager.update_all_panels() - - dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS") - - def shutdown(self): - self.worker_manager.shutdown() - - -def main(route_to_load=None, layout_to_load=None): - dpg.create_context() - - # TODO: find better way of calculating display scaling - #try: - # w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l) # actual resolution - # scale = pyautogui.size()[0] / w # scaled resolution - #except Exception: - # scale = 1 - scale = 1 - - with dpg.font_registry(): - default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2)) # 2x then scale for hidpi - dpg.bind_font(default_font) - dpg.set_global_font_scale(0.5) - - viewport_width, viewport_height = int(1200 * scale), int(800 * scale) - dpg.create_viewport( - title='JotPluggler', width=viewport_width, height=viewport_height, - ) - dpg.setup_dearpygui() - - controller = MainController(scale=scale) - controller.setup_ui() - - if layout_to_load: - try: - controller.load_layout_from_yaml(layout_to_load) - print(f"Loaded layout from {layout_to_load}") - except Exception as e: - print(f"Failed to load layout from {layout_to_load}: {e}") - cloudlog.exception(f"Error loading layout from {layout_to_load}") - - if route_to_load: - dpg.set_value("route_input", route_to_load) - controller.load_route() - - dpg.show_viewport() - - # Main loop - try: - while dpg.is_dearpygui_running(): - controller.update_frame(default_font) - dpg.render_dearpygui_frame() - finally: - controller.shutdown() - dpg.destroy_context() - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.") - parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--layout", type=str, help="Path to YAML layout file to load on startup") - parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.") - args = parser.parse_args() - route = DEMO_ROUTE if args.demo else args.route - main(route_to_load=route, layout_to_load=args.layout) diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py deleted file mode 100644 index cd723d161e..0000000000 --- a/tools/jotpluggler/views.py +++ /dev/null @@ -1,294 +0,0 @@ -import uuid -import threading -import numpy as np -from collections import deque -import dearpygui.dearpygui as dpg -from abc import ABC, abstractmethod - - -class ViewPanel(ABC): - """Abstract base class for all view panels that can be displayed in a plot container""" - - def __init__(self, panel_id: str | None = None): - self.panel_id = panel_id or str(uuid.uuid4()) - self.title = "Untitled Panel" - - @abstractmethod - def clear(self): - pass - - @abstractmethod - def create_ui(self, parent_tag: str): - pass - - @abstractmethod - def destroy_ui(self): - pass - - @abstractmethod - def get_panel_type(self) -> str: - pass - - @abstractmethod - def update(self): - pass - - @abstractmethod - def to_dict(self) -> dict: - pass - - @classmethod - @abstractmethod - def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager): - pass - - -class TimeSeriesPanel(ViewPanel): - def __init__(self, data_manager, playback_manager, worker_manager, panel_id: str | None = None): - super().__init__(panel_id) - self.data_manager = data_manager - self.playback_manager = playback_manager - self.worker_manager = worker_manager - self.title = "Time Series Plot" - self.plot_tag = f"plot_{self.panel_id}" - self.x_axis_tag = f"{self.plot_tag}_x_axis" - self.y_axis_tag = f"{self.plot_tag}_y_axis" - self.timeline_indicator_tag = f"{self.plot_tag}_timeline" - self._ui_created = False - self._series_data: dict[str, tuple[np.ndarray, np.ndarray]] = {} - self._last_plot_duration = 0 - self._update_lock = threading.RLock() - self._results_deque: deque[tuple[str, list, list]] = deque() - self._new_data = False - self._last_x_limits = (0.0, 0.0) - self._queued_x_sync: tuple | None = None - self._queued_reallow_x_zoom = False - self._total_segments = self.playback_manager.num_segments - - def to_dict(self) -> dict: - return { - "type": "timeseries", - "title": self.title, - "series_paths": list(self._series_data.keys()) - } - - @classmethod - def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager): - panel = cls(data_manager, playback_manager, worker_manager) - panel.title = data.get("title", "Time Series Plot") - panel._series_data = {path: (np.array([]), np.array([])) for path in data.get("series_paths", [])} - return panel - - def create_ui(self, parent_tag: str): - self.data_manager.add_observer(self.on_data_loaded) - self.playback_manager.add_x_axis_observer(self._on_x_axis_sync) - with dpg.plot(height=-1, width=-1, tag=self.plot_tag, parent=parent_tag, drop_callback=self._on_series_drop, payload_type="TIMESERIES_PAYLOAD"): - dpg.add_plot_legend() - dpg.add_plot_axis(dpg.mvXAxis, no_label=True, tag=self.x_axis_tag) - dpg.add_plot_axis(dpg.mvYAxis, no_label=True, tag=self.y_axis_tag) - timeline_series_tag = dpg.add_inf_line_series(x=[0], label="Timeline", parent=self.y_axis_tag, tag=self.timeline_indicator_tag) - dpg.bind_item_theme(timeline_series_tag, "timeline_theme") - - self._new_data = True - self._queued_x_sync = self.playback_manager.x_axis_bounds - self._ui_created = True - - def update(self): - with self._update_lock: - if not self._ui_created: - return - - if self._queued_x_sync: - min_time, max_time = self._queued_x_sync - self._queued_x_sync = None - dpg.set_axis_limits(self.x_axis_tag, min_time, max_time) - self._last_x_limits = (min_time, max_time) - self._fit_y_axis(min_time, max_time) - self._queued_reallow_x_zoom = True # must wait a frame before allowing user changes so that axis limits take effect - return - - if self._queued_reallow_x_zoom: - self._queued_reallow_x_zoom = False - if tuple(dpg.get_axis_limits(self.x_axis_tag)) == self._last_x_limits: - dpg.set_axis_limits_auto(self.x_axis_tag) - else: - self._queued_x_sync = self._last_x_limits # retry, likely too early - return - - if self._new_data: # handle new data in main thread - self._new_data = False - if self._total_segments > 0: - dpg.set_axis_limits_constraints(self.x_axis_tag, -10, self._total_segments * 60 + 10) - self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag)) - for series_path in list(self._series_data.keys()): - self.add_series(series_path, update=True) - - current_limits = dpg.get_axis_limits(self.x_axis_tag) - # downsample if plot zoom changed significantly - plot_duration = current_limits[1] - current_limits[0] - if plot_duration > self._last_plot_duration * 2 or plot_duration < self._last_plot_duration * 0.5: - self._downsample_all_series(plot_duration) - # sync x-axis if changed by user - if self._last_x_limits != current_limits: - self.playback_manager.set_x_axis_bounds(current_limits[0], current_limits[1], source_panel=self) - self._last_x_limits = current_limits - self._fit_y_axis(current_limits[0], current_limits[1]) - - while self._results_deque: # handle downsampled results in main thread - results = self._results_deque.popleft() - for series_path, downsampled_time, downsampled_values in results: - series_tag = f"series_{self.panel_id}_{series_path}" - if dpg.does_item_exist(series_tag): - dpg.set_value(series_tag, (downsampled_time, downsampled_values.astype(float))) - - # update timeline - current_time_s = self.playback_manager.current_time_s - dpg.set_value(self.timeline_indicator_tag, [[current_time_s], [0]]) - - # update timeseries legend label - for series_path, (time_array, value_array) in self._series_data.items(): - position = np.searchsorted(time_array, current_time_s, side='right') - 1 - if position >= 0 and (current_time_s - time_array[position]) <= 1.0: - value = value_array[position] - formatted_value = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value) - series_tag = f"series_{self.panel_id}_{series_path}" - if dpg.does_item_exist(series_tag): - dpg.configure_item(series_tag, label=f"{series_path}: {formatted_value}") - - def _on_x_axis_sync(self, min_time: float, max_time: float, source_panel): - with self._update_lock: - if source_panel != self: - self._queued_x_sync = (min_time, max_time) - - def _fit_y_axis(self, x_min: float, x_max: float): - if not self._series_data: - dpg.set_axis_limits(self.y_axis_tag, -1, 1) - return - - global_min = float('inf') - global_max = float('-inf') - found_data = False - - for time_array, value_array in self._series_data.values(): - if len(time_array) == 0: - continue - start_idx, end_idx = np.searchsorted(time_array, [x_min, x_max]) - end_idx = min(end_idx, len(time_array) - 1) - if start_idx <= end_idx: - y_slice = value_array[start_idx:end_idx + 1] - series_min, series_max = np.min(y_slice), np.max(y_slice) - global_min = min(global_min, series_min) - global_max = max(global_max, series_max) - found_data = True - - if not found_data: - dpg.set_axis_limits(self.y_axis_tag, -1, 1) - return - - if global_min == global_max: - padding = max(abs(global_min) * 0.1, 1.0) - y_min, y_max = global_min - padding, global_max + padding - else: - range_size = global_max - global_min - padding = range_size * 0.1 - y_min, y_max = global_min - padding, global_max + padding - - dpg.set_axis_limits(self.y_axis_tag, y_min, y_max) - - def _downsample_all_series(self, plot_duration): - plot_width = dpg.get_item_rect_size(self.plot_tag)[0] - if plot_width <= 0 or plot_duration <= 0: - return - - self._last_plot_duration = plot_duration - target_points_per_second = plot_width / plot_duration - work_items = [] - for series_path, (time_array, value_array) in self._series_data.items(): - if len(time_array) == 0: - continue - series_duration = time_array[-1] - time_array[0] if len(time_array) > 1 else 1 - points_per_second = len(time_array) / series_duration - if points_per_second > target_points_per_second * 2: - target_points = max(int(target_points_per_second * series_duration), plot_width) - work_items.append((series_path, time_array, value_array, target_points)) - elif dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"): - dpg.set_value(f"series_{self.panel_id}_{series_path}", (time_array, value_array.astype(float))) - - if work_items: - self.worker_manager.submit_task( - TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self._results_deque.append(results), task_id=f"downsample_{self.panel_id}" - ) - - def add_series(self, series_path: str, update: bool = False): - with self._update_lock: - if update or series_path not in self._series_data: - self._series_data[series_path] = self.data_manager.get_timeseries(series_path) - - time_array, value_array = self._series_data[series_path] - series_tag = f"series_{self.panel_id}_{series_path}" - if dpg.does_item_exist(series_tag): - dpg.set_value(series_tag, (time_array, value_array.astype(float))) - else: - line_series_tag = dpg.add_line_series(x=time_array, y=value_array.astype(float), label=series_path, parent=self.y_axis_tag, tag=series_tag) - dpg.bind_item_theme(line_series_tag, "line_theme") - self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag)) - plot_duration = dpg.get_axis_limits(self.x_axis_tag)[1] - dpg.get_axis_limits(self.x_axis_tag)[0] - self._downsample_all_series(plot_duration) - - def destroy_ui(self): - with self._update_lock: - self.data_manager.remove_observer(self.on_data_loaded) - self.playback_manager.remove_x_axis_observer(self._on_x_axis_sync) - if dpg.does_item_exist(self.plot_tag): - dpg.delete_item(self.plot_tag) - self._ui_created = False - - def get_panel_type(self) -> str: - return "timeseries" - - def clear(self): - with self._update_lock: - for series_path in list(self._series_data.keys()): - self.remove_series(series_path) - - def remove_series(self, series_path: str): - with self._update_lock: - if series_path in self._series_data: - if dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"): - dpg.delete_item(f"series_{self.panel_id}_{series_path}") - del self._series_data[series_path] - - def on_data_loaded(self, data: dict): - with self._update_lock: - self._new_data = True - if data.get('metadata_loaded'): - self._total_segments = data.get('total_segments', 0) - limits = (-10, self._total_segments * 60 + 10) - self._queued_x_sync = limits - - def _on_series_drop(self, sender, app_data, user_data): - self.add_series(app_data) - - @staticmethod - def _downsample_worker(series_path, time_array, value_array, target_points): - if len(time_array) <= target_points: - return series_path, time_array, value_array - - step = len(time_array) / target_points - indices = [] - - for i in range(target_points): - start_idx = int(i * step) - end_idx = int((i + 1) * step) - if start_idx == end_idx: - indices.append(start_idx) - else: - bucket_values = value_array[start_idx:end_idx] - min_idx = start_idx + np.argmin(bucket_values) - max_idx = start_idx + np.argmax(bucket_values) - if min_idx != max_idx: - indices.extend([min(min_idx, max_idx), max(min_idx, max_idx)]) - else: - indices.append(min_idx) - indices = sorted(set(indices)) - return series_path, time_array[indices], value_array[indices] diff --git a/tools/lib/file_downloader.py b/tools/lib/file_downloader.py index c9c26bb307..5b31a5894c 100755 --- a/tools/lib/file_downloader.py +++ b/tools/lib/file_downloader.py @@ -60,8 +60,16 @@ def cmd_download(args): return try: - uf = URLFile(url, cache=False) - total = uf.get_length() + # Stream the file in a single HTTP request instead of making + # a separate Range request per chunk (which was very slow). + pool = URLFile.pool_manager() + r = pool.request("GET", url, preload_content=False) + if r.status not in (200, 206): + sys.stderr.write(f"ERROR:HTTP {r.status}\n") + sys.stderr.flush() + sys.exit(1) + + total = int(r.headers.get('content-length', 0)) if total <= 0: sys.stderr.write("ERROR:File not found or empty\n") sys.stderr.flush() @@ -73,8 +81,7 @@ def cmd_download(args): downloaded = 0 chunk_size = 1024 * 1024 with os.fdopen(tmp_fd, 'wb') as f: - while downloaded < total: - data = uf.read(min(chunk_size, total - downloaded)) + for data in r.stream(chunk_size): f.write(data) downloaded += len(data) sys.stderr.write(f"PROGRESS:{downloaded}:{total}\n") @@ -91,6 +98,8 @@ def cmd_download(args): except OSError: pass raise + finally: + r.release_conn() except Exception as e: sys.stderr.write(f"ERROR:{e}\n") diff --git a/uv.lock b/uv.lock index f5c128fcb7..743521fb2f 100644 --- a/uv.lock +++ b/uv.lock @@ -116,12 +116,12 @@ wheels = [ [[package]] name = "bzip2" version = "1.0.8" -source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" } +source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" } [[package]] name = "capnproto" version = "1.0.1" -source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" } +source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" } [[package]] name = "casadi" @@ -359,16 +359,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/ff/fa/d3c15189f7c52aaefbaea76fb012119b04b9013f4bf446cb4eb4c26c4e6b/cython-3.2.4-py3-none-any.whl", hash = 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