diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2f50921905..e4b1b8b041 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -204,11 +204,12 @@ jobs: $UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST selfdrive/loggerd && \ + $UNIT_TEST system/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + $UNIT_TEST system/ubloxd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ - ./selfdrive/locationd/test/test_glonass_runner && \ + ./system/ubloxd/tests/test_glonass_runner && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST system/hardware/tici && \ @@ -220,7 +221,7 @@ jobs: ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ - ./selfdrive/loggerd/tests/test_logger &&\ + ./system/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ diff --git a/.gitignore b/.gitignore index 2b283d3b11..be6629f212 100644 --- a/.gitignore +++ b/.gitignore @@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd selfdrive/ui/_ui selfdrive/test/longitudinal_maneuvers/out -selfdrive/visiond/visiond -selfdrive/sensord/_gpsd -selfdrive/sensord/_sensord system/camerad/camerad system/camerad/test/ae_gray_test selfdrive/modeld/_modeld diff --git a/Jenkinsfile b/Jenkinsfile index 30c045e419..4e80b5fa3c 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -157,10 +157,11 @@ pipeline { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["test power draw", "python system/hardware/tici/test_power_draw.py"], - ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], - ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], + ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], + ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } @@ -192,11 +193,11 @@ pipeline { steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) phone_steps("tici-bmx-lsm", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) } } diff --git a/RELEASES.md b/RELEASES.md index 0ea4241a35..9cfcbafea1 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,8 +1,9 @@ Version 0.9.2 (2023-03-XX) ======================== * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Škoda Fabia 2022-23 support thanks to jyoung8607! -Version 0.9.1 (2023-02-23) +Version 0.9.1 (2023-02-28) ======================== * New driving model * 30% improved height estimation resulting in better driving performance for tall cars diff --git a/SConstruct b/SConstruct index 007931b7f5..387d2e76f4 100644 --- a/SConstruct +++ b/SConstruct @@ -398,6 +398,7 @@ SConscript([ 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', + 'system/ubloxd/SConscript', ]) if arch != "Darwin": SConscript(['system/logcatd/SConscript']) @@ -424,10 +425,10 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['selfdrive/boardd/SConscript']) -SConscript(['selfdrive/loggerd/SConscript']) +SConscript(['system/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) -SConscript(['selfdrive/sensord/SConscript']) +SConscript(['system/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) diff --git a/cereal b/cereal index 90c634676a..7968cfe989 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 90c634676a9180c42bc5c47afbcc68e508f1255b +Subproject commit 7968cfe98920181e844adae6422f932e84a6da71 diff --git a/common/params.cc b/common/params.cc index 7e26d5cce3..c5886d580b 100644 --- a/common/params.cc +++ b/common/params.cc @@ -99,7 +99,6 @@ std::unordered_map keys = { {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, @@ -138,7 +137,7 @@ std::unordered_map keys = { {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemeris", PERSISTENT | DONT_LOG}, + {"LaikadEphemerisV2", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, diff --git a/docs/CARS.md b/docs/CARS.md index 8860299360..070d068cab 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 237 Supported Cars +# 238 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -79,7 +79,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| |Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| |Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| @@ -161,9 +161,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| @@ -178,10 +179,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 77be7e51d8..5619cc8a51 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -83,7 +83,7 @@ common sensorsd ^^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_sensord_sensors + :project: system_sensord_sensors boardd ^^^^^^ diff --git a/docs/overview.rst b/docs/overview.rst index cc4c582155..b9a5700528 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -5,7 +5,7 @@ openpilot :maxdepth: 4 Debugging - selfdrive/loggerd/README.md + system/loggerd/README.md Driver Monitoring Process Replay diff --git a/laika_repo b/laika_repo index 278b44ba8c..b740b71c82 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 278b44ba8c2dec28adc5b30cce13dabc195f15fc +Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670 diff --git a/panda b/panda index 94fc3b74ce..ad2a0fe0cb 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 94fc3b74cecdd2c17d6eab9ee584c6ca668fa4f7 +Subproject commit ad2a0fe0cb0d82db63492bb1b8ffff9d1f0184ee diff --git a/poetry.lock b/poetry.lock index 91e1b5c826..ec4022c81f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4355,6 +4355,14 @@ python-versions = "*" [package.dependencies] types-urllib3 = "<1.27" +[[package]] +name = "types-tabulate" +version = "0.9.0.1" +description = "Typing stubs for tabulate" +category = "main" +optional = false +python-versions = "*" + [[package]] name = "types-urllib3" version = "1.26.25.1" @@ -4567,7 +4575,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "9e9495c896e6fd0855803aeaf46513c6c22424b86be820759a8baf27d44e73ee" +content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde" [metadata.files] adal = [ @@ -6616,7 +6624,6 @@ onnx = [ ] onnx2torch = [ {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"}, - {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"}, ] onnxoptimizer = [ {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"}, @@ -7002,7 +7009,6 @@ pycryptodome = [ {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"}, {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"}, {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"}, - {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"}, {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"}, {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"}, {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"}, @@ -7010,14 +7016,12 @@ pycryptodome = [ {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"}, {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"}, {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"}, - {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"}, {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"}, {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"}, - {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"}, {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"}, {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"}, {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"}, @@ -7659,18 +7663,6 @@ setproctitle = [ {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"}, {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"}, {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"}, - {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"}, - {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"}, - {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"}, - {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"}, - {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"}, - {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"}, {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"}, {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"}, {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"}, @@ -8066,6 +8058,10 @@ types-requests = [ {file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"}, {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"}, ] +types-tabulate = [ + {file = "types-tabulate-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"}, + {file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"}, +] types-urllib3 = [ {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"}, {file = "types_urllib3-1.26.25.1-py3-none-any.whl", hash = "sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"}, diff --git a/pyproject.toml b/pyproject.toml index 6b4b0bb5fa..b1ad273cd7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,6 +59,7 @@ urllib3 = "^1.26.10" utm = "^0.7.0" websocket_client = "^1.3.3" polyline = "^1.4.0" +types-tabulate = "^0.9.0.1" [tool.poetry.group.dev.dependencies] diff --git a/release/check-submodules.sh b/release/check-submodules.sh index bc85a43c57..5f4e307e49 100755 --- a/release/check-submodules.sh +++ b/release/check-submodules.sh @@ -1,7 +1,7 @@ #!/bin/bash while read hash submodule ref; do - git -C $submodule fetch --depth 200 origin master + git -C $submodule fetch --depth 1000 origin master git -C $submodule branch -r --contains $hash | grep "origin/master" if [ "$?" -eq 0 ]; then echo "$submodule ok" diff --git a/release/files_common b/release/files_common index cfd81731c1..edfc4a4d9d 100644 --- a/release/files_common +++ b/release/files_common @@ -241,14 +241,15 @@ system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py -selfdrive/locationd/__init__.py -selfdrive/locationd/.gitignore -selfdrive/locationd/SConscript -selfdrive/locationd/ubloxd.cc -selfdrive/locationd/ublox_msg.cc -selfdrive/locationd/ublox_msg.h -selfdrive/locationd/generated/* +system/ubloxd/.gitignore +system/ubloxd/SConscript +system/ubloxd/generated/* +system/ubloxd/*.h +system/ubloxd/*.cc +selfdrive/locationd/__init__.py +selfdrive/locationd/SConscript +selfdrive/locationd/.gitignore selfdrive/locationd/laikad.py selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc @@ -275,35 +276,36 @@ system/proclogd/main.cc system/proclogd/proclog.cc system/proclogd/proclog.h -selfdrive/loggerd/.gitignore -selfdrive/loggerd/SConscript -selfdrive/loggerd/encoder/encoder.cc -selfdrive/loggerd/encoder/encoder.h -selfdrive/loggerd/encoder/v4l_encoder.cc -selfdrive/loggerd/encoder/v4l_encoder.h -selfdrive/loggerd/video_writer.cc -selfdrive/loggerd/video_writer.h -selfdrive/loggerd/logger.cc -selfdrive/loggerd/logger.h -selfdrive/loggerd/loggerd.cc -selfdrive/loggerd/loggerd.h -selfdrive/loggerd/encoderd.cc -selfdrive/loggerd/bootlog.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.h +system/loggerd/.gitignore +system/loggerd/SConscript +system/loggerd/encoder/encoder.cc +system/loggerd/encoder/encoder.h +system/loggerd/encoder/v4l_encoder.cc +system/loggerd/encoder/v4l_encoder.h +system/loggerd/video_writer.cc +system/loggerd/video_writer.h +system/loggerd/logger.cc +system/loggerd/logger.h +system/loggerd/loggerd.cc +system/loggerd/loggerd.h +system/loggerd/encoderd.cc +system/loggerd/bootlog.cc +system/loggerd/encoder/ffmpeg_encoder.cc +system/loggerd/encoder/ffmpeg_encoder.h -selfdrive/loggerd/__init__.py -selfdrive/loggerd/config.py -selfdrive/loggerd/uploader.py -selfdrive/loggerd/deleter.py -selfdrive/loggerd/xattr_cache.py +system/loggerd/__init__.py +system/loggerd/config.py +system/loggerd/uploader.py +system/loggerd/deleter.py +system/loggerd/xattr_cache.py -selfdrive/sensord/SConscript -selfdrive/sensord/sensors_qcom2.cc -selfdrive/sensord/sensors/*.cc -selfdrive/sensord/sensors/*.h -selfdrive/sensord/sensord -selfdrive/sensord/pigeond.py +system/sensord/.gitignore +system/sensord/SConscript +system/sensord/sensors_qcom2.cc +system/sensord/sensors/*.cc +system/sensord/sensors/*.h +system/sensord/sensord +system/sensord/pigeond.py selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py @@ -605,13 +607,14 @@ opendbc/tesla_can.dbc opendbc/tesla_radar.dbc opendbc/tesla_powertrain.dbc -tinygrad_repo/accel/opencl/* -tinygrad_repo/tinygrad/llops/ops_opencl.py tinygrad_repo/openpilot/compile.py tinygrad_repo/extra/onnx.py +tinygrad_repo/extra/onnx_ops.py tinygrad_repo/extra/thneed.py tinygrad_repo/extra/utils.py -tinygrad_repo/tinygrad/llops/ops_gpu.py -tinygrad_repo/tinygrad/shape/* +tinygrad_repo/tinygrad/codegen/ast.py +tinygrad_repo/tinygrad/codegen/gpu.py tinygrad_repo/tinygrad/nn/* +tinygrad_repo/tinygrad/runtime/ops_gpu.py +tinygrad_repo/tinygrad/shape/* tinygrad_repo/tinygrad/*.py diff --git a/release/files_tici b/release/files_tici index c8abd720d5..b4e0c50516 100644 --- a/release/files_tici +++ b/release/files_tici @@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -selfdrive/sensord/rawgps/* +system/sensord/rawgps/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png index 03765a0376..e2d943e537 100644 Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png new file mode 100644 index 0000000000..d8bc5f1371 Binary files /dev/null and b/selfdrive/assets/img_driver_face_static.png differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d1cc4cea83..7cb6d5b845 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader from common.params import Params from common.realtime import sec_since_boot, set_core_affinity from system.hardware import HARDWARE, PC, AGNOS -from selfdrive.loggerd.config import ROOT -from selfdrive.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR from system.swaglog import SWAGLOG_DIR, cloudlog from system.version import get_commit, get_origin, get_short_branch, get_version diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f61d9ee1a6..f292b921cf 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -84,9 +84,9 @@ def main() -> NoReturn: params.remove("PandaSignatures") # Flash all Pandas in DFU mode - for p in PandaDFU.list(): - cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") - PandaDFU(p).recover() + for serial in PandaDFU.list(): + cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") + PandaDFU(serial).recover() time.sleep(1) panda_serials = Panda.list() diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py new file mode 100755 index 0000000000..3b2369b39b --- /dev/null +++ b/selfdrive/boardd/tests/test_pandad.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +import time +import unittest + +import cereal.messaging as messaging +from panda import Panda +from selfdrive.test.helpers import phone_only +from selfdrive.manager.process_config import managed_processes +from system.hardware import HARDWARE + + +class TestPandad(unittest.TestCase): + + def tearDown(self): + managed_processes['pandad'].stop() + + def _wait_for_boardd(self): + sm = messaging.SubMaster(['peripheralState']) + for _ in range(30): + sm.update(1000) + if sm.updated['peripheralState']: + break + + if not sm.updated['peripheralState']: + raise Exception("boardd failed to start") + + @phone_only + def test_in_dfu(self): + HARDWARE.recover_internal_panda() + time.sleep(1) + + managed_processes['pandad'].start() + self._wait_for_boardd() + + @phone_only + def test_in_bootstub(self): + with Panda() as p: + p.reset(enter_bootstub=True) + assert p.bootstub + managed_processes['pandad'].start() + self._wait_for_boardd() + + #def test_out_of_date_fw(self): + # pass + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 0b4adc31fd..615d06c2ee 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -79,7 +79,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} -def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): +def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): # limits due to driver torque driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER @@ -99,29 +99,37 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque return int(round(float(apply_torque))) -def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): - # limits due to comparison of commanded torque VS motor reported torque - max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX) - min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX) +def apply_dist_to_meas_limits(val, val_last, val_meas, + STEER_DELTA_UP, STEER_DELTA_DOWN, + STEER_ERROR_MAX, STEER_MAX): + # limits due to comparison of commanded val VS measured val (torque/angle/curvature) + max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX) + min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX) - apply_torque = clip(apply_torque, min_lim, max_lim) + val = clip(val, min_lim, max_lim) - # slow rate if steer torque increases in magnitude - if apply_torque_last > 0: - apply_torque = clip(apply_torque, - max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP), - apply_torque_last + LIMITS.STEER_DELTA_UP) + # slow rate if val increases in magnitude + if val_last > 0: + val = clip(val, + max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP), + val_last + STEER_DELTA_UP) else: - apply_torque = clip(apply_torque, - apply_torque_last - LIMITS.STEER_DELTA_UP, - min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) + val = clip(val, + val_last - STEER_DELTA_UP, + min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP)) - return int(round(float(apply_torque))) + return float(val) + + +def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): + return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque, + LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN, + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX))) def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): # pick angle rate limits based on wind up/down - steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) + steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last) rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index e1f2b93943..a2d4f9192e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,6 +1,6 @@ from opendbc.can.packer import CANPacker from common.realtime import DT_CTRL -from selfdrive.car import apply_toyota_steer_torque_limits +from selfdrive.car import apply_meas_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags @@ -67,7 +67,7 @@ class CarController: # steer torque new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) if not lkas_active or not lkas_control_bit: apply_steer = 0 self.apply_steer_last = apply_steer diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 16ebb4fa11..2af5246b88 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -93,7 +93,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { FINGERPRINTS = { CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788:3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8 + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8 }], CAR.PACIFICA_2018: [{ 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 @@ -135,7 +135,7 @@ FINGERPRINTS = { }], CAR.JEEP_CHEROKEE_2019: [{ # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], } diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index f97225e9f2..21af1062f3 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -37,7 +37,7 @@ class CarState(CarStateBase): # steering wheel ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] - ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) # ret.espDisabled = False # TODO: find traction control signal diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 951cd09ba0..50c7d93987 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -24,12 +24,13 @@ class CarControllerParams: BUTTONS_STEP = 10 / 2 CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 - STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold, Nm + STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits # TODO: unify field names used by curvature and angle control cars - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032]) + # ~2 m/s^3 up, ~-3 m/s^3 down + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration @@ -164,6 +165,7 @@ FW_VERSIONS = { b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -177,6 +179,7 @@ FW_VERSIONS = { b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 81e3cc2f46..66a506a255 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.gm import gmcan from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons @@ -30,7 +30,6 @@ class CarController: self.cancel_counter = 0 self.lka_steering_cmd_counter = 0 - self.sent_lka_steering_cmd = False self.lka_icon_status_last = (False, False) self.params = CarControllerParams(self.CP) @@ -59,24 +58,22 @@ class CarController: # - until we're in sync with camera so counters align when relay closes, preventing a fault. # openpilot can subtly drift, so this is activated throughout a drive to stay synced out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4 - if not self.sent_lka_steering_cmd or out_of_sync: + if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync: steer_step = self.params.STEER_STEP - if CS.loopback_lka_steering_cmd_updated: - self.lka_steering_cmd_counter += 1 - self.sent_lka_steering_cmd = True + self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0 # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we # received the ASCMLKASteeringCmd loopback confirmation too recently last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6 if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus - if not self.sent_lka_steering_cmd: + if CS.loopback_lka_steering_cmd_ts_nanos == 0: self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) else: apply_steer = 0 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index a4ee1c153e..54afad2c6f 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -43,7 +43,8 @@ class CarState(CarStateBase): # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 - self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] + if self.loopback_lka_steering_cmd_updated: + self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] if self.CP.networkLocation == NetworkLocation.fwdCamera: self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 1850c275ea..d67f22f8fa 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -3,12 +3,11 @@ from cereal import car from math import fabs from panda import Panda -from common.numpy_fast import interp from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event -from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR -from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD -from selfdrive.controls.lib.drive_helpers import apply_center_deadzone +from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG +from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus +from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -45,48 +44,12 @@ class CarInterface(CarInterfaceBase): else: return CarInterfaceBase.get_steer_feedforward_default - @staticmethod - def torque_from_lateral_accel_bolt(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): - friction_interp = interp( - apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), - [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], - [-torque_params.friction, torque_params.friction] - ) - friction = friction_interp if friction_compensation else 0.0 - steer_torque = lateral_accel_value / torque_params.latAccelFactor - - # TODO: - # 1. Learn the correction factors from data - # 2. Generalize the logic to other GM torque control platforms - steer_break_pts = [-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0] - steer_lataccel_factors = [1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5] - steer_correction_factor = interp( - steer_torque, - steer_break_pts, - steer_lataccel_factors - ) - - vego_break_pts = [0.0, 10.0, 15.0, 20.0, 100.0] - vego_lataccel_factors = [1.5, 1.5, 1.25, 1.0, 1.0] - vego_correction_factor = interp( - vego, - vego_break_pts, - vego_lataccel_factors, - ) - - return (steer_torque + friction) / (steer_correction_factor * vego_correction_factor) - - def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: - if self.CP.carFingerprint == CAR.BOLT_EUV: - return self.torque_from_lateral_accel_bolt - else: - return self.torque_from_lateral_accel_linear - @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False + use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct @@ -125,7 +88,7 @@ class CarInterface(CarInterfaceBase): else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway - ret.radarUnavailable = False + ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults ret.pcmCruise = False # stock non-adaptive cruise control is kept off # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS @@ -138,7 +101,8 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \ + (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable) # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] @@ -204,6 +168,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.95 # 116 inches in meters ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.5 + ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ESCALADE_ESV: @@ -223,7 +188,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.8 ret.centerToFront = ret.wheelbase * 0.4 tire_stiffness_factor = 1.0 - ret.steerActuatorDelay = 0.12 + ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 207af6bb05..2ac418b629 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -14,8 +14,8 @@ class CarControllerParams: STEER_STEP = 3 # Active control frames per command (~33hz) INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness - STEER_DELTA_DOWN = 15 - STEER_DRIVER_ALLOWANCE = 65 + STEER_DELTA_DOWN = 25 + STEER_DRIVER_ALLOWANCE = 50 STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_FACTOR = 100 NEAR_STOP_BRAKE_PHASE = 0.5 # m/s @@ -151,6 +151,10 @@ FINGERPRINTS = { # Volt Premier w/ ACC 2018 { 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 + }, + # Volt Premier 2018 w/ flashed firmware, no radar + { + 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 }], CAR.BUICK_REGAL : [ # Regal TourX Essence w/ ACC 2018 diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c085c3fe80..0737bea147 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -368,10 +368,12 @@ FW_VERSIONS = { b'57114-TWA-A050\x00\x00', b'57114-TWA-A530\x00\x00', b'57114-TWA-B520\x00\x00', + b'57114-TWB-H030\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TWA-A440\x00\x00', b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ b'78109-TWA-A010\x00\x00', @@ -385,6 +387,7 @@ FW_VERSIONS = { b'78109-TWA-A230\x00\x00', b'78109-TWA-L010\x00\x00', b'78109-TWA-L210\x00\x00', + b'78109-TWA-H210\x00\x00', ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TWA-A910\x00\x00', @@ -396,16 +399,19 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TWA-A070\x00\x00', b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TVA-A160\x00\x00', b'39990-TVA-A150\x00\x00', b'39990-TVA-A340\x00\x00', + b'39990-TWB-H120\x00\x00', ], }, CAR.CIVIC: { diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index efa8d47681..fc57515227 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import clip from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.hyundai import hyundaicanfd, hyundaican from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR @@ -64,7 +64,7 @@ class CarController: # steering torque new_steer = int(round(actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6aedebeb05..9af539117f 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,6 +2,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV +from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event @@ -251,10 +252,9 @@ class CarInterface(CarInterfaceBase): # *** feature detection *** if candidate in CANFD_CAR: - bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4 - ret.enableBsm = 0x1e5 in fingerprint[bus] + ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)] - if 0x1fa in fingerprint[bus]: + if 0x1fa in fingerprint[get_e_can_bus(ret)]: ret.flags |= HyundaiFlags.SP_NAV_MSG.value else: ret.enableBsm = 0x58b in fingerprint[0] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 9fbda15177..9f471076ae 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -194,7 +194,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n), ], CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n), + CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n), # Kia CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), @@ -515,7 +515,6 @@ FW_VERSIONS = { b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', - b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -528,7 +527,6 @@ FW_VERSIONS = { b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', ], (Ecu.engine, 0x7e0, None): [ @@ -590,6 +588,7 @@ FW_VERSIONS = { b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', @@ -754,7 +753,6 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', ], (Ecu.abs, 0x7d1, None): [ @@ -788,6 +786,7 @@ FW_VERSIONS = { b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', @@ -1569,6 +1568,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', ], }, CAR.TUCSON_4TH_GEN: { @@ -1600,9 +1600,11 @@ FW_VERSIONS = { CAR.SANTA_CRUZ_1ST_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', ], }, CAR.KIA_SPORTAGE_5TH_GEN: { diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f5361b6630..50a054c895 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -21,7 +21,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float] +TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 @@ -161,7 +161,7 @@ class CarInterfaceBase(ABC): return self.get_steer_feedforward_default @staticmethod - def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): + def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction_interp = interp( apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 524a02a370..cb401a8abd 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.mazda import mazdacan from selfdrive.car.mazda.values import CarControllerParams, Buttons @@ -23,8 +23,8 @@ class CarController: if CC.latActive: # calculate steer and also set limits due to driver torque new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, - CS.out.steeringTorque, CarControllerParams) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, + CS.out.steeringTorque, CarControllerParams) if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 7b7c707108..da5440228b 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,5 +1,5 @@ from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.subaru import subarucan from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams @@ -34,7 +34,7 @@ class CarController: # limits due to driver torque new_steer = int(round(apply_steer)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 02e37492d3..4ca7c0a16c 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -206,6 +206,7 @@ routes = [ CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), + CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4), CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 61243424f0..696d9829d1 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -56,6 +56,7 @@ CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 +SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index f94b31c167..75cc48d6d8 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car from common.numpy_fast import clip, interp from common.params import Params -from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg +from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command @@ -64,7 +64,7 @@ class CarController: # steer torque new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f57afc03c3..36c707fb8b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -117,12 +117,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), - CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]), + CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"), CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"), - CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), - CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2022"), + CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), + CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), @@ -714,6 +714,7 @@ FW_VERSIONS = { b'8646FF404000 ', b'8646FF406000 ', b'8646FF407000 ', + b'8646FF407100 ', ], }, CAR.CHRH_TSS2: { @@ -1638,6 +1639,7 @@ FW_VERSIONS = { b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00', @@ -1728,6 +1730,7 @@ FW_VERSIONS = { (Ecu.engine, 0x700, None): [ b'\x018966378B2100\x00\x00\x00\x00', b'\x018966378B3000\x00\x00\x00\x00', + b'\x018966378B4100\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', b'\x018966378B2000\x00\x00\x00\x00', ], diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 3557b4d588..133dca67bc 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker from common.numpy_fast import clip from common.conversions import Conversions as CV from common.realtime import DT_CTRL -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.volkswagen import mqbcan, pqcan from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams @@ -44,7 +44,7 @@ class CarController: if CC.latActive: new_steer = int(round(actuators.steer * self.CCP.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) if apply_steer == 0: hcaEnabled = False self.hcaEnabledFrameCount = 0 diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 80fdc180c6..5546e5b12f 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -189,6 +189,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 + elif candidate == CAR.SKODA_FABIA_MK4: + ret.mass = 1266 + STD_CARGO_KG + ret.wheelbase = 2.56 + elif candidate == CAR.SKODA_KAMIQ_MK1: ret.mass = 1265 + STD_CARGO_KG ret.wheelbase = 2.66 diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index fac13901df..a522f917ff 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -139,6 +139,7 @@ class CAR: AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants + SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq @@ -249,9 +250,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), + CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), - CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), + CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ @@ -749,12 +751,14 @@ FW_VERSIONS = { b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', + b'\xf1\x8783A907115K \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158FM\xf1\x893757', b'\xf1\x8709G927158GC\xf1\x893821', b'\xf1\x8709G927158GD\xf1\x893820', + b'\xf1\x8709G927158GM\xf1\x893936', b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', @@ -785,6 +789,7 @@ FW_VERSIONS = { b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -1016,6 +1021,23 @@ FW_VERSIONS = { b'\xf1\x875Q0907572P \xf1\x890682', ], }, + CAR.SKODA_FABIA_MK4: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018CF\xf1\x891905', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300051M \xf1\x891936', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144S \xf1\x896042', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + ], + }, CAR.SKODA_KAMIQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705C906032M \xf1\x891333', @@ -1059,27 +1081,36 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', b'\xf1\x8704L906026DE\xf1\x895418', + b'\xf1\x8704L906026EJ\xf1\x893661', + b'\xf1\x8704L906026HT\xf1\x893617', b'\xf1\x875NA907115E \xf1\x890003', + b'\xf1\x875NA907115E \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', + b'\xf1\x870DL300011N \xf1\x892014', b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\0161213001211001205212112052100', + b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.SKODA_OCTAVIA_MK3: { @@ -1149,6 +1180,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264A \xf1\x890002', ], @@ -1158,12 +1190,14 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300041H \xf1\x894905', b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870D9300043F \xf1\x895202', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c4ce6272a8..595d30c6e7 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -123,9 +123,6 @@ class Controls: elif self.mads_ndlob: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE - if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"): - self.CP.dashcamOnly = False - # read params self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") @@ -302,8 +299,9 @@ class Controls: # Alert if fan isn't spinning for 5 seconds if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: - if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + # allow enough time for the fan controller in the panda to recover from stalls + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: self.events.add(EventName.fanMalfunction) else: self.last_functional_fan_frame = self.sm.frame diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 44ec5be881..74667810e1 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -292,7 +292,7 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging rpy = sm['liveCalibration'].rpyCalib yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) - angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°" + angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)" return NormalPermanentAlert("Calibration Invalid", angles) @@ -317,9 +317,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - text = "Cruise Mode Disabled" + text = "Enable Adaptive Cruise to Engage" if CP.carName == "honda": - text = "Main Switch Off" + text = "Enable Main Switch to Engage" return NoEntryAlert(text) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index b1237c9e2b..c147c9a3ca 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -79,10 +79,10 @@ class LatControlTorque(LatControl): error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, - lateral_accel_deadzone, CS.vEgo, friction_compensation=False) + lateral_accel_deadzone, friction_compensation=False) ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, desired_lateral_accel - actual_lateral_accel, - lateral_accel_deadzone, CS.vEgo, friction_compensation=True) + lateral_accel_deadzone, friction_compensation=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 07f8c7ff52..46144f6c19 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -138,8 +138,9 @@ class LongitudinalPlanner: self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) + self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N] - self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) + self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N] self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index e4ba77c8af..0532087d39 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -22,6 +22,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() pm.send('uiPlan', ui_send) def plannerd_thread(sm=None, pm=None): diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index ba7d96dba0..dc6688324f 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -74,7 +74,7 @@ if __name__ == "__main__": elif msg.which() == "carParams": CP = msg.carParams - car_fw = CP.carFw + car_fw = [fw for fw in CP.carFw if not fw.logging] if len(car_fw) == 0: print("no fw") break diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore index 86a228a6ff..11b9f127b2 100644 --- a/selfdrive/locationd/.gitignore +++ b/selfdrive/locationd/.gitignore @@ -1,6 +1,3 @@ -ubloxd -ubloxd_test params_learner paramsd locationd -test/test_glonass_runner diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 61a0ed7f42..740f827a49 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,20 +1,6 @@ Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] - -if GetOption('kaitai'): - generated = Dir('generated').srcnode().abspath - cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" - env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) - env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) - glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) - - # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 - patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') - env.Depends(patch, glonass) - -glonass_obj = env.Object('generated/glonass.cpp') -env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] @@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf) if File("liblocationd.cc").exists(): liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) - lenv.Depends(liblocationd, libkf) - -if GetOption('test'): - env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file + lenv.Depends(liblocationd, libkf) \ No newline at end of file diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index e85cd0ad42..2b18dcf152 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -28,7 +28,7 @@ from selfdrive.locationd.models.gnss_kf import States as GStates from system.swaglog import cloudlog MAX_TIME_GAP = 10 -EPHEMERIS_CACHE = 'LaikadEphemeris' +EPHEMERIS_CACHE = 'LaikadEphemerisV2' DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 @@ -97,19 +97,25 @@ class Laikad: def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: - min_measurements = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6 - position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 + position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - #TODO median abs residual is decent estimate of std, can be improved with measurements stds and/or DOP - position_std = np.median(np.abs(pr_residuals)) * np.ones(3) - velocity_solution, prr_residuals = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) + + position_std_residual = np.median(np.abs(pr_residuals)) + position_std = np.median(np.abs(pos_std))/10 + position_std = max(position_std_residual, position_std) * np.ones(3) + + velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None - velocity_estimate = velocity_solution[:3] - velocity_std = np.median(np.abs(prr_residuals)) * np.ones(3) + + velocity_std_residual = np.median(np.abs(prr_residuals)) + velocity_std = np.median(np.abs(vel_std))/10 + velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) + return position_estimate, position_std, velocity_estimate, velocity_std def is_good_report(self, gnss_msg): @@ -187,10 +193,10 @@ class Laikad: elif self.is_good_report(gnss_msg): week, tow, new_meas = self.read_report(gnss_msg) + self.gps_week = week if len(new_meas) == 0: return None - self.gps_week = week t = gnss_mono_time * 1e-9 if week > 0: self.got_first_gnss_msg = True diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index a292a3c936..b7e42a9df8 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -14,7 +14,7 @@ #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" #define VISION_DECIMATION 2 #define SENSOR_DECIMATION 10 #include "selfdrive/locationd/models/live_kf.h" diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index d89f521228..10ac7790b6 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -160,7 +160,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 554 + correct_msgs_expected = 559 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -180,7 +180,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 554 + correct_msgs_expected = 559 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -195,8 +195,8 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(0, len(correct_msgs)) - self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + self.assertEqual(255, len(correct_msgs)) + self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) @@ -282,7 +282,7 @@ class TestLaikad(unittest.TestCase): gm = msg.gnssMeasurements if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: cnt += 1 - self.assertEqual(cnt, 554) + self.assertEqual(cnt, 559) def dict_has_values(self, dct): self.assertGreater(len(dct), 0) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index aa8d993934..19d6303066 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -32,7 +32,7 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index c847481f22..d33852a83f 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -34,12 +34,12 @@ procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), - NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), - NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), + NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), @@ -47,21 +47,21 @@ procs = [ PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("controlsd", "selfdrive.controls.controlsd"), - PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), + PythonProcess("deleter", "system.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), - NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), - PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), + PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), - PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), + PythonProcess("uploader", "system.loggerd.uploader", offroad=True), PythonProcess("statsd", "selfdrive.statsd", offroad=True), PythonProcess("gpxd", "selfdrive.gpxd.gpxd"), diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 7bbc1b3477..c7e0dc5d86 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath - tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"] + tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"] if not GetOption('pc_thneed'): # use FLOAT16 on device for speed + don't cache the CL kernels for space tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 6b704cbfa8..1bfca8e95a 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -2,7 +2,7 @@ To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) ## Supercombo -### Supercombo input format (Full size: 393738 x float32) +### Supercombo input format (Full size: 799906 x float32) * **image stream** * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 @@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr * Channel 4 represents the half-res U channel * Channel 5 represents the half-res V channel * **desire** - * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8 + * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 * **traffic convention** * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 -* **recurrent state** - * The recurrent state vector that is fed back into the GRU for temporal context : 512 +* **feature buffer** + * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128 ### Supercombo output format (Full size: XXX x float32) diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 7dc002727e..e64907149c 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -13,7 +13,7 @@ from system.swaglog import cloudlog from system.hardware import HARDWARE from common.file_helpers import atomic_write_in_dir from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index c64f522352..ad09668a46 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ba947edbb131a2a36ced7c490dfcf3280ad5b167 +ab64afd1abd1059c14f50c67b51e5ef89029f216 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 7dc0b139a3..971ddb3fe2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -449,9 +449,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): if CP.openpilotLongitudinalControl: params.put_bool("ExperimentalLongitudinalEnabled", True) - # controlsd process configuration assume all routes are out of dashcam - params.put_bool("DashcamOverride", True) - def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e9016cc27c..79769e14b6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -70753c5f491de7432ff22f4ef560820ce9919b2e +f9c7e05b836c4bff364978752e82d64b90f9d6e6 diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 569090f606..07117c2e7f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -29,12 +29,12 @@ source_segments = [ ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 # Enable when port is tested and dashcamOnly is no longer set + #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS ] @@ -53,7 +53,6 @@ segments = [ ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 84511771f7..07a3c61bc5 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -15,7 +15,7 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 238b822ec9..46dd4901e5 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -28,7 +28,7 @@ CONFIGS = [ }, ignore=[], command="./ubloxd", - path="selfdrive/locationd/", + path="system/ubloxd", segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", wait_for_response=True ), diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index eedeff31f1..531e0b04d1 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -18,7 +18,7 @@ from common.params import Params from common.realtime import DT_TRML, sec_since_boot from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS -from selfdrive.loggerd.config import get_available_percent +from system.loggerd.config import get_available_percent from selfdrive.statsd import statlog from system.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 61a575f141..65fb45b678 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -10,7 +10,7 @@ import glob from typing import NoReturn from common.file_helpers import mkdirs_exists_ok -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT import selfdrive.sentry as sentry from system.swaglog import cloudlog from system.version import get_commit diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 02ba15350d..552a0ba8fc 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -44,7 +44,6 @@ assets_src = "#selfdrive/assets/assets.qrc" qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"])) asset_obj = qt_env.Object("assets", assets) -Export('asset_obj') # build soundd qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 2f366a9b38..327c7537a2 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -27,7 +27,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { } DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { - face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); + face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } void DriverViewScene::showEvent(QShowEvent* event) { diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 6bef53d437..07c5c4f5a7 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -1086,7 +1086,10 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) const int arc_l = 133; const float arc_t_default = 6.7; const float arc_t_extend = 12.0; - QColor arc_color = QColor::fromRgbF(0.09, 0.945, 0.26, 0.4*(1.0-dm_fade_state)*(s->engaged())); + QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(), + 0.545 + 0.4 * s->engaged(), + 0.545 - 0.285 * s->engaged(), + 0.4 * (1.0 - dm_fade_state)); float delta_x = -scene.driver_pose_sins[1] * arc_l / 2; float delta_y = -scene.driver_pose_sins[0] * arc_l / 2; painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap)); diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 582217c1d7..ccf9bf8053 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -11,14 +11,11 @@ #define NVME "/dev/nvme0n1" #define USERDATA "/dev/disk/by-partlabel/userdata" -void Reset::doReset() { - // best effort to wipe nvme and sd card +void Reset::doErase() { + // best effort to wipe nvme std::system("sudo umount " NVME); std::system("yes | sudo mkfs.ext4 " NVME); - // we handle two cases here - // * user-prompted factory reset - // * recovering from a corrupt userdata by formatting int rm = std::system("sudo rm -rf /data/*"); std::system("sudo umount " USERDATA); int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA); @@ -30,22 +27,26 @@ void Reset::doReset() { rebootBtn->show(); } +void Reset::startReset() { + body->setText(tr("Resetting device...\nThis may take up to a minute.")); + rejectBtn->hide(); + rebootBtn->hide(); + confirmBtn->hide(); +#ifdef __aarch64__ + QTimer::singleShot(100, this, &Reset::doErase); +#endif +} + void Reset::confirm() { const QString confirm_txt = tr("Are you sure you want to reset your device?"); if (body->text() != confirm_txt) { body->setText(confirm_txt); } else { - body->setText(tr("Resetting device...")); - rejectBtn->hide(); - rebootBtn->hide(); - confirmBtn->hide(); -#ifdef __aarch64__ - QTimer::singleShot(100, this, &Reset::doReset); -#endif + startReset(); } } -Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { +Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(45, 220, 45, 45); main_layout->setSpacing(0); @@ -56,7 +57,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->addSpacing(60); - body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); + body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -82,10 +83,16 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); + bool recover = mode == ResetMode::RECOVER; rejectBtn->setVisible(!recover); rebootBtn->setVisible(recover); if (recover) { - body->setText(tr("Unable to mount data partition. Press confirm to reset your device.")); + body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); + } + + // automatically start if we're just finishing up an ABL reset + if (mode == ResetMode::FORMAT) { + startReset(); } setStyleSheet(R"( @@ -108,9 +115,17 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { } int main(int argc, char *argv[]) { - bool recover = argc > 1 && strcmp(argv[1], "--recover") == 0; + ResetMode mode = ResetMode::USER_RESET; + if (argc > 1) { + if (strcmp(argv[1], "--recover") == 0) { + mode = ResetMode::RECOVER; + } else if (strcmp(argv[1], "--format") == 0) { + mode = ResetMode::FORMAT; + } + } + QApplication a(argc, argv); - Reset reset(recover); + Reset reset(mode); setMainWindow(&reset); return a.exec(); } diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h index 3a4994077c..04a191d829 100644 --- a/selfdrive/ui/qt/setup/reset.h +++ b/selfdrive/ui/qt/setup/reset.h @@ -2,18 +2,25 @@ #include #include +enum ResetMode { + USER_RESET, // user initiated a factory reset from openpilot + RECOVER, // userdata is corrupt for some reason, give a chance to recover + FORMAT, // finish up an ABL factory reset +}; + class Reset : public QWidget { Q_OBJECT public: - explicit Reset(bool recover = false, QWidget *parent = 0); + explicit Reset(ResetMode mode, QWidget *parent = 0); private: QLabel *body; QPushButton *rejectBtn; QPushButton *rebootBtn; QPushButton *confirmBtn; - void doReset(); + void doErase(); + void startReset(); private slots: void confirm(); diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 392be68a12..de5021c8bc 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -34,7 +34,7 @@ bool is_elf(char *fname) { void Setup::download(QString url) { CURL *curl = curl_easy_init(); if (!curl) { - emit finished(false); + emit finished(url, tr("Something went wrong. Reboot the device.")); return; } @@ -53,15 +53,24 @@ void Setup::download(QString url) { curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str()); curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list); + curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L); int ret = curl_easy_perform(curl); long res_status = 0; curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status); - if (ret == CURLE_OK && res_status == 200 && is_elf(tmpfile)) { - rename(tmpfile, "/tmp/installer"); - emit finished(true); + + if (ret != CURLE_OK || res_status != 200) { + emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); + } else if (!is_elf(tmpfile)) { + emit finished(url, tr("No custom software found at this URL.")); } else { - emit finished(false); + rename(tmpfile, "/tmp/installer"); + + FILE *fp_url = fopen("/tmp/installer_url", "w"); + fprintf(fp_url, "%s", url.toStdString().c_str()); + fclose(fp_url); + + emit finished(url); } curl_slist_free_all(list); @@ -234,10 +243,10 @@ QWidget * Setup::downloading() { return widget; } -QWidget * Setup::download_failed() { +QWidget * Setup::download_failed(QLabel *url, QLabel *body) { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 225, 55, 55); + main_layout->setContentsMargins(55, 185, 55, 55); main_layout->setSpacing(0); QLabel *title = new QLabel(tr("Download Failed")); @@ -246,7 +255,13 @@ QWidget * Setup::download_failed() { main_layout->addSpacing(67); - QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); + url->setWordWrap(true); + url->setAlignment(Qt::AlignTop | Qt::AlignLeft); + url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;"); + main_layout->addWidget(url); + + main_layout->addSpacing(48); + body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); @@ -271,7 +286,7 @@ QWidget * Setup::download_failed() { restart->setProperty("primary", true); blayout->addWidget(restart); QObject::connect(restart, &QPushButton::clicked, this, [=]() { - setCurrentIndex(2); + setCurrentIndex(1); }); widget->setStyleSheet(R"( @@ -304,15 +319,19 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { downloading_widget = downloading(); addWidget(downloading_widget); - failed_widget = download_failed(); + QLabel *url_label = new QLabel(); + QLabel *body_label = new QLabel(); + failed_widget = download_failed(url_label, body_label); addWidget(failed_widget); - QObject::connect(this, &Setup::finished, [=](bool success) { - // hide setup on success - qDebug() << "finished" << success; - if (success) { + QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) { + qDebug() << "finished" << url << error; + if (error.isEmpty()) { + // hide setup on success QTimer::singleShot(3000, this, &QWidget::hide); } else { + url_label->setText(url); + body_label->setText(error); setCurrentWidget(failed_widget); } }); diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index f990b5a6cb..bf5d97070d 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -15,13 +16,13 @@ private: QWidget *getting_started(); QWidget *network_setup(); QWidget *downloading(); - QWidget *download_failed(); + QWidget *download_failed(QLabel *url, QLabel *body); QWidget *failed_widget; QWidget *downloading_widget; signals: - void finished(bool success); + void finished(const QString &url, const QString &error = ""); public slots: void nextPage(); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 65e4f72d19..df6901b3fd 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -767,18 +767,10 @@ location set Are you sure you want to reset your device? Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest? - - Resetting device... - Gerät wird zurückgesetzt... - System Reset System auf Werkseinstellungen zurücksetzen - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Zurücksetzen auf Werkseinstellungen wurde ausgewählt. Drücke Annehmen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um mit dem Starten des Gerätes fortzufahren. - Cancel Abbrechen @@ -792,8 +784,17 @@ location set Bestätigen - Unable to mount data partition. Press confirm to reset your device. - Datenpartition kann nicht geöffnet werden. Drücke Annehmen, um dein Gerät auf Werkseinstellungen zurückzusetzen. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -1235,6 +1236,14 @@ Reboot now? Start over Von neuem beginnen + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b242585928..056c0cc1bb 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -765,18 +765,10 @@ location set Are you sure you want to reset your device? 初期化してもよろしいですか？ - - Resetting device... - デバイスが初期化されます... - System Reset システムを初期化 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。 - Cancel キャンセル @@ -790,8 +782,17 @@ location set 確認 - Unable to mount data partition. Press confirm to reset your device. - 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -1233,6 +1234,14 @@ Reboot now? Start over 最初からやり直す + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 1784acde00..c054abd489 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -518,7 +518,7 @@ location set Waiting for GPS - GPS를 기다리는 중 + GPS 수신중 입니다 @@ -765,18 +765,10 @@ location set Are you sure you want to reset your device? 장치를 초기화 하시겠습니까? - - Resetting device... - 장치 초기화중... - System Reset 장치 초기화 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요. - Cancel 취소 @@ -790,8 +782,18 @@ location set 확인 - Unable to mount data partition. Press confirm to reset your device. - 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 장치를 초기화하려면 확인을 누르세요. + + + Press confirm to erase all content and settings. Press cancel to resume boot. + 모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요. + + + Resetting device... +This may take up to a minute. + 장치 초기화 중... +최대 1분이 소요될 수 있습니다. @@ -1233,6 +1235,14 @@ Reboot now? Start over 다시 시작 + + Something went wrong. Reboot the device. + 문제가 발생했습니다. 장치를 재부팅하세요. + + + No custom software found at this URL. + 이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다. + SetupWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f1b9a59f84..b46b4764fa 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -769,18 +769,10 @@ trabalho definido Are you sure you want to reset your device? Tem certeza que quer resetar seu dispositivo? - - Resetting device... - Resetando dispositivo... - System Reset Resetar Sistema - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot. - Cancel Cancelar @@ -794,8 +786,18 @@ trabalho definido Confirmar - Unable to mount data partition. Press confirm to reset your device. - Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. + + + Press confirm to erase all content and settings. Press cancel to resume boot. + Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. + + + Resetting device... +This may take up to a minute. + Redefinindo o dispositivo +Isso pode levar até um minuto. @@ -1237,6 +1239,14 @@ Reboot now? Start over Inicializar + + No custom software found at this URL. + Não há software personalizado nesta URL. + + + Something went wrong. Reboot the device. + Algo deu errado. Reinicie o dispositivo. + SetupWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index ce394ecb97..45f91f1cdb 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -311,18 +311,6 @@ Installing... กำลังติดตั้ง... - - Receiving objects: - กำลังรับข้อมูล: - - - Resolving deltas: - การแก้ไขเดลต้า: - - - Updating files: - กำลังอัปเดตไฟล์: - MapETA @@ -586,18 +574,10 @@ location set Are you sure you want to reset your device? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? - - Resetting device... - กำลังรีเซ็ตอุปกรณ์... - System Reset รีเซ็ตระบบ - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ - Cancel ยกเลิก @@ -611,8 +591,18 @@ location set ยืนยัน - Unable to mount data partition. Press confirm to reset your device. - ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ + Resetting device... +This may take up to a minute. + กำลังรีเซ็ตอุปกรณ์... +อาจใช้เวลาถึงหนึ่งนาที + + + Press confirm to erase all content and settings. Press cancel to resume boot. + กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ @@ -684,18 +674,6 @@ location set Waiting for internet กำลังรอสัญญาณอินเตอร์เน็ต - - Choose Software to Install - เลือกซอฟต์แวร์ที่จะติดตั้ง - - - Dashcam - กล้องติดรถยนต์ - - - Custom Software - ซอฟต์แวร์ที่กำหนดเอง - Enter URL ป้อน URL @@ -724,6 +702,14 @@ location set Start over เริ่มต้นใหม่ + + Something went wrong. Reboot the device. + มีบางอย่างผิดพลาด รีบูตอุปกรณ์ + + + No custom software found at this URL. + ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้ + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 2ec4a2c091..cc55b367b2 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -763,18 +763,10 @@ location set Are you sure you want to reset your device? 您确定要重置您的设备吗？ - - Resetting device... - 正在重置设备…… - System Reset 恢复出厂设置 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。 - Cancel 取消 @@ -788,8 +780,17 @@ location set 确认 - Unable to mount data partition. Press confirm to reset your device. - 无法挂载数据分区。 确认以重置您的设备。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -1231,6 +1232,14 @@ Reboot now? Start over 重来 + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 5a14763d0e..344840996f 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -278,6 +278,10 @@ Please use caution when using this feature. Only use the blinker when traffic an Power Off 關機 + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 @@ -765,18 +769,10 @@ location set Are you sure you want to reset your device? 您確定要重置你的設備嗎？ - - Resetting device... - 重置設備中… - System Reset 系統重置 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。 - Cancel 取消 @@ -790,8 +786,17 @@ location set 確認 - Unable to mount data partition. Press confirm to reset your device. - 無法掛載數據分區。請按確認重置您的設備。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + 無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定 + + + Press confirm to erase all content and settings. Press cancel to resume boot. + 按下確認以刪除所有內容及設定 按下取消來繼續開機 + + + Resetting device... +This may take up to a minute. + 設備重置中 此過程可能需要幾分鐘 @@ -1233,6 +1238,14 @@ Reboot now? Start over 重新開始 + + No custom software found at this URL. + 無法在此URL找到定制的軟體 + + + Something went wrong. Reboot the device. + 發生了一些錯誤 請重新啟動您的設備 + SetupWidget @@ -1578,11 +1591,11 @@ Reboot now? openpilot longitudinal control may come in a future update. - + 未來可能會推出openpilot縱向控制 An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 Enable experimental longitudinal control to allow Experimental mode. diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 8233834d11..840d575fdf 100644 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -24,13 +24,10 @@ BASE_CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), @@ -41,7 +38,6 @@ BASE_CONFIG = [ AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), @@ -64,6 +60,11 @@ BASE_CONFIG = [ CONFIGS = { "tici": [ + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), + AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), + *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), @@ -72,11 +73,13 @@ CONFIGS = { ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111), - AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111), - AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), @@ -91,12 +94,6 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - - *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)), - *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)), - *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)), - *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)), - *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)), ], } diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 2460152998..f563933285 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -3,6 +3,7 @@ import unittest import time import math from dataclasses import dataclass +from tabulate import tabulate from system.hardware import HARDWARE, TICI from system.hardware.tici.power_monitor import get_power @@ -20,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), - Proc('modeld', 1.15, atol=0.2), + Proc('modeld', 0.93, atol=0.2), Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ] @@ -58,15 +59,16 @@ class TestPowerDraw(unittest.TestCase): manager_cleanup() - print("-"*35) - print(f"Baseline {baseline:.2f}W\n") + tab = [] + tab.append(['process', 'expected (W)', 'current (W)']) for proc in PROCS: cur = used[proc.name] expected = proc.power - print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W") + tab.append([proc.name, round(expected, 2), round(cur, 2)]) with self.subTest(proc=proc.name): self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) - print("-"*35) + print(tabulate(tab)) + print(f"Baseline {baseline:.2f}W\n") if __name__ == "__main__": diff --git a/selfdrive/loggerd/.gitignore b/system/loggerd/.gitignore similarity index 100% rename from selfdrive/loggerd/.gitignore rename to system/loggerd/.gitignore diff --git a/selfdrive/loggerd/README.md b/system/loggerd/README.md similarity index 100% rename from selfdrive/loggerd/README.md rename to system/loggerd/README.md diff --git a/selfdrive/loggerd/SConscript b/system/loggerd/SConscript similarity index 100% rename from selfdrive/loggerd/SConscript rename to system/loggerd/SConscript diff --git a/selfdrive/loggerd/__init__.py b/system/loggerd/__init__.py similarity index 100% rename from selfdrive/loggerd/__init__.py rename to system/loggerd/__init__.py diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc similarity index 97% rename from selfdrive/loggerd/bootlog.cc rename to system/loggerd/bootlog.cc index e882e4cf8d..4deb5b41f3 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -3,7 +3,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" static kj::Array build_boot_log() { diff --git a/selfdrive/loggerd/config.py b/system/loggerd/config.py similarity index 100% rename from selfdrive/loggerd/config.py rename to system/loggerd/config.py diff --git a/selfdrive/loggerd/deleter.py b/system/loggerd/deleter.py similarity index 89% rename from selfdrive/loggerd/deleter.py rename to system/loggerd/deleter.py index 5606288024..5fb2b9eb41 100644 --- a/selfdrive/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -3,8 +3,8 @@ import os import shutil import threading from system.swaglog import cloudlog -from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent -from selfdrive.loggerd.uploader import listdir_by_creation +from system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from system.loggerd.uploader import listdir_by_creation MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/selfdrive/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/encoder.cc rename to system/loggerd/encoder/encoder.cc index 943f37803d..08eaf0ff01 100644 --- a/selfdrive/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -1,5 +1,5 @@ #include -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" VideoEncoder::~VideoEncoder() {} diff --git a/selfdrive/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h similarity index 97% rename from selfdrive/loggerd/encoder/encoder.h rename to system/loggerd/encoder/encoder.h index 21ef65cf12..88dd5cee23 100644 --- a/selfdrive/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.cc rename to system/loggerd/encoder/ffmpeg_encoder.cc index 5f8d140e8b..275da34f18 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -1,6 +1,6 @@ #pragma clang diagnostic ignored "-Wdeprecated-declarations" -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #include #include diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h similarity index 92% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.h rename to system/loggerd/encoder/ffmpeg_encoder.h index 497a28b651..9095a6e815 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -11,8 +11,8 @@ extern "C" { #include } -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/loggerd.h" class FfmpegEncoder : public VideoEncoder { public: diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc similarity index 99% rename from selfdrive/loggerd/encoder/v4l_encoder.cc rename to system/loggerd/encoder/v4l_encoder.cc index 88aeb21256..16e7246ff4 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #include "common/util.h" #include "common/timing.h" diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h similarity index 95% rename from selfdrive/loggerd/encoder/v4l_encoder.h rename to system/loggerd/encoder/v4l_encoder.h index c2a53dd6ef..d4b0a1211d 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -1,7 +1,7 @@ #pragma once #include "common/queue.h" -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" #define BUF_IN_COUNT 7 #define BUF_OUT_COUNT 6 diff --git a/selfdrive/loggerd/encoderd.cc b/system/loggerd/encoderd.cc similarity index 99% rename from selfdrive/loggerd/encoderd.cc rename to system/loggerd/encoderd.cc index db5f4b61ab..12b58b6591 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/loggerd.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/logger.cc b/system/loggerd/logger.cc similarity index 99% rename from selfdrive/loggerd/logger.cc rename to system/loggerd/logger.cc index aaf267e523..0599aa1e54 100644 --- a/selfdrive/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include #include diff --git a/selfdrive/loggerd/logger.h b/system/loggerd/logger.h similarity index 100% rename from selfdrive/loggerd/logger.h rename to system/loggerd/logger.h diff --git a/selfdrive/loggerd/loggerd.cc b/system/loggerd/loggerd.cc similarity index 99% rename from selfdrive/loggerd/loggerd.cc rename to system/loggerd/loggerd.cc index e09cdfaa9e..a7f7db4801 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,5 +1,5 @@ -#include "selfdrive/loggerd/loggerd.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/loggerd.h" +#include "system/loggerd/video_writer.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/loggerd.h b/system/loggerd/loggerd.h similarity index 92% rename from selfdrive/loggerd/loggerd.h rename to system/loggerd/loggerd.h index 1fa6349828..1b8f9e0d2a 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -23,13 +23,13 @@ #include "common/util.h" #include "system/hardware/hw.h" -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/logger.h" #ifdef QCOM2 -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #define Encoder V4LEncoder #else -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #define Encoder FfmpegEncoder #endif diff --git a/selfdrive/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/tests/__init__.py rename to system/loggerd/tests/__init__.py diff --git a/selfdrive/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill_eon.py similarity index 79% rename from selfdrive/loggerd/tests/fill_eon.py rename to system/loggerd/tests/fill_eon.py index b40982fa9f..e0c52ea0d7 100755 --- a/selfdrive/loggerd/tests/fill_eon.py +++ b/system/loggerd/tests/fill_eon.py @@ -3,8 +3,8 @@ import os -from selfdrive.loggerd.config import ROOT, get_available_percent -from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file +from system.loggerd.config import ROOT, get_available_percent +from system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py similarity index 98% rename from selfdrive/loggerd/tests/loggerd_tests_common.py rename to system/loggerd/tests/loggerd_tests_common.py index 80cfb162f1..6aca83858b 100644 --- a/selfdrive/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -5,7 +5,7 @@ import random import tempfile import unittest -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader def create_random_file(file_path, size_mb, lock=False): try: diff --git a/selfdrive/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py similarity index 96% rename from selfdrive/loggerd/tests/test_deleter.py rename to system/loggerd/tests/test_deleter.py index 80fb5c997f..5b54a43f3b 100755 --- a/selfdrive/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,8 +6,8 @@ import unittest from collections import namedtuple from common.timeout import Timeout, TimeoutException -import selfdrive.loggerd.deleter as deleter -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +import system.loggerd.deleter as deleter +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/selfdrive/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py similarity index 99% rename from selfdrive/loggerd/tests/test_encoder.py rename to system/loggerd/tests/test_encoder.py index 1b9bcef2d7..81f4e9fb9d 100755 --- a/selfdrive/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -14,7 +14,7 @@ from tqdm import trange from common.params import Params from common.timeout import Timeout from system.hardware import TICI -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from tools.lib.logreader import LogReader diff --git a/selfdrive/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc similarity index 99% rename from selfdrive/loggerd/tests/test_logger.cc rename to system/loggerd/tests/test_logger.cc index ba7835d632..9c82299091 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py similarity index 96% rename from selfdrive/loggerd/tests/test_loggerd.py rename to system/loggerd/tests/test_loggerd.py index 9c3565d130..54098d13d0 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -15,7 +15,7 @@ from cereal.services import service_list from common.basedir import BASEDIR from common.params import Params from common.timeout import Timeout -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from system.version import get_version from tools.lib.logreader import LogReader @@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase): def _gen_bootlog(self): with Timeout(5): - out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8') + out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8') log_fn = self._get_log_fn(out) @@ -86,7 +86,7 @@ class TestLoggerd(unittest.TestCase): params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemeris", "abc") + params.put("LaikadEphemerisV2", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -103,14 +103,14 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemeris'} + expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV2'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemeris'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemeris'])}" + assert logged_params['LaikadEphemerisV2'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV2'])}" for param_key, initData_key, v in fake_params: self.assertEqual(getattr(initData, initData_key), v) self.assertEqual(logged_params[param_key].decode(), v) - params.put("LaikadEphemeris", "") + params.put("LaikadEphemerisV2", "") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" diff --git a/selfdrive/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc similarity index 100% rename from selfdrive/loggerd/tests/test_runner.cc rename to system/loggerd/tests/test_runner.cc diff --git a/selfdrive/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py similarity index 97% rename from selfdrive/loggerd/tests/test_uploader.py rename to system/loggerd/tests/test_uploader.py index 6090bbe2aa..11b273cec8 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -7,9 +7,9 @@ import logging import json from system.swaglog import cloudlog -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): diff --git a/selfdrive/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py similarity index 60% rename from selfdrive/loggerd/tools/mark_all_uploaded.py rename to system/loggerd/tools/mark_all_uploaded.py index e60e6cfa2c..c963014748 100644 --- a/selfdrive/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py similarity index 70% rename from selfdrive/loggerd/tools/mark_unuploaded.py rename to system/loggerd/tools/mark_unuploaded.py index 343805d5fc..3d1d4472b0 100755 --- a/selfdrive/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME +from system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/selfdrive/loggerd/uploader.py b/system/loggerd/uploader.py similarity index 98% rename from selfdrive/loggerd/uploader.py rename to system/loggerd/uploader.py index cd6a5cfd3b..72d7172432 100644 --- a/selfdrive/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -17,8 +17,8 @@ from common.params import Params from common.realtime import sec_since_boot from common.realtime import set_core_affinity from system.hardware import TICI -from selfdrive.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT from system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType diff --git a/selfdrive/loggerd/video_writer.cc b/system/loggerd/video_writer.cc similarity index 98% rename from selfdrive/loggerd/video_writer.cc rename to system/loggerd/video_writer.cc index 4f79ccafc8..91bf09355f 100644 --- a/selfdrive/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "common/swaglog.h" #include "common/util.h" diff --git a/selfdrive/loggerd/video_writer.h b/system/loggerd/video_writer.h similarity index 100% rename from selfdrive/loggerd/video_writer.h rename to system/loggerd/video_writer.h diff --git a/selfdrive/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py similarity index 100% rename from selfdrive/loggerd/xattr_cache.py rename to system/loggerd/xattr_cache.py diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore new file mode 100644 index 0000000000..e9b8071b4b --- /dev/null +++ b/system/sensord/.gitignore @@ -0,0 +1 @@ +_sensord diff --git a/selfdrive/sensord/SConscript b/system/sensord/SConscript similarity index 100% rename from selfdrive/sensord/SConscript rename to system/sensord/SConscript diff --git a/selfdrive/sensord/__init__.py b/system/sensord/__init__.py similarity index 100% rename from selfdrive/sensord/__init__.py rename to system/sensord/__init__.py diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py similarity index 99% rename from selfdrive/sensord/pigeond.py rename to system/sensord/pigeond.py index 9d0a62bd3b..c9ad7ff22a 100755 --- a/selfdrive/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD") cloudlog.debug("pigeon configured") # try restoring almanac backup diff --git a/selfdrive/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py similarity index 100% rename from selfdrive/sensord/rawgps/compare.py rename to system/sensord/rawgps/compare.py diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/system/sensord/rawgps/modemdiag.py similarity index 100% rename from selfdrive/sensord/rawgps/modemdiag.py rename to system/sensord/rawgps/modemdiag.py diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py similarity index 98% rename from selfdrive/sensord/rawgps/rawgpsd.py rename to system/sensord/rawgps/rawgpsd.py index 3fa5e927a2..f75ceee7ed 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime from system.hardware.tici.pins import GPIO from system.swaglog import cloudlog -from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, diff --git a/selfdrive/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py similarity index 100% rename from selfdrive/sensord/rawgps/structs.py rename to system/sensord/rawgps/structs.py diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py similarity index 100% rename from selfdrive/sensord/rawgps/test_rawgps.py rename to system/sensord/rawgps/test_rawgps.py diff --git a/selfdrive/sensord/sensord b/system/sensord/sensord similarity index 100% rename from selfdrive/sensord/sensord rename to system/sensord/sensord diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_accel.cc rename to system/sensord/sensors/bmx055_accel.cc diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h similarity index 96% rename from selfdrive/sensord/sensors/bmx055_accel.h rename to system/sensord/sensors/bmx055_accel.h index 8ef660a99f..2cc316e992 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/system/sensord/sensors/bmx055_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_ACCEL_I2C_ADDR 0x18 diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_gyro.cc rename to system/sensord/sensors/bmx055_gyro.cc diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h similarity index 95% rename from selfdrive/sensord/sensors/bmx055_gyro.h rename to system/sensord/sensors/bmx055_gyro.h index 80b93f128c..7be3e56563 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/system/sensord/sensors/bmx055_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_GYRO_I2C_ADDR 0x68 diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_magn.cc rename to system/sensord/sensors/bmx055_magn.cc diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h similarity index 97% rename from selfdrive/sensord/sensors/bmx055_magn.h rename to system/sensord/sensors/bmx055_magn.h index e4a79bc7e0..15c4e734b9 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/system/sensord/sensors/bmx055_magn.h @@ -1,7 +1,7 @@ #pragma once #include -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_MAGN_I2C_ADDR 0x10 diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc similarity index 94% rename from selfdrive/sensord/sensors/bmx055_temp.cc rename to system/sensord/sensors/bmx055_temp.cc index 95b8068ac1..68ee0da1d6 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/system/sensord/sensors/bmx055_temp.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_accel.h" #include "common/swaglog.h" #include "common/timing.h" diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h similarity index 71% rename from selfdrive/sensord/sensors/bmx055_temp.h rename to system/sensord/sensors/bmx055_temp.h index 0b6802deaa..a2eabae395 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/system/sensord/sensors/bmx055_temp.h @@ -1,7 +1,7 @@ #pragma once -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/i2c_sensor.h" class BMX055_Temp : public I2CSensor { uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} diff --git a/selfdrive/sensord/sensors/constants.h b/system/sensord/sensors/constants.h similarity index 100% rename from selfdrive/sensord/sensors/constants.h rename to system/sensord/sensors/constants.h diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/file_sensor.cc rename to system/sensord/sensors/file_sensor.cc diff --git a/selfdrive/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h similarity index 88% rename from selfdrive/sensord/sensors/file_sensor.h rename to system/sensord/sensors/file_sensor.h index 39d695167d..07d7e8f946 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/system/sensord/sensors/file_sensor.h @@ -4,7 +4,7 @@ #include #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/sensor.h" class FileSensor : public Sensor { protected: diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/i2c_sensor.cc rename to system/sensord/sensors/i2c_sensor.cc diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h similarity index 93% rename from selfdrive/sensord/sensors/i2c_sensor.h rename to system/sensord/sensors/i2c_sensor.h index 08ca6f09cd..ccac526c12 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -8,8 +8,8 @@ #include "common/gpio.h" #include "common/swaglog.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/sensor.h" int16_t read_12_bit(uint8_t lsb, uint8_t msb); int16_t read_16_bit(uint8_t lsb, uint8_t msb); diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc similarity index 92% rename from selfdrive/sensord/sensors/light_sensor.cc rename to system/sensord/sensors/light_sensor.cc index 58c602ea39..99e321b47d 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/system/sensord/sensors/light_sensor.cc @@ -3,7 +3,7 @@ #include #include "common/timing.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} diff --git a/selfdrive/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h similarity index 100% rename from selfdrive/sensord/sensors/light_sensor.h rename to system/sensord/sensors/light_sensor.h diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_accel.cc rename to system/sensord/sensors/lsm6ds3_accel.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h similarity index 97% rename from selfdrive/sensord/sensors/lsm6ds3_accel.h rename to system/sensord/sensors/lsm6ds3_accel.h index c3f66f5803..69667cb759 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/system/sensord/sensors/lsm6ds3_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_ACCEL_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.cc rename to system/sensord/sensors/lsm6ds3_gyro.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h similarity index 96% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.h rename to system/sensord/sensors/lsm6ds3_gyro.h index 220e6b0cec..adaae62dd2 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/system/sensord/sensors/lsm6ds3_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_GYRO_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_temp.cc rename to system/sensord/sensors/lsm6ds3_temp.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h similarity index 92% rename from selfdrive/sensord/sensors/lsm6ds3_temp.h rename to system/sensord/sensors/lsm6ds3_temp.h index 1d6bcc228a..1b5b621814 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/system/sensord/sensors/lsm6ds3_temp.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_TEMP_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/mmc5603nj_magn.cc rename to system/sensord/sensors/mmc5603nj_magn.cc diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h similarity index 94% rename from selfdrive/sensord/sensors/mmc5603nj_magn.h rename to system/sensord/sensors/mmc5603nj_magn.h index a364c7c37a..fce3f3fecb 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define MMC5603NJ_I2C_ADDR 0x30 diff --git a/selfdrive/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h similarity index 100% rename from selfdrive/sensord/sensors/sensor.h rename to system/sensord/sensors/sensor.h diff --git a/selfdrive/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc similarity index 90% rename from selfdrive/sensord/sensors_qcom2.cc rename to system/sensord/sensors_qcom2.cc index fc8dc8620b..349c67f498 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -12,17 +12,17 @@ #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/bmx055_gyro.h" -#include "selfdrive/sensord/sensors/bmx055_magn.h" -#include "selfdrive/sensord/sensors/bmx055_temp.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/light_sensor.h" -#include "selfdrive/sensord/sensors/lsm6ds3_accel.h" -#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h" -#include "selfdrive/sensord/sensors/lsm6ds3_temp.h" -#include "selfdrive/sensord/sensors/mmc5603nj_magn.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_gyro.h" +#include "system/sensord/sensors/bmx055_magn.h" +#include "system/sensord/sensors/bmx055_temp.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/light_sensor.h" +#include "system/sensord/sensors/lsm6ds3_accel.h" +#include "system/sensord/sensors/lsm6ds3_gyro.h" +#include "system/sensord/sensors/lsm6ds3_temp.h" +#include "system/sensord/sensors/mmc5603nj_magn.h" +#include "system/sensord/sensors/sensor.h" #define I2C_BUS_IMU 1 diff --git a/selfdrive/sensord/tests/__init__.py b/system/sensord/tests/__init__.py similarity index 100% rename from selfdrive/sensord/tests/__init__.py rename to system/sensord/tests/__init__.py diff --git a/selfdrive/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py similarity index 100% rename from selfdrive/sensord/tests/test_pigeond.py rename to system/sensord/tests/test_pigeond.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py similarity index 100% rename from selfdrive/sensord/tests/test_sensord.py rename to system/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py similarity index 100% rename from selfdrive/sensord/tests/ttff_test.py rename to system/sensord/tests/ttff_test.py diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore new file mode 100644 index 0000000000..05263ff67c --- /dev/null +++ b/system/ubloxd/.gitignore @@ -0,0 +1,2 @@ +ubloxd +tests/test_glonass_runner diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript new file mode 100644 index 0000000000..fff0986efd --- /dev/null +++ b/system/ubloxd/SConscript @@ -0,0 +1,20 @@ +Import('env', 'common', 'cereal', 'messaging') + +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] + +if GetOption('kaitai'): + generated = Dir('generated').srcnode().abspath + cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" + env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) + env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) + glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) + + # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 + patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') + env.Depends(patch, glonass) + +glonass_obj = env.Object('generated/glonass.cpp') +env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) + +if GetOption('test'): + env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/selfdrive/locationd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp similarity index 100% rename from selfdrive/locationd/generated/glonass.cpp rename to system/ubloxd/generated/glonass.cpp diff --git a/selfdrive/locationd/generated/glonass.h b/system/ubloxd/generated/glonass.h similarity index 100% rename from selfdrive/locationd/generated/glonass.h rename to system/ubloxd/generated/glonass.h diff --git a/selfdrive/locationd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp similarity index 100% rename from selfdrive/locationd/generated/gps.cpp rename to system/ubloxd/generated/gps.cpp diff --git a/selfdrive/locationd/generated/gps.h b/system/ubloxd/generated/gps.h similarity index 100% rename from selfdrive/locationd/generated/gps.h rename to system/ubloxd/generated/gps.h diff --git a/selfdrive/locationd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp similarity index 100% rename from selfdrive/locationd/generated/ubx.cpp rename to system/ubloxd/generated/ubx.cpp diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h similarity index 100% rename from selfdrive/locationd/generated/ubx.h rename to system/ubloxd/generated/ubx.h diff --git a/selfdrive/locationd/glonass.ksy b/system/ubloxd/glonass.ksy similarity index 100% rename from selfdrive/locationd/glonass.ksy rename to system/ubloxd/glonass.ksy diff --git a/selfdrive/locationd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch similarity index 68% rename from selfdrive/locationd/glonass_fix.patch rename to system/ubloxd/glonass_fix.patch index fa34a8ef15..7eb973a348 100644 --- a/selfdrive/locationd/glonass_fix.patch +++ b/system/ubloxd/glonass_fix.patch @@ -1,7 +1,7 @@ -diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp +diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp index 5b17bc327..b5c6aa610 100644 ---- a/selfdrive/locationd/generated/glonass.cpp -+++ b/selfdrive/locationd/generated/glonass.cpp +--- a/system/ubloxd/generated/glonass.cpp ++++ b/system/ubloxd/generated/glonass.cpp @@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass void glonass_t::_read() { m_idle_chip = m__io->read_bits_int_be(1); diff --git a/selfdrive/locationd/gps.ksy b/system/ubloxd/gps.ksy similarity index 100% rename from selfdrive/locationd/gps.ksy rename to system/ubloxd/gps.ksy diff --git a/selfdrive/locationd/test/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py similarity index 100% rename from selfdrive/locationd/test/print_gps_stats.py rename to system/ubloxd/tests/print_gps_stats.py diff --git a/selfdrive/locationd/test/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc similarity index 99% rename from selfdrive/locationd/test/test_glonass_kaitai.cc rename to system/ubloxd/tests/test_glonass_kaitai.cc index 22f5202a3d..5ad274142a 100644 --- a/selfdrive/locationd/test/test_glonass_kaitai.cc +++ b/system/ubloxd/tests/test_glonass_kaitai.cc @@ -6,7 +6,7 @@ #include #include "catch2/catch.hpp" -#include "selfdrive/locationd/generated/glonass.h" +#include "system/ubloxd/generated/glonass.h" typedef std::vector> string_data; diff --git a/selfdrive/locationd/test/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc similarity index 100% rename from selfdrive/locationd/test/test_glonass_runner.cc rename to system/ubloxd/tests/test_glonass_runner.cc diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py similarity index 100% rename from selfdrive/locationd/test/test_ublox_processing.py rename to system/ubloxd/tests/test_ublox_processing.py diff --git a/selfdrive/locationd/test/ublox.py b/system/ubloxd/tests/ublox.py similarity index 99% rename from selfdrive/locationd/test/ublox.py rename to system/ubloxd/tests/ublox.py index 9cffbeac40..80abc64e2c 100644 --- a/selfdrive/locationd/test/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -54,6 +54,7 @@ MSG_NAV_DOP = 0x04 MSG_NAV_EKFSTATUS = 0x40 MSG_NAV_SBAS = 0x32 MSG_NAV_SOL = 0x06 +MSG_NAV_SAT = 0x35 # RXM messages MSG_RXM_RAW = 0x15 diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py similarity index 98% rename from selfdrive/locationd/test/ubloxd.py rename to system/ubloxd/tests/ubloxd.py index 82aa502ceb..7c7e68b23b 100755 --- a/selfdrive/locationd/test/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -60,6 +60,7 @@ def configure_ublox(dev): dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1) + dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1) # Query the backup restore status print("backup restore polling message (implement custom response handler!):") diff --git a/selfdrive/locationd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc similarity index 87% rename from selfdrive/locationd/ublox_msg.cc rename to system/ubloxd/ublox_msg.cc index b746989466..83e64b7ddc 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -81,7 +81,8 @@ inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { return year; } -bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { +bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { + last_log_time = log_time; int needed = needed_bytes(); if(needed > 0) { bytes_consumed = std::min((uint32_t)needed, incoming_data_len ); @@ -126,6 +127,9 @@ std::pair> UbloxMsgParser::gen_msg() { return {"ubloxGnss", gen_mon_hw(static_cast(body))}; case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; + case 0x0135: + // TODO return {"ubloxGnss", gen_nav_sat(static_cast(body))}; + return {"ubloxGnss", kj::Array()}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; @@ -183,7 +187,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3) { + if (subframe_id > 3 || subframe_id < 1) { // dont parse almanac subframes return kj::Array(); } @@ -263,12 +267,8 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m } kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - if (msg->sv_id() == 255) { - // data can be decoded before identifying the SV number, in this case 255 - // is returned, which means "unknown" (ublox p32) - return kj::Array(); - } - + // This parser assumes that no 2 satellites of the same frequency + // can be in view at the same time auto body = *msg->body(); assert(body.size() == 4); { @@ -281,23 +281,48 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ kaitai::kstream stream(string_data); glonass_t gl_string(&stream); - int string_number = gl_string.string_number(); - if (string_number > 5 || gl_string.idle_chip()) { + if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { // dont parse non immediate data, idle_chip == 0 return kj::Array(); } - // immediate data is the same within one superframe - if (glonass_superframes[msg->sv_id()] != gl_string.superframe_number()) { - glonass_strings[msg->sv_id()].clear(); - glonass_superframes[msg->sv_id()] = gl_string.superframe_number(); + // Check if new string either has same superframe_id or log transmission times make sense + bool superframe_unknown = false; + bool needs_clear = false; + for (int i = 1; i <= 5; i++) { + if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end()) + continue; + if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { + superframe_unknown = true; + } + else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { + needs_clear = true; + } + // Check if string times add up to being from the same frame + // If superframe is known this is redundant + // Strings are sent 2s apart and frames are 30s apart + if (superframe_unknown && + std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10) + needs_clear = true; } - glonass_strings[msg->sv_id()][string_number] = string_data; + if (needs_clear) { + glonass_strings[msg->freq_id()].clear(); + glonass_string_superframes[msg->freq_id()].clear(); + glonass_string_times[msg->freq_id()].clear(); + } + glonass_strings[msg->freq_id()][string_number] = string_data; + glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number(); + glonass_string_times[msg->freq_id()][string_number] = last_log_time; + } + if (msg->sv_id() == 255) { + // data can be decoded before identifying the SV number, in this case 255 + // is returned, which means "unknown" (ublox p32) + return kj::Array(); } // publish if strings 1-5 have been collected - if (glonass_strings[msg->sv_id()].size() != 5) { + if (glonass_strings[msg->freq_id()].size() != 5) { return kj::Array(); } @@ -308,7 +333,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 1 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][1]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][1]); glonass_t gl_stream(&stream); glonass_t::string_1_t* data = static_cast(gl_stream.data()); @@ -321,7 +346,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 2 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][2]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][2]); glonass_t gl_stream(&stream); glonass_t::string_2_t* data = static_cast(gl_stream.data()); @@ -335,7 +360,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 3 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][3]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][3]); glonass_t gl_stream(&stream); glonass_t::string_3_t* data = static_cast(gl_stream.data()); @@ -349,7 +374,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 4 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][4]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][4]); glonass_t gl_stream(&stream); glonass_t::string_4_t* data = static_cast(gl_stream.data()); @@ -367,7 +392,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 5 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][5]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][5]); glonass_t gl_stream(&stream); glonass_t::string_5_t* data = static_cast(gl_stream.data()); @@ -396,7 +421,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ eph.setSecond((eph.getTk() & 0x1) * 30); } - glonass_strings[msg->sv_id()].clear(); + glonass_strings[msg->freq_id()].clear(); return capnp::messageToFlatArray(msg_builder); } diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h similarity index 88% rename from selfdrive/locationd/ublox_msg.h rename to system/ubloxd/ublox_msg.h index 6988f20b74..06877cc50d 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -9,9 +9,9 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/locationd/generated/gps.h" -#include "selfdrive/locationd/generated/glonass.h" -#include "selfdrive/locationd/generated/ubx.h" +#include "system/ubloxd/generated/gps.h" +#include "system/ubloxd/generated/glonass.h" +#include "system/ubloxd/generated/ubx.h" using namespace std::string_literals; @@ -86,7 +86,7 @@ namespace ublox { class UbloxMsgParser { public: - bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); + bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); inline void reset() {bytes_in_parse_buf = 0;} inline int needed_bytes(); inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} @@ -109,6 +109,7 @@ class UbloxMsgParser { std::unordered_map> gps_subframes; + float last_log_time = 0.0; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; @@ -119,5 +120,6 @@ class UbloxMsgParser { {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; std::unordered_map> glonass_strings; - std::unordered_map glonass_superframes; + std::unordered_map> glonass_string_times; + std::unordered_map> glonass_string_superframes; }; diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc similarity index 88% rename from selfdrive/locationd/ubloxd.cc rename to system/ubloxd/ubloxd.cc index d9b3e7647d..1dae6dc866 100644 --- a/selfdrive/locationd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -5,7 +5,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/locationd/ublox_msg.h" +#include "system/ubloxd/ublox_msg.h" ExitHandler do_exit; using namespace ublox; @@ -35,6 +35,7 @@ int main() { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); auto ubloxRaw = event.getUbloxRaw(); + float log_time = 1e-9 * event.getLogMonoTime(); const uint8_t *data = ubloxRaw.begin(); size_t len = ubloxRaw.size(); @@ -42,7 +43,7 @@ int main() { while(bytes_consumed < len && !do_exit) { size_t bytes_consumed_this_time = 0U; - if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { + if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { try { auto ublox_msg = parser.gen_msg(); diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy similarity index 100% rename from selfdrive/locationd/ubx.ksy rename to system/ubloxd/ubx.ksy diff --git a/tinygrad_repo b/tinygrad_repo index 2e1d47b166..d8dda2af3a 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2e1d47b16625ff343516287cdd9e4bcb26f5c4ef +Subproject commit d8dda2af3afcef0bb772fff580cfa8b3eabf7f69 diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 166b3d5548..3cb5913c01 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,6 +1,6 @@ import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', - 'cereal', 'transformations', 'widgets', 'opendbc', 'asset_obj') + 'cereal', 'transformations', 'widgets', 'opendbc') base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', @@ -20,11 +20,17 @@ cabana_env = qt_env.Clone() opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] +# build assets +assets = "assets/assets.cc" +assets_src = "assets/assets.qrc" +cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") +cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) + prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.cc', 'dbcmanager.cc', 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) -cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if arch == "Darwin": cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana') diff --git a/tools/cabana/assets/.gitignore b/tools/cabana/assets/.gitignore new file mode 100644 index 0000000000..283034ca8b --- /dev/null +++ b/tools/cabana/assets/.gitignore @@ -0,0 +1 @@ +*.cc diff --git a/tools/cabana/assets/assets.qrc b/tools/cabana/assets/assets.qrc new file mode 100644 index 0000000000..6a8e5a3414 --- /dev/null +++ b/tools/cabana/assets/assets.qrc @@ -0,0 +1,6 @@ + + + ../../../third_party/bootstrap/bootstrap-icons.svg + cabana-icon.png + + diff --git a/tools/cabana/assets/cabana-icon.png b/tools/cabana/assets/cabana-icon.png new file mode 100644 index 0000000000..86add806fd Binary files /dev/null and b/tools/cabana/assets/cabana-icon.png differ diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 5ea5ea2d99..b81f7d5e79 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -32,7 +32,6 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { verticalHeader()->setSectionResizeMode(QHeaderView::Fixed); verticalHeader()->setDefaultSectionSize(CELL_HEIGHT); horizontalHeader()->hide(); - setFrameShape(QFrame::NoFrame); setShowGrid(false); setMouseTracking(true); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); @@ -44,17 +43,17 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setWhatsThis(R"( Binary View
- Shortcuts:
+ Shortcuts
Delete Signal: - x , - Backspace , - Delete
- Change endianness: e
- Change singedness: s
+  x , +  Backspace , +  Delete 
+ Change endianness:  e 
+ Change singedness:  s 
Open chart: - c , - p , - g
+  c , +  p , +  g  )"); } @@ -76,8 +75,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this); QObject::connect(shortcut_endian, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_little_endian = !s.is_little_endian; emit editSignal(hovered_sig, s); @@ -90,8 +89,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this); QObject::connect(shortcut_sign, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_signed = !s.is_signed; emit editSignal(hovered_sig, s); @@ -108,17 +107,17 @@ void BinaryView::addShortcuts() { QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated); QObject::connect(shortcut_plot, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - emit showChart(*model->msg_id, hovered_sig, true, false); + emit showChart(model->msg_id, hovered_sig, true, false); } }); } QSize BinaryView::minimumSizeHint() const { - return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH, - CELL_HEIGHT * std::min(model->rowCount(), 10)}; + return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH + 2, + CELL_HEIGHT * std::min(model->rowCount(), 10) + 2}; } -void BinaryView::highlight(const Signal *sig) { +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; @@ -127,6 +126,16 @@ void BinaryView::highlight(const Signal *sig) { emit model->dataChanged(index, index, {Qt::DisplayRole}); } } + + if (sig && underMouse()) { + QString tooltip = tr(R"(%1
+ Size:%2 LE:%3 SGD:%4 + )").arg(sig->name).arg(sig->size).arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); + QToolTip::showText(QCursor::pos(), tooltip, this, rect()); + } else { + QToolTip::showText(QCursor::pos(), "", this, rect()); + } + hovered_sig = sig; emit signalHovered(hovered_sig); } @@ -167,9 +176,8 @@ 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 Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); highlight(sig); - QToolTip::showText(pos, sig ? sig->name : "", this, rect()); } } @@ -210,8 +218,6 @@ void BinaryView::setMessage(const MessageId &message_id) { } void BinaryView::refresh() { - if (!model->msg_id) return; - clearSelection(); anchor_index = QModelIndex(); resize_sig = nullptr; @@ -220,8 +226,8 @@ void BinaryView::refresh() { highlightPosition(QCursor::pos()); } -QSet BinaryView::getOverlappingSignals() const { - QSet overlapping; +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; for (auto &item : model->items) { if (item.sigs.size() > 1) for (auto s : item.sigs) overlapping += s; @@ -245,26 +251,26 @@ std::tuple BinaryView::getSelection(QModelIndex index) { void BinaryViewModel::refresh() { beginResetModel(); items.clear(); - if (auto dbc_msg = dbc()->msg(*msg_id)) { + if (auto dbc_msg = dbc()->msg(msg_id)) { row_count = dbc_msg->size; items.resize(row_count * column_count); - for (auto &sig : dbc_msg->sigs) { - auto [start, end] = getSignalRange(&sig); + for (auto sig : dbc_msg->getSignals()) { + auto [start, end] = getSignalRange(sig); for (int j = start; j <= end; ++j) { - int bit_index = sig.is_little_endian ? bigEndianBitIndex(j) : j; + int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j; int idx = column_count * (bit_index / 8) + bit_index % 8; if (idx >= items.size()) { - qWarning() << "signal " << sig.name << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; + qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; break; } - if (j == start) sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; - if (j == end) sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; - items[idx].bg_color = getColor(&sig); - items[idx].sigs.push_back(&sig); + if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; + if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; + items[idx].bg_color = getColor(sig); + items[idx].sigs.push_back(sig); } } } else { - row_count = can->lastMessage(*msg_id).dat.size(); + row_count = can->lastMessage(msg_id).dat.size(); items.resize(row_count * column_count); } endResetModel(); @@ -273,7 +279,7 @@ void BinaryViewModel::refresh() { void BinaryViewModel::updateState() { auto prev_items = items; - const auto &last_msg = can->lastMessage(*msg_id); + const auto &last_msg = can->lastMessage(msg_id); const auto &binary = last_msg.dat; // data size may changed. @@ -283,33 +289,26 @@ void BinaryViewModel::updateState() { items.resize(row_count * column_count); endInsertRows(); } - char hex[3] = {'\0'}; + + double max_f = 255.0; + double factor = 0.25; + double scaler = max_f / log2(1.0 + factor); for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { - items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; - + auto &item = items[i * column_count + j]; + item.val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; // Bit update frequency based highlighting - bool has_signal = items[i * column_count + j].sigs.size() > 0; - double offset = has_signal ? 50 : 0; - - double min_f = last_msg.bit_change_counts[i][7 - j] == 0 ? offset : offset + 25; - double max_f = 255.0; - - double factor = 0.25; - double scaler = max_f / log2(1.0 + factor); - - double alpha = std::clamp(offset + log2(1.0 + factor * (double)last_msg.bit_change_counts[i][7 - j] / (double)last_msg.count) * scaler, min_f, max_f); - items[i * column_count + j].bg_color.setAlpha(alpha); + double offset = !item.sigs.empty() ? 50 : 0; + auto n = last_msg.bit_change_counts[i][7 - j]; + double min_f = n == 0 ? offset : offset + 25; + double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f); + item.bg_color.setAlpha(alpha); } - hex[0] = toHex(binary[i] >> 4); - hex[1] = toHex(binary[i] & 0xf); - items[i * column_count + 8].val = hex; + items[i * column_count + 8].val = toHex(binary[i]); items[i * column_count + 8].bg_color = last_msg.colors[i]; } - for (int i = binary.size(); i < row_count; ++i) { - for (int j = 0; j < column_count; ++j) { - items[i * column_count + j].val = "-"; - } + for (int i = binary.size() * column_count; i < items.size(); ++i) { + items[i].val = "-"; } for (int i = 0; i < items.size(); ++i) { @@ -373,7 +372,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op bg.setAlpha(std::max(50, bg.alpha())); } painter->fillRect(option.rect, bg); - painter->setPen(Qt::black); + painter->setPen(option.palette.color(QPalette::Text)); } } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 1d6d5d0b07..f677d11941 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,7 +1,5 @@ #pragma once -#include - #include #include #include @@ -10,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class BinaryItemDelegate : public QStyledItemDelegate { public: @@ -46,11 +43,11 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "-"; - QList sigs; + QList sigs; }; std::vector items; - std::optional msg_id; + MessageId msg_id; int row_count = 0; const int column_count = 9; }; @@ -61,19 +58,19 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); void setMessage(const MessageId &message_id); - void highlight(const Signal *sig); - QSet getOverlappingSignals() const; + void highlight(const cabana::Signal *sig); + QSet getOverlappingSignals() const; inline void updateState() { model->updateState(); } QSize minimumSizeHint() const override; signals: - void signalClicked(const Signal *sig); - void signalHovered(const Signal *sig); + void signalClicked(const cabana::Signal *sig); + void signalHovered(const cabana::Signal *sig); void addSignal(int start_bit, int size, bool little_endian); - void resizeSignal(const Signal *sig, int from, int size); - void removeSignal(const Signal *sig); - void editSignal(const Signal *origin_s, Signal &s); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void resizeSignal(const cabana::Signal *sig, int from, int size); + void removeSignal(const cabana::Signal *sig); + void editSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void addShortcuts(); @@ -89,7 +86,7 @@ private: QModelIndex anchor_index; BinaryViewModel *model; BinaryItemDelegate *delegate; - const Signal *resize_sig = nullptr; - const Signal *hovered_sig = nullptr; + const cabana::Signal *resize_sig = nullptr; + const cabana::Signal *hovered_sig = nullptr; friend class BinaryItemDelegate; }; diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index e028e383c2..5c182f435f 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -14,6 +14,7 @@ int main(int argc, char *argv[]) { initApp(argc, argv); QApplication app(argc, argv); app.setApplicationDisplayName("Cabana"); + app.setWindowIcon(QIcon(":cabana-icon.png")); QCommandLineParser cmd_parser; cmd_parser.addHelpOption(); diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 8515ffcfe7..c0432d0c09 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,5 +1,6 @@ #include "tools/cabana/chartswidget.h" +#include #include #include #include @@ -11,23 +12,25 @@ #include #include #include -#include #include #include const int MAX_COLUMN_COUNT = 4; // ChartsWidget -ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { +ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); - toolbar->setIconSize({16, 16}); + int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize); + toolbar->setIconSize({icon_size, icon_size}); QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot")); toolbar->addWidget(title_label = new QLabel()); - title_label->setContentsMargins(0, 0, 12, 0); + title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0); QMenu *menu = new QMenu(this); for (int i = 0; i < MAX_COLUMN_COUNT; ++i) { @@ -42,7 +45,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { toolbar->addWidget(stretch_label); range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); - range_slider = new QSlider(Qt::Horizontal, this); + range_slider = new LogSlider(1000, Qt::Horizontal, this); + range_slider->setMaximumWidth(200); range_slider->setToolTip(tr("Set the chart range")); range_slider->setRange(1, settings.max_cached_minutes * 60); range_slider->setSingleStep(1); @@ -67,14 +71,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { charts_main_layout->addStretch(0); QScrollArea *charts_scroll = new QScrollArea(this); + charts_scroll->setFrameStyle(QFrame::NoFrame); charts_scroll->setWidgetResizable(true); charts_scroll->setWidget(charts_container); charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); main_layout->addWidget(charts_scroll); // init settings - use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); + use_dark_theme = QApplication::palette().color(QPalette::WindowText).value() > + QApplication::palette().color(QPalette::Background).value(); column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); display_range = {0, max_chart_range}; @@ -151,16 +156,14 @@ void ChartsWidget::updateState() { can->seekTo(zoomed_range.first); } - charts_layout->parentWidget()->setUpdatesEnabled(false); const auto &range = is_zoomed ? zoomed_range : display_range; for (auto c : charts) { c->updatePlot(cur_sec, range.first, range.second); } - charts_layout->parentWidget()->setUpdatesEnabled(true); } void ChartsWidget::setMaxChartRange(int value) { - max_chart_range = settings.chart_range = value; + max_chart_range = settings.chart_range = range_slider->value(); updateToolBar(); updateState(); } @@ -182,11 +185,11 @@ void ChartsWidget::settingChanged() { range_slider->setRange(1, settings.max_cached_minutes * 60); for (auto c : charts) { c->setFixedHeight(settings.chart_height); - c->setSeriesType(settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter); + c->setSeriesType((SeriesType)settings.chart_series_type); } } -ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) { +ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { for (auto c : charts) if (c->hasSeries(id, sig)) return c; return nullptr; @@ -209,8 +212,7 @@ ChartView *ChartsWidget::createChart() { return chart; } -void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) { - setUpdatesEnabled(false); +void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { ChartView *chart = findChart(id, sig); if (show && !chart) { chart = merge && charts.size() > 0 ? charts.back() : createChart(); @@ -220,7 +222,6 @@ void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); } updateToolBar(); - setUpdatesEnabled(true); } void ChartsWidget::setColumnCount(int n) { @@ -310,7 +311,7 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { // ChartView ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { - series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter; + series_type = (SeriesType)settings.chart_series_type; QChart *chart = new QChart(); chart->setBackgroundVisible(false); axis_x = new QValueAxis(this); @@ -322,41 +323,13 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { chart->setMargins({0, 0, 0, 0}); background = new QGraphicsRectItem(chart); - background->setBrush(Qt::white); + background->setBrush(QApplication::palette().color(QPalette::Base)); background->setPen(Qt::NoPen); background->setZValue(chart->zValue() - 1); - move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart); - move_icon->setToolTip(tr("Drag and drop to combine charts")); - - QToolButton *remove_btn = new QToolButton(); - remove_btn->setIcon(utils::icon("x")); - remove_btn->setAutoRaise(true); - remove_btn->setToolTip(tr("Remove Chart")); - close_btn_proxy = new QGraphicsProxyWidget(chart); - close_btn_proxy->setWidget(remove_btn); - close_btn_proxy->setZValue(chart->zValue() + 11); - - QToolButton *manage_btn = new QToolButton(); - manage_btn->setToolButtonStyle(Qt::ToolButtonIconOnly); - manage_btn->setIcon(utils::icon("list")); - manage_btn->setAutoRaise(true); - QMenu *menu = new QMenu(this); - line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); }); - line_series_action->setCheckable(true); - line_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeLine); - scatter_series_action = menu->addAction(tr("Scatter"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeScatter); }); - scatter_series_action->setCheckable(true); - scatter_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeScatter); - menu->addSeparator(); - menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); - manage_btn->setMenu(menu); - manage_btn->setPopupMode(QToolButton::InstantPopup); - manage_btn_proxy = new QGraphicsProxyWidget(chart); - manage_btn_proxy->setWidget(manage_btn); - manage_btn_proxy->setZValue(chart->zValue() + 11); - setChart(chart); + + createToolButtons(); setRenderHint(QPainter::Antialiasing); // TODO: enable zoomIn/seekTo in live streaming mode. setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand); @@ -365,10 +338,46 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); - QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); } -void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { +void ChartView::createToolButtons() { + move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart()); + move_icon->setToolTip(tr("Drag and drop to combine charts")); + + QToolButton *remove_btn = toolButton("x", tr("Remove Chart")); + close_btn_proxy = new QGraphicsProxyWidget(chart()); + close_btn_proxy->setWidget(remove_btn); + close_btn_proxy->setZValue(chart()->zValue() + 11); + + // series types + QMenu *menu = new QMenu(this); + auto change_series_group = new QActionGroup(menu); + change_series_group->setExclusive(true); + QStringList types{tr("line"), tr("Step Line"), tr("Scatter")}; + for (int i = 0; i < types.size(); ++i) { + QAction *act = new QAction(types[i], change_series_group); + act->setData(i); + act->setCheckable(true); + act->setChecked(i == (int)series_type); + menu->addAction(act); + } + menu->addSeparator(); + menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); + + QToolButton *manage_btn = toolButton("list", ""); + manage_btn->setMenu(menu); + manage_btn->setPopupMode(QToolButton::InstantPopup); + manage_btn_proxy = new QGraphicsProxyWidget(chart()); + manage_btn_proxy->setWidget(manage_btn); + manage_btn_proxy->setZValue(chart()->zValue() + 11); + + QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); + QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { + setSeriesType((SeriesType)action->data().toInt()); + }); +} + +void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSeries(msg_id, sig)) return; QXYSeries *series = createSeries(series_type, getColor(sig)); @@ -379,7 +388,7 @@ void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { emit seriesAdded(msg_id, sig); } -bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const { +bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const { return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } @@ -404,7 +413,7 @@ void ChartView::removeIf(std::function predicate) { } } -void ChartView::signalUpdated(const Signal *sig) { +void ChartView::signalUpdated(const cabana::Signal *sig) { if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) { updateTitle(); // TODO: don't update series if only name changed. @@ -434,12 +443,14 @@ void ChartView::manageSeries() { } void ChartView::resizeEvent(QResizeEvent *event) { - QChartView::resizeEvent(event); updatePlotArea(align_to); - int x = event->size().width() - close_btn_proxy->size().width() - 11; - close_btn_proxy->setPos(x, 8); - manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - 5, 8); - move_icon->setPos(11, 8); + int top_margin = style()->pixelMetric(QStyle::PM_LayoutTopMargin); + int spacing = style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); + int x = event->size().width() - close_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutRightMargin); + close_btn_proxy->setPos(x, top_margin); + manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - spacing, top_margin); + move_icon->setPos(style()->pixelMetric(QStyle::PM_LayoutLeftMargin), top_margin); + QChartView::resizeEvent(event); } void ChartView::updatePlotArea(int left) { @@ -448,7 +459,7 @@ void ChartView::updatePlotArea(int left) { align_to = left; background->setRect(r); chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45)); - chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 22, r.height() - 80)); + chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 36, r.height() - 80)); chart()->layout()->invalidate(); } } @@ -483,7 +494,7 @@ void ChartView::updateSeriesPoints() { int num_points = std::max(end - begin, 1); int pixels_per_point = width() / num_points; - if (series_type == QAbstractSeries::SeriesTypeScatter) { + if (series_type == SeriesType::Scatter) { ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8)); } else { s.series->setPointsVisible(pixels_per_point > 20); @@ -491,13 +502,15 @@ void ChartView::updateSeriesPoints() { } } -void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { +void ChartView::updateSeries(const cabana::Signal *sig, const std::vector *events, bool clear) { events = events ? events : can->events(); for (auto &s : sigs) { if (!sig || s.sig == sig) { if (clear) { s.vals.clear(); + s.step_vals.clear(); s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz + s.step_vals.reserve(settings.max_cached_minutes * 60 * 100 * 2); s.last_value_mono_time = 0; } s.series->setColor(getColor(s.sig)); @@ -505,6 +518,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector *even struct Chunk { std::vector::const_iterator first, second; QVector vals; + QVector step_vals; }; // split into one minitue chunks QVector chunks; @@ -517,6 +531,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector *even QtConcurrent::blockingMap(chunks, [&](Chunk &chunk) { chunk.vals.reserve(60 * 100); // 100 hz + chunk.step_vals.reserve(60 * 100 * 2); // 100 hz double route_start_time = can->routeStartTime(); for (auto it = chunk.first; it != chunk.second; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { @@ -526,6 +541,10 @@ void ChartView::updateSeries(const Signal *sig, const std::vector *even double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds chunk.vals.push_back({ts, value}); + if (!chunk.step_vals.empty()) { + chunk.step_vals.push_back({ts, chunk.step_vals.back().y()}); + } + chunk.step_vals.push_back({ts,value}); } } } @@ -533,11 +552,20 @@ void ChartView::updateSeries(const Signal *sig, const std::vector *even }); for (auto &c : chunks) { s.vals.append(c.vals); + if (!c.step_vals.empty()) { + if (!s.step_vals.empty()) { + s.step_vals.append({c.step_vals.first().x(), s.step_vals.back().y()}); + } + s.step_vals.append(c.step_vals); + } } if (events->size()) { s.last_value_mono_time = events->back()->mono_time; } - s.series->replace(s.vals); + if (!can->liveStreaming()) { + s.segment_tree.build(s.vals); + } + s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); } } updateAxisY(); @@ -549,19 +577,37 @@ void ChartView::updateAxisY() { double min = std::numeric_limits::max(); double max = std::numeric_limits::lowest(); + QString unit = 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) { + unit.clear(); + } + auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); - for (auto it = first; it != last; ++it) { - if (it->y() < min) min = it->y(); - if (it->y() > max) max = it->y(); + if (can->liveStreaming()) { + for (auto it = first; it != last; ++it) { + if (it->y() < min) min = it->y(); + if (it->y() > max) max = it->y(); + } + } else { + auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.begin(), first), std::distance(s.vals.begin(), last)); + min = std::min(min, min_y); + max = std::max(max, max_y); } } if (min == std::numeric_limits::max()) min = 0; if (max == std::numeric_limits::lowest()) max = 0; + if (axis_y->titleText() != unit) { + axis_y->setTitleText(unit); + y_label_width = 0;// recalc width + } + double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, axis_y->tickCount()); if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) { @@ -570,7 +616,9 @@ void ChartView::updateAxisY() { QFontMetrics fm(axis_y->labelsFont()); int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; - y_label_width = qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 20; // left margin 20 + int title_spacing = axis_y->titleText().isEmpty() ? 0 : 20; + y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15; // left margin 15 + axis_y->setLabelFormat(QString("%.%1f").arg(n)); emit axisYLabelWidthChanged(y_label_width); } } @@ -603,7 +651,7 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) { } void ChartView::leaveEvent(QEvent *event) { - track_pts.clear(); + clearTrackPoints(); scene()->update(); QChartView::leaveEvent(event); } @@ -620,6 +668,16 @@ void ChartView::mousePressEvent(QMouseEvent *event) { if (dropAction == Qt::MoveAction) { return; } + } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (!can->liveStreaming()) { + // Save current playback state when scrubbing + resume_after_scrub = !can->isPaused(); + if (resume_after_scrub) { + can->pause(true); + } + + is_scrubbing = true; + } } else { QChartView::mousePressEvent(event); } @@ -653,32 +711,55 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else { QGraphicsView::mouseReleaseEvent(event); } + + // Resume playback if we were scrubbing + is_scrubbing = false; + if (resume_after_scrub) { + can->pause(false); + resume_after_scrub = false; + } } void ChartView::mouseMoveEvent(QMouseEvent *ev) { + // Scrubbing + if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + double t = chart()->mapToValue({(double)ev->x(), (double)ev->y()}).x(); + // Prevent seeking past the end of the route + t = std::clamp(t, 0., can->totalSeconds()); + can->seekTo(t); + return; + } + auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); const auto plot_area = chart()->plotArea(); - track_pts.clear(); + clearTrackPoints(); + if (!is_zooming && plot_area.contains(ev->pos())) { - track_pts.resize(sigs.size()); QStringList text_list; const double sec = chart()->mapToValue(ev->pos()).x(); - for (int i = 0; i < sigs.size(); ++i) { - QString value = "--"; + qreal x = -1; + for (auto &s : sigs) { + if (!s.series->isVisible()) continue; + // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(sigs[i].vals.rbegin(), sigs[i].vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); - if (it != sigs[i].vals.rend() && it->x() >= axis_x->min()) { - value = QString::number(it->y()); - track_pts[i] = chart()->mapToPosition(*it); + double value = 0; + auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.rend() && it->x() >= axis_x->min()) { + value = it->y(); + s.track_pt = chart()->mapToPosition(*it); + x = std::max(x, s.track_pt.x()); } - text_list.push_back(QString("■ %2: %3").arg(sigs[i].series->color().name(), sigs[i].sig->name, value)); + text_list.push_back(QString("■ %2: %3") + .arg(s.series->color().name(), s.sig->name, + s.track_pt.isNull() ? "--" : QString::number(value))); } - auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); - auto pt = (max == track_pts.end()) ? ev->pos() : *max; - text_list.push_front(QString::number(chart()->mapToValue(pt).x(), 'f', 3)); - QPointF tooltip_pt(pt.x() + 12, plot_area.top() - 20); - QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), pt.isNull() ? "" : text_list.join("
"), this, plot_area.toRect()); + if (x < 0) { + x = ev->pos().x(); + } + text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); + QPointF tooltip_pt(x + 12, plot_area.top() - 20); + QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), text_list.join("
"), this, plot_area.toRect()); scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } else { QToolTip::hideText(); @@ -723,6 +804,7 @@ void ChartView::dropEvent(QDropEvent *event) { } void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { + // draw time line qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x(); x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right()); qreal y1 = chart()->plotArea().top() - 2; @@ -730,18 +812,20 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); - auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); - if (max != track_pts.end() && !max->isNull()) { - painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{max->x(), y1}, QPointF{max->x(), y2}); - painter->setPen(Qt::NoPen); - for (int i = 0; i < track_pts.size(); ++i) { - if (!track_pts[i].isNull() && i < sigs.size()) { - painter->setBrush(sigs[i].series->color().darker(125)); - painter->drawEllipse(track_pts[i], 5.5, 5.5); - } + // draw track points + painter->setPen(Qt::NoPen); + qreal track_line_x = -1; + for (auto &s : sigs) { + if (!s.track_pt.isNull() && s.series->isVisible()) { + painter->setBrush(s.series->color().darker(125)); + painter->drawEllipse(s.track_pt, 5.5, 5.5); + track_line_x = std::max(track_line_x, s.track_pt.x()); } } + if (track_line_x > 0) { + painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + painter->drawLine(QPointF{track_line_x, y1}, QPointF{track_line_x, y2}); + } // paint points. OpenGL mode lacks certain features (such as showing points) painter->setPen(Qt::NoPen); @@ -757,11 +841,14 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } -QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor color) { +QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { QXYSeries *series = nullptr; - if (type == QAbstractSeries::SeriesTypeLine) { + if (type == SeriesType::Line) { series = new QLineSeries(this); chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); + } else if (type == SeriesType::StepLine) { + series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); } else { series = new QScatterSeries(this); chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); @@ -782,9 +869,7 @@ QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor colo return series; } -void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { - line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine); - scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter); +void ChartView::setSeriesType(SeriesType type) { if (type != series_type) { series_type = type; for (auto &s : sigs) { @@ -793,7 +878,7 @@ void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { } for (auto &s : sigs) { auto series = createSeries(series_type, getColor(s.sig)); - series->replace(s.vals); + series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); s.series = series; } updateSeriesPoints(); @@ -887,15 +972,15 @@ void SeriesSelector::updateAvailableList(int index) { available_list->clear(); MessageId msg_id = msgs_combo->itemData(index).value(); auto selected_items = seletedItems(); - for (auto &s : dbc()->msg(msg_id)->sigs) { - bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=&s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); + for (auto s : dbc()->msg(msg_id)->getSignals()) { + bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); if (!is_selected) { - addItemToList(available_list, msg_id, &s); + addItemToList(available_list, msg_id, s); } } } -void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) { +void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 7089b4eaee..adce1e0f4d 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -15,34 +15,42 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; using namespace QtCharts; const int CHART_MIN_WIDTH = 300; +enum class SeriesType { + Line = 0, + StepLine, + Scatter +}; + class ChartView : public QChartView { Q_OBJECT public: ChartView(QWidget *parent = nullptr); - void addSeries(const MessageId &msg_id, const Signal *sig); - bool hasSeries(const MessageId &msg_id, const Signal *sig) const; - void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); + void addSeries(const MessageId &msg_id, const cabana::Signal *sig); + bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const; + void updateSeries(const cabana::Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); void updatePlot(double cur, double min, double max); - void setSeriesType(QAbstractSeries::SeriesType type); + void setSeriesType(SeriesType type); void updatePlotArea(int left); struct SigItem { MessageId msg_id; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QXYSeries *series = nullptr; QVector vals; + QVector step_vals; uint64_t last_value_mono_time = 0; + QPointF track_pt{}; + SegmentTree segment_tree; }; signals: - void seriesRemoved(const MessageId &id, const Signal *sig); - void seriesAdded(const MessageId &id, const Signal *sig); + void seriesRemoved(const MessageId &id, const cabana::Signal *sig); + void seriesAdded(const MessageId &id, const cabana::Signal *sig); void zoomIn(double min, double max); void zoomReset(); void remove(); @@ -50,13 +58,14 @@ signals: private slots: void msgUpdated(uint32_t address); - void signalUpdated(const Signal *sig); + void signalUpdated(const cabana::Signal *sig); void manageSeries(); void handleMarkerClicked(); void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); } - void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } + void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: + void createToolButtons(); void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; @@ -70,15 +79,15 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); - QXYSeries *createSeries(QAbstractSeries::SeriesType type, QColor color); + QXYSeries *createSeries(SeriesType type, QColor color); void updateSeriesPoints(); void removeIf(std::function predicate); + inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } int y_label_width = 0; int align_to = 0; QValueAxis *axis_x; QValueAxis *axis_y; - QVector track_pts; QGraphicsPixmapItem *move_icon; QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; @@ -86,19 +95,19 @@ private: QList sigs; double cur_sec = 0; const QString mime_type = "application/x-cabanachartview"; - QAbstractSeries::SeriesType series_type = QAbstractSeries::SeriesTypeLine; - QAction *line_series_action; - QAction *scatter_series_action; + SeriesType series_type = SeriesType::Line; + bool is_scrubbing = false; + bool resume_after_scrub = false; friend class ChartsWidget; }; -class ChartsWidget : public QWidget { +class ChartsWidget : public QFrame { Q_OBJECT public: ChartsWidget(QWidget *parent = nullptr); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); - inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != nullptr; } + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); + inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; } public slots: void setColumnCount(int n); @@ -124,11 +133,11 @@ private: void updateLayout(); void settingChanged(); bool eventFilter(QObject *obj, QEvent *event) override; - ChartView *findChart(const MessageId &id, const Signal *sig); + ChartView *findChart(const MessageId &id, const cabana::Signal *sig); QLabel *title_label; QLabel *range_lb; - QSlider *range_slider; + LogSlider *range_slider; QAction *range_lb_action; QAction *range_slider_action; bool docking = true; @@ -150,18 +159,18 @@ private: class SeriesSelector : public QDialog { public: struct ListItem : public QListWidgetItem { - ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} + ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} MessageId msg_id; - const Signal *sig; + const cabana::Signal *sig; }; SeriesSelector(QString title, QWidget *parent); QList seletedItems(); - inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } + inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } private: void updateAvailableList(int index); - void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false); + void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); void add(QListWidgetItem *item); void remove(QListWidgetItem *item); diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index e03d6d1b11..337de1c702 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -4,24 +4,26 @@ // EditMsgCommand -EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent) - : id(id), new_title(title), new_size(size), QUndoCommand(parent) { +EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, QUndoCommand *parent) + : id(id), new_name(name), new_size(size), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { - old_title = msg->name; + old_name = msg->name; old_size = msg->size; + setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address)); + } else { + setText(QObject::tr("new message %1:%2").arg(name).arg(id.address)); } - setText(QObject::tr("Edit message %1:%2").arg(id.address).arg(title)); } void EditMsgCommand::undo() { - if (old_title.isEmpty()) + if (old_name.isEmpty()) dbc()->removeMsg(id); else - dbc()->updateMsg(id, old_title, old_size); + dbc()->updateMsg(id, old_name, old_size); } void EditMsgCommand::redo() { - dbc()->updateMsg(id, new_title, new_size); + dbc()->updateMsg(id, new_name, new_size); } // RemoveMsgCommand @@ -29,15 +31,15 @@ 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(id.address).arg(message.name)); + setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address)); } } void RemoveMsgCommand::undo() { if (!message.name.isEmpty()) { dbc()->updateMsg(id, message.name, message.size); - for (auto &s : message.sigs) - dbc()->addSignal(id, s); + for (auto s : message.getSignals()) + dbc()->addSignal(id, *s); } } @@ -48,9 +50,9 @@ void RemoveMsgCommand::redo() { // AddSigCommand -AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent) +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").arg(sig.name).arg(id.address)); + setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); } void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name); } @@ -58,9 +60,9 @@ void AddSigCommand::redo() { dbc()->addSignal(id, signal); } // RemoveSigCommand -RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent) +RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent) : id(id), signal(*sig), QUndoCommand(parent) { - setText(QObject::tr("Remove signal %1 from %2").arg(signal.name).arg(id.address)); + setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address)); } void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); } @@ -68,9 +70,9 @@ void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); } // EditSignalCommand -EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) +EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent) : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { - setText(QObject::tr("Edit signal %1").arg(old_signal.name)); + setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address)); } void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name, old_signal); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 57df664974..2a5f40d584 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -5,17 +5,16 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class EditMsgCommand : public QUndoCommand { public: - EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent = nullptr); + EditMsgCommand(const MessageId &id, const QString &name, int size, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - QString old_title, new_title; + QString old_name, new_name; int old_size = 0, new_size = 0; }; @@ -27,41 +26,41 @@ public: private: const MessageId id; - Msg message; + cabana::Msg message; }; class AddSigCommand : public QUndoCommand { public: - AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr); + AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class RemoveSigCommand : public QUndoCommand { public: - RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr); + RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class EditSignalCommand : public QUndoCommand { public: - EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); + EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal old_signal = {}; - Signal new_signal = {}; + cabana::Signal old_signal = {}; + cabana::Signal new_signal = {}; }; namespace UndoStack { diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc.cc new file mode 100644 index 0000000000..8ffb660286 --- /dev/null +++ b/tools/cabana/dbc.cc @@ -0,0 +1,77 @@ +#include "tools/cabana/dbc.h" + +uint qHash(const MessageId &item) { + return qHash(item.source) ^ qHash(item.address); +} + +std::vector cabana::Msg::getSignals() const { + std::vector ret; + ret.reserve(sigs.size()); + for (auto &sig : sigs) ret.push_back(&sig); + std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); + return ret; +} + +// helper functions + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) + for (int j = 7; j >= 0; j--) + ret.push_back(j + i * 8); + return ret; +}(); + +double get_raw_value(uint8_t *data, size_t data_size, const cabana::Signal &sig) { + int64_t val = 0; + + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < data_size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int size = msb - lsb + 1; + + uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + val |= d << (bits - size); + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + if (sig.is_signed) { + val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + } + return val * sig.factor + sig.offset; +} + +bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) { + return l.name == r.name && l.size == r.size && + l.start_bit == r.start_bit && + l.msb == r.msb && l.lsb == r.lsb && + l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && + l.factor == r.factor && l.offset == r.offset && + l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; +} + +int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } +int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } + +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) { + s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); + s.size = size; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const cabana::Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} + +std::vector allDBCNames() { return get_dbc_names(); } diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h new file mode 100644 index 0000000000..3c58e38055 --- /dev/null +++ b/tools/cabana/dbc.h @@ -0,0 +1,78 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "opendbc/can/common_dbc.h" + +const QString UNTITLED = "untitled"; + +struct MessageId { + uint8_t source; + uint32_t address; + + QString toString() const { + return QString("%1:%2").arg(source).arg(address, 1, 16); + } + + bool operator==(const MessageId &other) const { + return source == other.source && address == other.address; + } + + bool operator!=(const MessageId &other) const { + return !(*this == other); + } + + bool operator<(const MessageId &other) const { + return std::pair{source, address} < std::pair{other.source, other.address}; + } + + bool operator>(const MessageId &other) const { + return std::pair{source, address} > std::pair{other.source, other.address}; + } +}; + +uint qHash(const MessageId &item); +Q_DECLARE_METATYPE(MessageId); + + +typedef QList> ValueDescription; + +namespace cabana { + struct Signal { + QString name; + int start_bit, msb, lsb, size; + bool is_signed; + double factor, offset; + bool is_little_endian; + QString min, max, unit; + QString comment; + ValueDescription val_desc; + }; + + struct Msg { + QString name; + uint32_t size; + QList sigs; + + std::vector getSignals() const; + const cabana::Signal *sig(const QString &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; + } + }; + + bool operator==(const cabana::Signal &l, const cabana::Signal &r); + inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } +} + +// Helper functions +double get_raw_value(uint8_t *data, size_t data_size, const cabana::Signal &sig); +int bigEndianStartBitsIndex(int start_bit); +int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); +std::pair getSignalRange(const cabana::Signal *s); +std::vector allDBCNames(); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index ae3a65a99b..b3a90e0b70 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -8,12 +8,6 @@ #include #include -namespace dbcmanager { - -void sortSignalsByAddress(QList &sigs) { - std::sort(sigs.begin(), sigs.end(), [](auto &a, auto &b) { return a.start_bit < b.start_bit; }); -} - bool DBCManager::open(const QString &dbc_file_name, QString *error) { QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name); QFile file(opendbc_file_path); @@ -23,15 +17,49 @@ bool DBCManager::open(const QString &dbc_file_name, QString *error) { return false; } +bool DBCManager::open(const QString &name, const QString &content, QString *error) { + try { + std::istringstream stream(content.toStdString()); + auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) { + m.sigs.push_back({}); + auto &sig = m.sigs.last(); + sig.name = s.name.c_str(); + sig.start_bit = s.start_bit; + sig.msb = s.msb; + sig.lsb = s.lsb; + sig.size = s.size; + sig.is_signed = s.is_signed; + sig.factor = s.factor; + sig.offset = s.offset; + sig.is_little_endian = s.is_little_endian; + } + } + parseExtraInfo(content); + name_ = name; + emit DBCFileChanged(); + delete dbc; + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + return true; +} + void DBCManager::parseExtraInfo(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); - auto get_sig = [this](uint32_t address, const QString &name) -> Signal * { - auto m = (Msg *)msg(address); - return m ? (Signal *)m->sig(name) : nullptr; + auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { + auto m = (cabana::Msg *)msg(address); + return m ? (cabana::Signal *)m->sig(name) : nullptr; }; QTextStream stream((QString *)&content); @@ -83,27 +111,27 @@ QString DBCManager::generateDBC() { QString dbc_string, signal_comment, val_desc; for (auto &[address, m] : msgs) { dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); - for (auto &sig : m.sigs) { + for (auto sig : m.getSignals()) { dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n") - .arg(sig.name) - .arg(sig.start_bit) - .arg(sig.size) - .arg(sig.is_little_endian ? '1' : '0') - .arg(sig.is_signed ? '-' : '+') - .arg(sig.factor, 0, 'g', std::numeric_limits::digits10) - .arg(sig.offset, 0, 'g', std::numeric_limits::digits10) - .arg(sig.min) - .arg(sig.max) - .arg(sig.unit); - if (!sig.comment.isEmpty()) { - signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig.name).arg(sig.comment); + .arg(sig->name) + .arg(sig->start_bit) + .arg(sig->size) + .arg(sig->is_little_endian ? '1' : '0') + .arg(sig->is_signed ? '-' : '+') + .arg(sig->factor, 0, 'g', std::numeric_limits::digits10) + .arg(sig->offset, 0, 'g', std::numeric_limits::digits10) + .arg(sig->min) + .arg(sig->max) + .arg(sig->unit); + if (!sig->comment.isEmpty()) { + signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); } - if (!sig.val_desc.isEmpty()) { - QString text; - for (auto &[val, desc] : sig.val_desc) { - text += QString("%1 \"%2\"").arg(val, desc); + if (!sig->val_desc.isEmpty()) { + QStringList text; + for (auto &[val, desc] : sig->val_desc) { + text << QString("%1 \"%2\"").arg(val, desc); } - val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig.name).arg(text); + val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); } } dbc_string += "\n"; @@ -123,27 +151,25 @@ void DBCManager::removeMsg(const MessageId &id) { emit msgRemoved(id.address); } -void DBCManager::addSignal(const MessageId &id, const Signal &sig) { - if (auto m = const_cast(msg(id.address))) { +void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id.address))) { m->sigs.push_back(sig); auto s = &m->sigs.last(); - sortSignalsByAddress(m->sigs); emit signalAdded(id.address, s); } } -void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) { - if (auto m = const_cast(msg(id))) { - if (auto s = (Signal *)m->sig(sig_name)) { +void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id))) { + if (auto s = (cabana::Signal *)m->sig(sig_name)) { *s = sig; - sortSignalsByAddress(m->sigs); emit signalUpdated(s); } } } void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { + if (auto m = const_cast(msg(id))) { auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); if (it != m->sigs.end()) { emit signalRemoved(&(*it)); @@ -152,113 +178,21 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } +QStringList DBCManager::signalNames() { + // Used for autocompletion + QStringList ret; + for (auto const& [_, msg] : msgs) { + for (auto sig: msg.getSignals()) { + ret << sig->name; + } + } + ret.sort(); + ret.removeDuplicates(); + return ret; +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; } -// helper functions - -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) - for (int j = 7; j >= 0; j--) - ret.push_back(j + i * 8); - return ret; -}(); - -int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } -int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } - -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { - int64_t val = 0; - - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; - - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - val |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; - } - if (sig.is_signed) { - val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; - } - return val * sig.factor + sig.offset; -} - -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) { - s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); - s.size = size; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } -} - -std::pair getSignalRange(const Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - -bool operator==(const Signal &l, const Signal &r) { - return l.name == r.name && l.size == r.size && - l.start_bit == r.start_bit && - l.msb == r.msb && l.lsb == r.lsb && - l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && - l.factor == r.factor && l.offset == r.offset && - l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; -} - -} // namespace dbcmanager - -#include "opendbc/can/common_dbc.h" -std::vector dbcmanager::DBCManager::allDBCNames() { return get_dbc_names(); } - -bool dbcmanager::DBCManager::open(const QString &name, const QString &content, QString *error) { - try { - std::istringstream stream(content.toStdString()); - auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - msgs.clear(); - for (auto &msg : dbc->msgs) { - auto &m = msgs[msg.address]; - m.name = msg.name.c_str(); - m.size = msg.size; - for (auto &s : msg.sigs) { - m.sigs.push_back({}); - auto &sig = m.sigs.last(); - sig.name = s.name.c_str(); - sig.start_bit = s.start_bit; - sig.msb = s.msb; - sig.lsb = s.lsb; - sig.size = s.size; - sig.is_signed = s.is_signed; - sig.factor = s.factor; - sig.offset = s.offset; - sig.is_little_endian = s.is_little_endian; - } - sortSignalsByAddress(m.sigs); - } - parseExtraInfo(content); - name_ = name; - emit DBCFileChanged(); - delete dbc; - } catch (std::exception &e) { - if (error) *error = e.what(); - return false; - } - return true; -} - -uint qHash(const MessageId &item) { - return qHash(item.source) ^ qHash(item.address); -} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index b438b3e1c2..4be7593808 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -2,61 +2,11 @@ #include #include +#include +#include #include -struct MessageId { - uint8_t source; - uint32_t address; - - QString toString() const { - return QString("%1:%2").arg(source).arg(address, 1, 16); - } - - bool operator==(const MessageId &other) const { - return source == other.source && address == other.address; - } - - bool operator!=(const MessageId &other) const { - return !(*this == other); - } - - bool operator<(const MessageId &other) const { - return std::pair{source, address} < std::pair{other.source, other.address}; - } - - bool operator>(const MessageId &other) const { - return std::pair{source, address} > std::pair{other.source, other.address}; - } -}; - -uint qHash(const MessageId &item); -Q_DECLARE_METATYPE(MessageId); - -namespace dbcmanager { - -typedef QList> ValueDescription; - -struct Signal { - QString name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - QString min, max, unit; - QString comment; - ValueDescription val_desc; -}; - -struct Msg { - QString name; - uint32_t size; - QList sigs; - - const Signal *sig(const QString &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; - } -}; +#include "tools/cabana/dbc.h" class DBCManager : public QObject { Q_OBJECT @@ -67,49 +17,38 @@ public: bool open(const QString &dbc_file_name, QString *error = nullptr); bool open(const QString &name, const QString &content, QString *error = nullptr); QString generateDBC(); - void addSignal(const MessageId &id, const Signal &sig); - void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig); + 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); - static std::vector allDBCNames(); inline QString name() const { return name_; } void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); - inline const std::map &messages() const { return msgs; } - inline const Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const Msg *msg(uint32_t address) const { + inline const std::map &messages() const { return msgs; } + inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } + inline const cabana::Msg *msg(uint32_t address) const { auto it = msgs.find(address); return it != msgs.end() ? &it->second : nullptr; } + QStringList signalNames(); signals: - void signalAdded(uint32_t address, const Signal *sig); - void signalRemoved(const Signal *sig); - void signalUpdated(const Signal *sig); + void signalAdded(uint32_t address, const cabana::Signal *sig); + void signalRemoved(const cabana::Signal *sig); + void signalUpdated(const cabana::Signal *sig); void msgUpdated(uint32_t address); void msgRemoved(uint32_t address); void DBCFileChanged(); private: void parseExtraInfo(const QString &content); - std::map msgs; + std::map msgs; QString name_; }; -const QString UNTITLED = "untitled"; - -// TODO: Add helper function in dbc.h -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); -bool operator==(const Signal &l, const Signal &r); -inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); } -int bigEndianStartBitsIndex(int start_bit); -int bigEndianBitIndex(int index); -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); -std::pair getSignalRange(const Signal *s); DBCManager *dbc(); + inline QString msgName(const MessageId &id) { auto msg = dbc()->msg(id); return msg ? msg->name : UNTITLED; } - -} // namespace dbcmanager diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 882ea932c6..05a0528d0e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -3,15 +3,13 @@ #include #include #include -#include #include "tools/cabana/commands.h" // DetailWidget DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { - QWidget *main_widget = new QWidget(this); - QVBoxLayout *main_layout = new QVBoxLayout(main_widget); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); // tabbar @@ -23,22 +21,22 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart main_layout->addWidget(tabbar); // message title - QToolBar *toolbar = new QToolBar(this); - toolbar->setIconSize({16, 16}); - toolbar->addWidget(new QLabel("time:")); + QHBoxLayout *title_layout = new QHBoxLayout(); + title_layout->setContentsMargins(0, 6, 0, 0); time_label = new QLabel(this); - time_label->setStyleSheet("font-weight:bold"); - toolbar->addWidget(time_label); + time_label->setToolTip(tr("Current time")); + time_label->setStyleSheet("QLabel{font-weight:bold;}"); + title_layout->addWidget(time_label); name_label = new ElidedLabel(this); - name_label->setContentsMargins(5, 0, 5, 0); - name_label->setStyleSheet("font-weight:bold;"); + name_label->setStyleSheet("QLabel{font-weight:bold;}"); name_label->setAlignment(Qt::AlignCenter); name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - toolbar->addWidget(name_label); - toolbar->addAction(utils::icon("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); - remove_msg_act = toolbar->addAction(utils::icon("x-lg"), "", this, &DetailWidget::removeMsg); - remove_msg_act->setToolTip(tr("Remove Message")); - main_layout->addWidget(toolbar); + title_layout->addWidget(name_label); + auto edit_btn = toolButton("pencil", tr("Edit Message")); + title_layout->addWidget(edit_btn); + remove_btn = toolButton("x-lg", tr("Remove Message")); + title_layout->addWidget(remove_btn); + main_layout->addLayout(title_layout); // warning warning_widget = new QWidget(this); @@ -59,19 +57,18 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart splitter->setStretchFactor(1, 1); tab_widget = new QTabWidget(this); + tab_widget->setStyleSheet("QTabWidget::pane {border: none; margin-bottom: -2px;}"); tab_widget->setTabPosition(QTabWidget::South); tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg"); tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs"); main_layout->addWidget(tab_widget); - stacked_layout = new QStackedLayout(this); - stacked_layout->addWidget(new WelcomeWidget(this)); - stacked_layout->addWidget(main_widget); - + QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg); + QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg); QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); - QObject::connect(binary_view, &BinaryView::signalClicked, signal_view, &SignalView::expandSignal); + QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); }); QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal); QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal); QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart); @@ -87,9 +84,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart setMessage(tabbar->tabData(index).value()); } }); - QObject::connect(tabbar, &QTabBar::tabCloseRequested, [this](int index) { - tabbar->removeTab(index); - }); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState); } @@ -108,18 +103,8 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { } } -void DetailWidget::removeAll() { - msg_id = std::nullopt; - tabbar->blockSignals(true); - while (tabbar->count() > 0) { - tabbar->removeTab(0); - } - tabbar->blockSignals(false); - stacked_layout->setCurrentIndex(0); -} - void DetailWidget::setMessage(const MessageId &message_id) { - msg_id = message_id; + if (std::exchange(msg_id, message_id) == message_id) return; tabbar->blockSignals(true); int index = tabbar->count() - 1; @@ -135,25 +120,18 @@ void DetailWidget::setMessage(const MessageId &message_id) { tabbar->blockSignals(false); setUpdatesEnabled(false); - - signal_view->setMessage(*msg_id); - binary_view->setMessage(*msg_id); - history_log->setMessage(*msg_id); - - stacked_layout->setCurrentIndex(1); + signal_view->setMessage(msg_id); + binary_view->setMessage(msg_id); + history_log->setMessage(msg_id); refresh(); - splitter->setSizes({1, 2}); - setUpdatesEnabled(true); } void DetailWidget::refresh() { - if (!msg_id) return; - QStringList warnings; - auto msg = dbc()->msg(*msg_id); + auto msg = dbc()->msg(msg_id); if (msg) { - if (msg->size != can->lastMessage(*msg_id).dat.size()) { + if (msg->size != can->lastMessage(msg_id).dat.size()) { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } for (auto s : binary_view->getOverlappingSignals()) { @@ -162,8 +140,8 @@ void DetailWidget::refresh() { } else { warnings.push_back(tr("Drag-Select in binary view to create new signal.")); } - remove_msg_act->setEnabled(msg != nullptr); - name_label->setText(msgName(*msg_id)); + remove_btn->setEnabled(msg != nullptr); + name_label->setText(msgName(msg_id)); if (!warnings.isEmpty()) { warning_label->setText(warnings.join('\n')); @@ -174,7 +152,7 @@ void DetailWidget::refresh() { void DetailWidget::updateState(const QHash *msgs) { time_label->setText(QString::number(can->currentSec(), 'f', 3)); - if (!msg_id || (msgs && !msgs->contains(*msg_id))) + if ((msgs && !msgs->contains(msg_id))) return; if (tab_widget->currentIndex() == 0) @@ -184,17 +162,16 @@ void DetailWidget::updateState(const QHash *msgs) { } void DetailWidget::editMsg() { - MessageId id = *msg_id; - auto msg = dbc()->msg(id); - int size = msg ? msg->size : can->lastMessage(id).dat.size(); - EditMessageDialog dlg(id, msgName(id), size, this); + 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); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(*msg_id, dlg.name_edit->text(), dlg.size_spin->value())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); } } void DetailWidget::removeMsg() { - UndoStack::push(new RemoveMsgCommand(*msg_id)); + UndoStack::push(new RemoveMsgCommand(msg_id)); } // EditMessageDialog @@ -217,7 +194,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow(tr("Size"), size_spin); btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - btn_box->button(QDialogButtonBox::Ok)->setEnabled(false); + validateName(name_edit->text()); form_layout->addRow(btn_box); setFixedWidth(parent->width() * 0.9); @@ -227,9 +204,9 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit } void EditMessageDialog::validateName(const QString &text) { - bool valid = false; + bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; error_label->setVisible(false); - if (!text.isEmpty() && text != original_name && text.compare(UNTITLED, Qt::CaseInsensitive) != 0) { + if (!text.isEmpty() && valid && text != original_name) { valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&text](auto &m) { return m.second.name == text; }); if (!valid) { @@ -240,10 +217,34 @@ void EditMessageDialog::validateName(const QString &text) { btn_box->button(QDialogButtonBox::Ok)->setEnabled(valid); } -// WelcomeWidget +// CenterWidget -WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { +CenterWidget::CenterWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->addWidget(welcome_widget = createWelcomeWidget()); +} + +void CenterWidget::setMessage(const MessageId &msg_id) { + if (!detail_widget) { + delete welcome_widget; + welcome_widget = nullptr; + layout()->addWidget(detail_widget = new DetailWidget(charts, this)); + } + detail_widget->setMessage(msg_id); +} + +void CenterWidget::clear() { + delete detail_widget; + detail_widget = nullptr; + if (!welcome_widget) { + layout()->addWidget(welcome_widget = createWelcomeWidget()); + } +} + +QWidget *CenterWidget::createWelcomeWidget() { + QWidget *w = new QWidget(this); + QVBoxLayout *main_layout = new QVBoxLayout(w); main_layout->addStretch(0); QLabel *logo = new QLabel("CABANA"); logo->setAlignment(Qt::AlignCenter); @@ -268,7 +269,8 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { main_layout->addLayout(newShortcutRow("WhatsThis", "Shift+F1")); main_layout->addStretch(0); - setStyleSheet("QLabel{color:darkGray;}"); - setBackgroundRole(QPalette::Base); - setAutoFillBackground(true); + w->setStyleSheet("QLabel{color:darkGray;}"); + w->setBackgroundRole(QPalette::Base); + w->setAutoFillBackground(true); + return w; } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index b3e353d539..0bfd8a74af 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -2,9 +2,7 @@ #include #include -#include #include -#include #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/binaryview.h" @@ -24,11 +22,6 @@ public: QSpinBox *size_spin; }; -class WelcomeWidget : public QWidget { -public: - WelcomeWidget(QWidget *parent); -}; - class DetailWidget : public QWidget { Q_OBJECT @@ -36,7 +29,6 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &message_id); void refresh(); - void removeAll(); QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } private: @@ -45,17 +37,30 @@ private: void removeMsg(); void updateState(const QHash * msgs = nullptr); - std::optional msg_id; + MessageId msg_id; QLabel *time_label, *warning_icon, *warning_label; ElidedLabel *name_label; QWidget *warning_widget; QTabBar *tabbar; QTabWidget *tab_widget; - QAction *remove_msg_act; + QToolButton *remove_btn; LogsWidget *history_log; BinaryView *binary_view; SignalView *signal_view; ChartsWidget *charts; QSplitter *splitter; - QStackedLayout *stacked_layout; +}; + +class CenterWidget : public QWidget { + Q_OBJECT +public: + CenterWidget(ChartsWidget* charts, QWidget *parent); + void setMessage(const MessageId &msg_id); + void clear(); + +private: + QWidget *createWelcomeWidget(); + DetailWidget *detail_widget = nullptr; + QWidget *welcome_widget = nullptr; + ChartsWidget *charts; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index a1c671b68d..57f65b97d8 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -5,8 +5,6 @@ #include #include "tools/cabana/commands.h" -#include "tools/cabana/util.h" - // HistoryLogModel QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { @@ -17,8 +15,10 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); - } else if (role == Qt::UserRole && index.column() == 1 && !show_signals) { + } else if (role == ColorsRole) { return QVariant::fromValue(m.colors); + } else if (role == BytesRole) { + return m.data; } return {}; } @@ -27,17 +27,19 @@ void HistoryLogModel::setMessage(const MessageId &message_id) { msg_id = message_id; } -void HistoryLogModel::refresh() { +void HistoryLogModel::refresh(bool fetch_message) { beginResetModel(); sigs.clear(); - if (auto dbc_msg = dbc()->msg(*msg_id)) { - sigs = dbc_msg->sigs; + if (auto dbc_msg = dbc()->msg(msg_id)) { + sigs = dbc_msg->getSignals(); } last_fetch_time = 0; has_more_data = true; messages.clear(); hex_colors.clear(); - updateState(); + if (fetch_message) { + updateState(); + } endResetModel(); } @@ -48,9 +50,17 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) { return "Time"; } - return show_signals ? sigs[section - 1].name : "Data"; + if (show_signals) { + QString name = sigs[section - 1]->name; + if (!sigs[section - 1]->unit.isEmpty()) { + name += QString(" (%1)").arg(sigs[section - 1]->unit); + } + return name; + } else { + return "Data"; + } } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { - return QBrush(getColor(&sigs[section - 1])); + return QBrush(getColor(sigs[section - 1])); } } return {}; @@ -79,17 +89,15 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function } void HistoryLogModel::updateState() { - if (msg_id) { - uint64_t current_time = (can->lastMessage(*msg_id).ts + can->routeStartTime()) * 1e9 + 1; - auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); - if (!new_msgs.empty()) { - beginInsertRows({}, 0, new_msgs.size() - 1); - messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); - endInsertRows(); - } - has_more_data = new_msgs.size() >= batch_size; - last_fetch_time = current_time; + uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1; + auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); + if (!new_msgs.empty()) { + beginInsertRows({}, 0, new_msgs.size() - 1); + messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); + endInsertRows(); } + has_more_data = new_msgs.size() >= batch_size; + last_fetch_time = current_time; } void HistoryLogModel::fetchMore(const QModelIndex &parent) { @@ -111,10 +119,10 @@ std::deque HistoryLogModel::fetchData(InputIt first, I for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { - if (msg_id->address == c.getAddress() && msg_id->source == c.getSrc()) { + if (msg_id.address == c.getAddress() && msg_id.source == c.getSrc()) { const auto dat = c.getDat(); for (int i = 0; i < sigs.size(); ++i) { - values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), sigs[i]); + values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sigs[i]); } if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { auto &m = msgs.emplace_back(); @@ -136,7 +144,7 @@ template std::deque HistoryLogModel::fetchData<>(std:: std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { auto events = can->events(); - const auto freq = can->lastMessage(*msg_id).freq; + const auto freq = can->lastMessage(msg_id).freq; const bool update_colors = !display_signals_mode || sigs.empty(); if (dynamic_mode) { @@ -189,7 +197,8 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI // LogsWidget -LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { +LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); @@ -209,7 +218,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { h->addStretch(0); h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight); - display_type_cb->addItems({"Signal Value", "Hex Value"}); + display_type_cb->addItems({"Signal", "Hex"}); + display_type_cb->setToolTip(tr("Display signal value or raw hex value")); comp_box->addItems({">", "=", "!=", "<"}); value_edit->setClearButtonEnabled(true); value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); @@ -219,10 +229,10 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(toolbar); QFrame *line = new QFrame(this); line->setFrameStyle(QFrame::HLine | QFrame::Sunken); - main_layout->addWidget(line);; - + main_layout->addWidget(line); main_layout->addWidget(logs = new QTableView(this)); logs->setModel(model = new HistoryLogModel(this)); + delegate = new MessageBytesDelegate(this); logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this)); logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); @@ -230,7 +240,10 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { logs->verticalHeader()->setVisible(false); logs->setFrameShape(QFrame::NoFrame); - QObject::connect(display_type_cb, SIGNAL(activated(int)), model, SLOT(setDisplayType(int))); + QObject::connect(display_type_cb, qOverload(&QComboBox::activated), [this](int index) { + logs->setItemDelegateForColumn(1, index == 1 ? delegate : nullptr); + model->setDisplayType(index); + }); QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode); QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter())); @@ -247,17 +260,16 @@ void LogsWidget::setMessage(const MessageId &message_id) { } void LogsWidget::refresh() { - if (!model->msg_id) return; - model->setFilter(0, "", nullptr); - model->refresh(); + model->refresh(isVisible()); bool has_signal = model->sigs.size(); if (has_signal) { signals_cb->clear(); - for (auto &s : model->sigs) { - signals_cb->addItem(s.name); + for (auto s : model->sigs) { + signals_cb->addItem(s->name); } } + logs->setItemDelegateForColumn(1, !has_signal || display_type_cb->currentIndex() == 1 ? delegate : nullptr); value_edit->clear(); comp_box->setCurrentIndex(0); filters_widget->setVisible(has_signal); @@ -276,3 +288,15 @@ void LogsWidget::setFilter() { model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); model->refresh(); } + +void LogsWidget::updateState() { + if (isVisible() && dynamic_mode->isChecked()) { + model->updateState(); + } +} + +void LogsWidget::showEvent(QShowEvent *event) { + if (dynamic_mode->isChecked() || model->canFetchMore({}) && model->rowCount() == 0) { + model->refresh(); + } +} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index a1b7bc0098..119b61a0e8 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,8 +1,6 @@ #pragma once #include -#include - #include #include #include @@ -11,7 +9,7 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; +#include "tools/cabana/util.h" class HeaderView : public QHeaderView { public: @@ -36,7 +34,7 @@ public: int columnCount(const QModelIndex &parent = QModelIndex()) const override { return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2; } - void refresh(); + void refresh(bool fetch_message = true); public slots: void setDisplayType(int type); @@ -55,7 +53,7 @@ public: std::deque fetchData(InputIt first, InputIt last, uint64_t min_time); std::deque fetchData(uint64_t from_time, uint64_t min_time = 0); - std::optional msg_id; + MessageId msg_id; ChangeTracker hex_colors; bool has_more_data = true; const int batch_size = 50; @@ -64,19 +62,19 @@ public: uint64_t last_fetch_time = 0; std::function filter_cmp = nullptr; std::deque messages; - QList sigs; + std::vector sigs; bool dynamic_mode = true; bool display_signals_mode = true; }; -class LogsWidget : public QWidget { +class LogsWidget : public QFrame { Q_OBJECT public: LogsWidget(QWidget *parent); void setMessage(const MessageId &message_id); - void updateState() {if (dynamic_mode->isChecked()) model->updateState(); } - void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); } + void updateState(); + void showEvent(QShowEvent *event) override; private slots: void setFilter(); @@ -90,4 +88,5 @@ private: QComboBox *signals_cb, *comp_box, *display_type_cb; QLineEdit *value_edit; QWidget *filters_widget; + MessageBytesDelegate *delegate; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 07d37df4e4..1559700951 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -27,8 +27,8 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const MainWindow::MainWindow() : QMainWindow() { createDockWindows(); - detail_widget = new DetailWidget(charts_widget, this); - setCentralWidget(detail_widget); + center_widget = new CenterWidget(charts_widget, this); + setCentralWidget(center_widget); createActions(); createStatusBar(); createShortcuts(); @@ -58,13 +58,21 @@ MainWindow::MainWindow() : QMainWindow() { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } + setStyleSheet(QString(R"(QMainWindow::separator { + width: %1px; /* when vertical */ + height: %1px; /* when horizontal */ + })").arg(style()->pixelMetric(QStyle::PM_SplitterWidth))); + QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); - QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); + QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); + QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); + QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); } void MainWindow::createActions() { @@ -89,7 +97,7 @@ void MainWindow::createActions() { file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - auto dbc_names = dbc()->allDBCNames(); + auto dbc_names = allDBCNames(); std::sort(dbc_names.begin(), dbc_names.end()); for (const auto &name : dbc_names) { load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); @@ -174,19 +182,46 @@ void MainWindow::createStatusBar() { progress_bar = new QProgressBar(); progress_bar->setRange(0, 100); progress_bar->setTextVisible(true); - progress_bar->setFixedSize({230, 16}); + progress_bar->setFixedSize({300, 16}); progress_bar->setVisible(false); - statusBar()->addWidget(new QLabel(tr("For Help,Press F1"))); + statusBar()->addWidget(new QLabel(tr("For Help, Press F1"))); statusBar()->addPermanentWidget(progress_bar); + + statusBar()->addPermanentWidget(status_label = new QLabel(this)); + updateStatus(); } void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); + shortcut = new QShortcut(QKeySequence(QKeySequence::FullScreen), this, nullptr, nullptr, Qt::ApplicationShortcut); + QObject::connect(shortcut, &QShortcut::activated, this, &MainWindow::toggleFullScreen); // TODO: add more shortcuts here. } +void MainWindow::undoStackIndexChanged(int index) { + int count = UndoStack::instance()->count(); + if (count >= 0) { + QString command_text; + if (index == count) { + command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1); + } else if (index < prev_undostack_index) { + command_text = tr("Undo %1").arg(UndoStack::instance()->text(index)); + } else if (index > prev_undostack_index) { + command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1)); + } + statusBar()->showMessage(command_text, 2000); + } + prev_undostack_index = index; + prev_undostack_count = count; + autoSave(); +} + void MainWindow::undoStackCleanChanged(bool clean) { + if (clean) { + prev_undostack_index = 0; + prev_undostack_count = 0; + } setWindowModified(!clean); } @@ -198,7 +233,7 @@ void MainWindow::DBCFileChanged() { void MainWindow::openRoute() { OpenRouteDialog dlg(this); if (dlg.exec()) { - detail_widget->removeAll(); + center_widget->clear(); charts_widget->removeAll(); statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); } else if (dlg.failedToLoad()) { @@ -221,7 +256,18 @@ void MainWindow::openFile() { void MainWindow::loadFile(const QString &fn) { if (!fn.isEmpty()) { - QFile file(fn); + QString dbc_fn = fn; + + // Prompt user to load auto saved file if it exists. + if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { + auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); + if (ret == QMessageBox::Yes) { + dbc_fn += AUTO_SAVE_EXTENSION; + UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost + } + } + + QFile file(dbc_fn); if (file.open(QIODevice::ReadOnly)) { auto dbc_name = QFileInfo(fn).baseName(); QString error; @@ -306,7 +352,23 @@ void MainWindow::save() { } } +void MainWindow::autoSave() { + if (!current_file.isEmpty() && !UndoStack::instance()->isClean()) { + QFile file(current_file + AUTO_SAVE_EXTENSION); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc()->generateDBC().toUtf8()); + } + } +} + +void MainWindow::cleanupAutoSaveFile() { + if (!current_file.isEmpty()) { + QFile::remove(current_file + AUTO_SAVE_EXTENSION); + } +} + void MainWindow::saveFile(const QString &fn) { + cleanupAutoSaveFile(); QFile file(fn); if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); @@ -381,6 +443,18 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe } } +void MainWindow::updateStatus() { + float cached_minutes = 0; + if (!can->liveStreaming()) { + if (auto events = can->events(); !events->empty()) { + cached_minutes = (events->back()->mono_time - events->front()->mono_time) / (1e9 * 60); + } + } else { + settings.max_cached_minutes = settings.max_cached_minutes; + } + status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(cached_minutes, 0, 'f', 1).arg(settings.fps)); +} + void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); @@ -399,6 +473,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + cleanupAutoSaveFile(); remindSaveChanges(); main_win = nullptr; @@ -438,6 +513,19 @@ void MainWindow::onlineHelp() { } } +void MainWindow::toggleFullScreen() { + if (isFullScreen()) { + menuBar()->show(); + statusBar()->show(); + showNormal(); + showMaximized(); + } else { + menuBar()->hide(); + statusBar()->hide(); + showFullScreen(); + } +} + // HelpOverlay HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground, true); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index e7a39adab7..3258b95cde 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -13,6 +13,8 @@ #include "tools/cabana/videowidget.h" #include "tools/cabana/tools/findsimilarbits.h" +const QString AUTO_SAVE_EXTENSION = ".tmp"; + class MainWindow : public QMainWindow { Q_OBJECT @@ -42,6 +44,8 @@ signals: protected: void remindSaveChanges(); void saveFile(const QString &fn); + void autoSave(); + void cleanupAutoSaveFile(); void setCurrentFile(const QString &fn); void updateRecentFileActions(); void createActions(); @@ -54,22 +58,28 @@ protected: void setOption(); void findSimilarBits(); void undoStackCleanChanged(bool clean); + void undoStackIndexChanged(int index); void onlineHelp(); + void toggleFullScreen(); + void updateStatus(); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; MessagesWidget *messages_widget; - DetailWidget *detail_widget; + CenterWidget *center_widget; ChartsWidget *charts_widget; QWidget *floating_window = nullptr; QVBoxLayout *charts_layout; QProgressBar *progress_bar; + QLabel *status_label; QJsonDocument fingerprint_to_dbc; QSplitter *video_splitter;; QString current_file = ""; enum { MAX_RECENT_FILES = 15 }; QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; + int prev_undostack_index = 0; + int prev_undostack_count = 0; friend class OnlineHelp; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 42ac22865c..b4a7ed7b34 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,17 +1,17 @@ #include "tools/cabana/messageswidget.h" -#include -#include #include -#include #include #include MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0 ,0, 0, 0); // message filter filter = new QLineEdit(this); + QRegularExpression re("\\S+"); + filter->setValidator(new QRegularExpressionValidator(re, this)); filter->setClearButtonEnabled(true); filter->setPlaceholderText(tr("filter messages")); main_layout->addWidget(filter); @@ -20,11 +20,15 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget = new QTableView(this); model = new MessageListModel(this); table_widget->setModel(model); - table_widget->setItemDelegateForColumn(4, new MessageBytesDelegate(table_widget)); + table_widget->setItemDelegateForColumn(5, new MessageBytesDelegate(table_widget)); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSortingEnabled(true); table_widget->sortByColumn(0, Qt::AscendingOrder); + table_widget->setColumnWidth(0, 150); + table_widget->setColumnWidth(1, 50); + table_widget->setColumnWidth(2, 50); + table_widget->setColumnWidth(3, 50); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); main_layout->addWidget(table_widget); @@ -44,11 +48,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); - QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(*current_msg_id); }); + QObject::connect(model, &MessageListModel::modelReset, [this]() { + if (current_msg_id) { + selectMessage(*current_msg_id); + } + }); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid() && current.row() < model->msgs.size()) { - if (model->msgs[current.row()] != *current_msg_id) { - current_msg_id = model->msgs[current.row()]; + auto &id = model->msgs[current.row()]; + if (!current_msg_id || id != *current_msg_id) { + current_msg_id = id; emit msgSelectionChanged(*current_msg_id); } } @@ -67,10 +76,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { setWhatsThis(tr(R"( Message View
- Byte color:
+ Byte color
■ constant changing
■ increasing
- ■ decreasing
+ ■ decreasing )")); } @@ -91,9 +100,10 @@ void MessagesWidget::updateSuppressedButtons() { } void MessagesWidget::reset() { + current_msg_id = std::nullopt; + table_widget->selectionModel()->clear(); model->reset(); filter->clear(); - current_msg_id = std::nullopt; updateSuppressedButtons(); } @@ -102,7 +112,7 @@ void MessagesWidget::reset() { QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal && role == Qt::DisplayRole) - return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section]; + return (QString[]){"Name", "Bus", "ID", "Freq", "Count", "Bytes"}[section]; return {}; } @@ -113,12 +123,13 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { switch (index.column()) { case 0: return msgName(id); - case 1: return id.toString(); // TODO: put source and address in separate columns - case 2: return can_data.freq; - case 3: return can_data.count; - case 4: return toHex(can_data.dat); + case 1: return id.source; + case 2: return QString::number(id.address, 16);; + case 3: return can_data.freq; + case 4: return can_data.count; + case 5: return toHex(can_data.dat); } - } else if (role == Qt::UserRole && index.column() == 4) { + } else if (role == ColorsRole) { QVector colors = can_data.colors; if (!suppressed_bytes.empty()) { for (int i = 0; i < colors.size(); i++) { @@ -128,6 +139,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } return QVariant::fromValue(colors); + } else if (role == BytesRole) { + return can_data.dat; } return {}; } @@ -138,8 +151,8 @@ void MessageListModel::setFilterString(const QString &string) { if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true; // Search by signal name if (const auto msg = dbc()->msg(id)) { - for (auto &signal : msg->sigs) { - if (signal.name.contains(txt, cs)) return true; + for (auto s : msg->getSignals()) { + if (s->name.contains(txt, cs)) return true; } } return false; @@ -165,15 +178,23 @@ void MessageListModel::sortMessages() { }); } else if (sort_column == 1) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - return sort_order == Qt::AscendingOrder ? l < r : l > r; + auto ll = std::pair{l.source, l}; + auto rr = std::pair{r.source, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } else if (sort_column == 2) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + auto ll = std::pair{l.address, l}; + auto rr = std::pair{r.address, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; + }); + } else if (sort_column == 3) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).freq, l}; auto rr = std::pair{can->lastMessage(r).freq, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 3) { + } else if (sort_column == 4) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).count, l}; auto rr = std::pair{can->lastMessage(r).count, r}; @@ -194,7 +215,7 @@ void MessageListModel::msgsReceived(const QHash *new_msgs) { } for (int i = 0; i < msgs.size(); ++i) { if (new_msgs->contains(msgs[i])) { - for (int col = 2; col < columnCount(); ++col) + for (int col = 3; col < columnCount(); ++col) emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole}); } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index d88def3acb..08dac0d69a 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,17 +1,13 @@ #pragma once -#include - #include #include #include #include -#include #include #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -19,7 +15,7 @@ Q_OBJECT public: MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 6; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 6cbd16cabf..00bbb94de5 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -32,7 +32,7 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - max_cached_minutes = s.value("max_cached_minutes", 5).toInt(); + max_cached_minutes = s.value("max_cached_minutes", 30).toInt(); chart_height = s.value("chart_height", 200).toInt(); chart_range = s.value("chart_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); @@ -65,7 +65,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { form_layout->addRow(tr("Max Cached Minutes"), cached_minutes); chart_series_type = new QComboBox(this); - chart_series_type->addItems({tr("Line"), tr("Scatter")}); + chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")}); chart_series_type->setCurrentIndex(settings.chart_series_type); form_layout->addRow(tr("Chart Default Series Type"), chart_series_type); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index a302d20077..c3ba906576 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,7 @@ public: void load(); int fps = 10; - int max_cached_minutes = 5; + int max_cached_minutes = 30; int chart_height = 200; int chart_column_count = 1; int chart_range = 3 * 60; // e minutes diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index d5099da6f4..ced7cd7d24 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,12 +1,12 @@ #include "tools/cabana/signaledit.h" +#include +#include #include -#include #include #include #include #include -#include #include #include "tools/cabana/commands.h" @@ -23,7 +23,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); } -void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) { +void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig}; parent_item->children.insert(pos, item); QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; @@ -48,9 +48,9 @@ void SignalModel::refresh() { beginResetModel(); root.reset(new SignalModel::Item); if (auto msg = dbc()->msg(msg_id)) { - for (auto &s : msg->sigs) { - if (filter_str.isEmpty() || s.name.contains(filter_str, Qt::CaseInsensitive)) { - insertItem(root.get(), root->children.size(), &s); + for (auto s : msg->getSignals()) { + if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) { + insertItem(root.get(), root->children.size(), s); } } } @@ -58,20 +58,33 @@ void SignalModel::refresh() { } void SignalModel::updateState(const QHash *msgs) { - if (!msgs || (msgs->contains(msg_id))) { + if (!msgs || msgs->contains(msg_id)) { auto &dat = can->lastMessage(msg_id).dat; int row = 0; for (auto item : root->children) { - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig); - item->sig_val = QString::number(value); - emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); + QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig)); + if (!item->sig->unit.isEmpty()){ + value += " " + item->sig->unit; + } + if (value != item->sig_val) { + item->sig_val = value; + emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); + } ++row; } } } +SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const { + SignalModel::Item *item = nullptr; + if (index.isValid()) { + item = (SignalModel::Item *)index.internalPointer(); + } + return item ? item : root.get(); +} + int SignalModel::rowCount(const QModelIndex &parent) const { - if (parent.column() > 0) return 0; + if (parent.isValid() && parent.column() > 0) return 0; auto parent_item = getItem(parent); int row_count = parent_item->children.size(); @@ -92,23 +105,27 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { return flags; } -int SignalModel::signalRow(const Signal *sig) const { - auto &children = root->children; - for (int i = 0; i < children.size(); ++i) { - if (children[i]->sig == sig) return i; +int SignalModel::signalRow(const cabana::Signal *sig) const { + for (int i = 0; i < root->children.size(); ++i) { + if (root->children[i]->sig == sig) return i; } return -1; } QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const { - if (!hasIndex(row, column, parent)) return {}; - return createIndex(row, column, getItem(parent)->children[row]); + if (parent.isValid() && parent.column() != 0) return {}; + + auto parent_item = getItem(parent); + if (parent_item && row < parent_item->children.size()) { + return createIndex(row, column, parent_item->children[row]); + } + return {}; } QModelIndex SignalModel::parent(const QModelIndex &index) const { if (!index.isValid()) return {}; Item *parent_item = getItem(index)->parent; - return parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); + return !parent_item || parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); } QVariant SignalModel::data(const QModelIndex &index, int role) const { @@ -129,11 +146,11 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { case Item::Min: return item->sig->min; case Item::Max: return item->sig->max; case Item::Desc: { - QString val_desc; + QStringList val_desc; for (auto &[val, desc] : item->sig->val_desc) { - val_desc += QString("%1 \"%2\"").arg(val, desc); + val_desc << QString("%1 \"%2\"").arg(val, desc); } - return val_desc; + return val_desc.join(" "); } default: break; } @@ -152,7 +169,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; Item *item = getItem(index); - Signal s = *item->sig; + cabana::Signal s = *item->sig; switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; @@ -187,7 +204,7 @@ void SignalModel::showExtraInfo(const QModelIndex &index) { } } -bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { +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); @@ -219,15 +236,16 @@ bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { void SignalModel::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); - for (int i = 1; !msg; ++i) { - QString name = QString("NEW_MSG_%1").arg(i); + for (int i = 0; !msg; ++i) { + QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); + if (i > 0) name += QString("_%1").arg(i); if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); } } - Signal sig = {.is_little_endian = little_endian, .factor = 1}; + cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1}; for (int i = 1; /**/; ++i) { sig.name = QString("NEW_SIGNAL_%1").arg(i); if (msg->sig(sig.name) == nullptr) break; @@ -236,13 +254,13 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { UndoStack::push(new AddSigCommand(msg_id, sig)); } -void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) { - Signal s = *sig; +void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) { + cabana::Signal s = *sig; updateSigSizeParamsFromRange(s, start_bit, size); saveSignal(sig, s); } -void SignalModel::removeSignal(const Signal *sig) { +void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); } @@ -252,7 +270,7 @@ void SignalModel::handleMsgChanged(uint32_t address) { } } -void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { +void SignalModel::handleSignalAdded(uint32_t address, const cabana::Signal *sig) { if (address == msg_id.address) { int i = 0; for (; i < root->children.size(); ++i) { @@ -264,13 +282,13 @@ void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { } } -void SignalModel::handleSignalUpdated(const Signal *sig) { +void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); } } -void SignalModel::handleSignalRemoved(const Signal *sig) { +void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { beginRemoveRows({}, row, row); delete root->children.takeAt(row); @@ -280,16 +298,30 @@ void SignalModel::handleSignalRemoved(const Signal *sig) { // SignalItemDelegate -SignalItemDelegate::SignalItemDelegate(QObject *parent) { +SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { name_validator = new NameValidator(this); double_validator = new QDoubleValidator(this); double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system small_font.setPointSize(8); } +QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { + int width = option.widget->size().width() / 2; + if (index.column() == 0) { + auto text = index.data(Qt::DisplayRole).toString(); + auto it = width_cache.find(text); + if (it == width_cache.end()) { + int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8; + it = width_cache.insert(text, option.fontMetrics.width(text) + spacing); + } + width = std::min(width, it.value()); + } + return {width, QApplication::fontMetrics().height()}; +} + void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); - if (item && !index.parent().isValid() && index.column() == 0) { + if (index.column() == 0 && item && item->type == SignalModel::Item::Sig) { painter->save(); painter->setRenderHint(QPainter::Antialiasing); if (option.state & QStyle::State_Selected) { @@ -298,22 +330,34 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // color label auto bg_color = getColor(item->sig); - QRect rc{option.rect.left(), option.rect.top(), 18, option.rect.height()}; + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + QRect rc{option.rect.left() + h_margin, option.rect.top(), color_label_width, option.rect.height()}; painter->setPen(Qt::NoPen); painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); - painter->drawRoundedRect(rc.adjusted(0, 2, 0, -2), 3, 3); + painter->drawRoundedRect(rc.adjusted(0, v_margin, 0, -v_margin), 3, 3); painter->setPen(item->highlight ? Qt::white : Qt::black); painter->setFont(small_font); painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1)); // signal name painter->setFont(option.font); - painter->setPen((option.state & QStyle::State_Selected ? option.palette.highlightedText() : option.palette.text()).color()); + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); QString text = index.data(Qt::DisplayRole).toString(); - QRect text_rect = option.rect.adjusted(rc.width() + 6, 0, 0, 0); + QRect text_rect = option.rect; + text_rect.setLeft(rc.right() + h_margin * 2); text = painter->fontMetrics().elidedText(text, Qt::ElideRight, text_rect.width()); painter->drawText(text_rect, option.displayAlignment, text); painter->restore(); + } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) { + // draw signal value + if (option.state & QStyle::State_Selected) { + painter->fillRect(option.rect, option.palette.highlight()); + } + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); + QRect rc = option.rect.adjusted(0, 0, -70, 0); + auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rc.width()); + painter->drawText(rc, Qt::AlignRight | Qt::AlignVCenter, text); } else { QStyledItemDelegate::paint(painter, option, index); } @@ -326,6 +370,14 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie QLineEdit *e = new QLineEdit(parent); e->setFrame(false); e->setValidator(index.row() == 0 ? name_validator : double_validator); + + if (item->type == SignalModel::Item::Name) { + QCompleter *completer = new QCompleter(dbc()->signalNames()); + completer->setCaseSensitivity(Qt::CaseInsensitive); + completer->setFilterMode(Qt::MatchContains); + e->setCompleter(completer); + } + return e; } else if (item->type == SignalModel::Item::Size) { QSpinBox *spin = new QSpinBox(parent); @@ -345,22 +397,21 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie // SignalView -SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { +SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); // title bar QWidget *title_bar = new QWidget(this); - title_bar->setAutoFillBackground(true); QHBoxLayout *hl = new QHBoxLayout(title_bar); hl->addWidget(signal_count_lb = new QLabel()); filter_edit = new QLineEdit(this); + QRegularExpression re("\\S+"); + filter_edit->setValidator(new QRegularExpressionValidator(re, this)); filter_edit->setClearButtonEnabled(true); - filter_edit->setPlaceholderText(tr("filter signals by name")); + filter_edit->setPlaceholderText(tr("filter signals")); hl->addWidget(filter_edit); hl->addStretch(1); - auto collapse_btn = new QToolButton(); - collapse_btn->setIcon(utils::icon("dash-square")); + auto collapse_btn = toolButton("dash-square", tr("Collapse All")); collapse_btn->setIconSize({12, 12}); - collapse_btn->setAutoRaise(true); - collapse_btn->setToolTip(tr("Collapse All")); hl->addWidget(collapse_btn); // tree view @@ -371,7 +422,8 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), tree->setHeaderHidden(true); tree->setMouseTracking(true); tree->setExpandsOnDoubleClick(false); - tree->header()->setSectionResizeMode(QHeaderView::Stretch); + tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents); + tree->header()->setStretchLastSection(true); tree->setMinimumHeight(300); tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); @@ -389,7 +441,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const cabana::Signal *sig) { selectSignal(sig); }); setWhatsThis(tr(R"( Signal view
@@ -404,26 +456,19 @@ void SignalView::setMessage(const MessageId &id) { } void SignalView::rowsChanged() { - auto create_btn = [](const QString &id, const QString &tooltip) { - auto btn = new QToolButton(); - btn->setIcon(utils::icon(id)); - btn->setToolTip(tooltip); - btn->setAutoRaise(true); - return btn; - }; - - signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); - for (int i = 0; i < model->rowCount(); ++i) { auto index = model->index(i, 1); if (!tree->indexWidget(index)) { QWidget *w = new QWidget(this); QHBoxLayout *h = new QHBoxLayout(w); - h->setContentsMargins(0, 2, 0, 2); - h->addStretch(1); + int v_margin = style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + int h_margin = style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + h->setContentsMargins(0, v_margin, -h_margin, v_margin); + h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing)); + h->addStretch(0); - auto remove_btn = create_btn("x", tr("Remove signal")); - auto plot_btn = create_btn("graph-up", ""); + auto remove_btn = toolButton("x", tr("Remove signal")); + auto plot_btn = toolButton("graph-up", ""); plot_btn->setCheckable(true); h->addWidget(plot_btn); h->addWidget(remove_btn); @@ -436,6 +481,7 @@ void SignalView::rowsChanged() { }); } } + signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); updateChartState(); } @@ -449,33 +495,36 @@ void SignalView::rowClicked(const QModelIndex &index) { } } -void SignalView::expandSignal(const Signal *sig) { +void SignalView::selectSignal(const cabana::Signal *sig, bool expand) { if (int row = model->signalRow(sig); row != -1) { auto idx = model->index(row, 0); - bool expand = !tree->isExpanded(idx); - tree->setExpanded(idx, expand); + if (expand) { + tree->setExpanded(idx, !tree->isExpanded(idx)); + } tree->scrollTo(idx, QAbstractItemView::PositionAtTop); - if (expand) tree->setCurrentIndex(idx); + tree->setCurrentIndex(idx); } } void SignalView::updateChartState() { int i = 0; for (auto item : model->root->children) { - auto plot_btn = tree->indexWidget(model->index(i, 1))->findChildren()[0]; bool chart_opened = charts->hasSignal(msg_id, item->sig); - plot_btn->setChecked(chart_opened); - plot_btn->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot")); + auto buttons = tree->indexWidget(model->index(i, 1))->findChildren(); + if (buttons.size() > 0) { + buttons[0]->setChecked(chart_opened); + buttons[0]->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot")); + } ++i; } } -void SignalView::signalHovered(const Signal *sig) { +void SignalView::signalHovered(const cabana::Signal *sig) { auto &children = model->root->children; for (int i = 0; i < children.size(); ++i) { bool highlight = children[i]->sig == sig; if (std::exchange(children[i]->highlight, highlight) != highlight) { - emit model->dataChanged(model->index(i, 0), model->index(i, 0)); + emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole}); } } } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index efdc653584..39fe5f270f 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -21,7 +21,7 @@ public: Item *parent = nullptr; QList children; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QString title; bool highlight = false; bool extra_expanded = false; @@ -39,18 +39,18 @@ public: void setMessage(const MessageId &id); void setFilter(const QString &txt); void addSignal(int start_bit, int size, bool little_endian); - bool saveSignal(const Signal *origin_s, Signal &s); - void resizeSignal(const Signal *sig, int start_bit, int size); - void removeSignal(const Signal *sig); - inline Item *getItem(const QModelIndex &index) const { return index.isValid() ? (Item *)index.internalPointer() : root.get(); } - int signalRow(const Signal *sig) const; + bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void resizeSignal(const cabana::Signal *sig, int start_bit, int size); + void removeSignal(const cabana::Signal *sig); + Item *getItem(const QModelIndex &index) const; + int signalRow(const cabana::Signal *sig) const; void showExtraInfo(const QModelIndex &index); private: - void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig); - void handleSignalAdded(uint32_t address, const Signal *sig); - void handleSignalUpdated(const Signal *sig); - void handleSignalRemoved(const Signal *sig); + void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); + void handleSignalAdded(uint32_t address, const cabana::Signal *sig); + void handleSignalUpdated(const cabana::Signal *sig); + void handleSignalRemoved(const cabana::Signal *sig); void handleMsgChanged(uint32_t address); void refresh(); void updateState(const QHash *msgs); @@ -80,26 +80,29 @@ class SignalItemDelegate : public QStyledItemDelegate { public: SignalItemDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const; QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QValidator *name_validator, *double_validator; QFont small_font; + const int color_label_width = 18; + mutable QHash width_cache; }; -class SignalView : public QWidget { +class SignalView : public QFrame { Q_OBJECT public: SignalView(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &id); - void signalHovered(const Signal *sig); + void signalHovered(const cabana::Signal *sig); void updateChartState(); - void expandSignal(const Signal *sig); + void selectSignal(const cabana::Signal *sig, bool expand = false); void rowClicked(const QModelIndex &index); SignalModel *model = nullptr; signals: - void highlight(const Signal *sig); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void highlight(const cabana::Signal *sig); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void rowsChanged(); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 8fdfbd5c1b..6af831a1d0 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,5 +1,7 @@ #include "tools/cabana/streams/abstractstream.h" +#include + AbstractStream *can = nullptr; AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { @@ -31,10 +33,12 @@ bool AbstractStream::updateEvent(const Event *event) { data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); data.count = ++counters[id]; data.freq = data.count / std::max(1.0, current_sec); - change_trackers[id].compute(data.dat, data.ts, data.freq); - data.colors = change_trackers[id].colors; - data.last_change_t = change_trackers[id].last_change_t; - data.bit_change_counts = change_trackers[id].bit_change_counts; + + auto &tracker = change_trackers[id]; + tracker.compute(data.dat, data.ts, data.freq); + data.colors = tracker.colors; + data.last_change_t = tracker.last_change_t; + data.bit_change_counts = tracker.bit_change_counts; } double ts = millis_since_boot(); @@ -57,39 +61,59 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) { return it != can_msgs.end() ? it.value() : empty_data; } -void AbstractStream::updateLastMsgsTo(double sec) { - QHash last_msgs; - last_msgs.reserve(can_msgs.size()); - double route_start_time = routeStartTime(); - uint64_t last_ts = (sec + route_start_time) * 1e9; - auto evs = events(); - auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; }); - for (auto it = last; it != evs->rend(); ++it) { +static QHash parseEvents(std::vector::const_reverse_iterator first, + std::vector::const_reverse_iterator last, double route_start_time) { + QHash msgs; + msgs.reserve(500); + for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { - auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}]; + auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}]; if (++m.count == 1) { m.ts = ((*it)->mono_time / 1e9) - route_start_time; m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); m.last_change_t = QVector(m.dat.size(), m.ts); m.bit_change_counts.resize(m.dat.size()); - } else { - m.freq = m.count / std::max(1.0, m.ts); } } } } + return msgs; +}; + +// it is thread safe to update data in updateLastMsgsTo. +// updateEvent will not be called before replayStream::seekedTo return. +void AbstractStream::updateLastMsgsTo(double sec) { + uint64_t ts = (sec + routeStartTime()) * 1e9; + const uint64_t delta = std::max(std::ceil(sec / std::thread::hardware_concurrency()), 30.0) * 1e9; + const auto evs = events(); + auto first = std::upper_bound(evs->crbegin(), evs->crend(), ts, [](uint64_t ts, auto &e) { return ts > e->mono_time; }); + QFutureSynchronizer> synchronizer; + while(first != evs->crend()) { + ts = (*first)->mono_time > delta ? (*first)->mono_time - delta : 0; + auto last = std::lower_bound(first, evs->crend(), ts, [](auto &e, uint64_t ts) { return e->mono_time > ts; }); + synchronizer.addFuture(QtConcurrent::run(parseEvents, first, last, routeStartTime())); + first = last; + } + synchronizer.waitForFinished(); - // it is thread safe to update data here. - // updateEvent will not be called before replayStream::seekedTo return. new_msgs->clear(); change_trackers.clear(); - counters.clear(); can_msgs.clear(); - for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) { - can_msgs[it.key()] = it.value(); - counters[it.key()] = it.value().count; + counters.clear(); + for (const auto &f : synchronizer.futures()) { + auto msgs = f.result(); + for (auto it = msgs.cbegin(); it != msgs.cend(); ++it) { + counters[it.key()] += it.value().count; + auto m = can_msgs.find(it.key()); + if (m == can_msgs.end()) { + m = can_msgs.insert(it.key(), it.value()); + } else { + m.value().count += it.value().count; + } + m.value().freq = m.value().count / std::max(1.0, m.value().ts); + } } emit updated(); emit msgsReceived(&can_msgs); diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index b2fc7ea4a6..8f63d3baec 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -89,10 +89,11 @@ void LiveStream::removeExpiredEvents() { } const std::vector *LiveStream::events() const { - events_vector.clear(); std::lock_guard lk(lock); - events_vector.reserve(can_events.size()); - std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector)); + if (events_vector.capacity() <= can_events.size()) { + events_vector.reserve(can_events.size() * 2); + } + events_vector.assign(can_events.begin(), can_events.end()); return &events_vector; } diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 9a8ab710bc..124eb7428a 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -5,7 +5,6 @@ #include "tools/replay/logreader.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; // demo route, first segment const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; @@ -23,9 +22,11 @@ TEST_CASE("DBCManager::generateDBC") { auto &new_m = new_msgs.at(address); REQUIRE(m.name == new_m.name); REQUIRE(m.size == new_m.size); - REQUIRE(m.sigs.size() == new_m.sigs.size()); - for (int i = 0; i < m.sigs.size(); ++i) { - REQUIRE(m.sigs[i] == new_m.sigs[i]); + REQUIRE(m.getSignals().size() == new_m.getSignals().size()); + auto sigs = m.getSignals(); + auto new_sigs = new_m.getSignals(); + for (int i = 0; i < sigs.size(); ++i) { + REQUIRE(*sigs[i] == *new_sigs[i]); } } } @@ -44,9 +45,9 @@ TEST_CASE("Parse can messages") { for (const auto &c : e->event.getCan()) { const auto msg = dbc.msg(c.getAddress()); if (c.getSrc() == 0 && msg) { - for (auto &sig : msg->sigs) { - double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig); - values_1[{c.getAddress(), sig.name}].push_back(val); + for (auto sig : msg->getSignals()) { + double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig); + values_1[{c.getAddress(), sig->name}].push_back(val); } } } diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 27cb7bced8..ffb0e54b0e 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -9,7 +9,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { setWindowTitle(tr("Find similar bits")); diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index ba9b063baf..53d7806a8f 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -7,7 +7,6 @@ #include #include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; class FindSimilarBitsDlg : public QDialog { Q_OBJECT diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 6415cc8e16..656c97489c 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -66,43 +67,68 @@ void ChangeTracker::clear() { colors.clear(); } + +// SegmentTree + +void SegmentTree::build(const QVector &arr) { + size = arr.size(); + tree.resize(4 * size); // size of the tree is 4 times the size of the array + if (size > 0) { + build_tree(arr, 1, 0, size - 1); + } +} + +void SegmentTree::build_tree(const QVector &arr, int n, int left, int right) { + if (left == right) { + const double y = arr[left].y(); + tree[n] = {y, y}; + } else { + const int mid = (left + right) >> 1; + build_tree(arr, 2 * n, left, mid); + build_tree(arr, 2 * n + 1, mid + 1, right); + tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)}; + } +} + +std::pair SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const { + if (range_left > right || range_right < left) + return {std::numeric_limits::max(), std::numeric_limits::lowest()}; + if (range_left <= left && range_right >= right) + return tree[n]; + int mid = (left + right) >> 1; + auto l = get_minmax(2 * n, left, mid, range_left, range_right); + auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right); + return {std::min(l.first, r.first), std::max(l.second, r.second)}; +} + // MessageBytesDelegate MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); + byte_width = QFontMetrics(fixed_font).width("00 "); } void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - QStyleOptionViewItemV4 opt = option; - initStyleOption(&opt, index); + auto colors = index.data(ColorsRole).value>(); + auto byte_list = index.data(BytesRole).toByteArray(); - auto byte_list = opt.text.split(" "); - if (byte_list.size() <= 1) { - QStyledItemDelegate::paint(painter, option, index); - return; - } + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + QRect rc{option.rect.left() + h_margin, option.rect.top() + v_margin, byte_width, option.rect.height() - 2 * v_margin}; auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text; painter->setPen(option.palette.color(color_role)); painter->setFont(fixed_font); - QRect space = painter->boundingRect(opt.rect, opt.displayAlignment, " "); - QRect pos = painter->boundingRect(opt.rect, opt.displayAlignment, "00"); - pos.moveLeft(pos.x() + space.width()); - - int m = space.width() / 2; - const QMargins margins(m, m, m, m); - - auto colors = index.data(Qt::UserRole).value>(); for (int i = 0; i < byte_list.size(); ++i) { - if (i < colors.size()) { - painter->fillRect(pos.marginsAdded(margins), colors[i]); + if (i < colors.size() && colors[i].alpha() > 0) { + painter->fillRect(rc, colors[i]); } - painter->drawText(pos, opt.displayAlignment, byte_list[i]); - pos.moveLeft(pos.right() + space.width()); + painter->drawText(rc, Qt::AlignCenter, toHex(byte_list[i])); + rc.moveLeft(rc.right() + 1); } } -QColor getColor(const Signal *sig) { +QColor getColor(const cabana::Signal *sig) { float h = 19 * (float)sig->lsb / 64.0; h = fmod(h, 1.0); @@ -122,14 +148,39 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { namespace utils { QPixmap icon(const QString &id) { - static bool dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); - QPixmap pm = bootstrapPixmap(id); - if (dark_theme) { - QPainter p(&pm); - p.setCompositionMode(QPainter::CompositionMode_SourceIn); - p.fillRect(pm.rect(), Qt::lightGray); + static bool dark_theme = QApplication::palette().color(QPalette::WindowText).value() > + QApplication::palette().color(QPalette::Background).value(); + QPixmap pm; + QString key = "bootstrap_" % id % (dark_theme ? "1" : "0"); + if (!QPixmapCache::find(key, &pm)) { + pm = bootstrapPixmap(id); + if (dark_theme) { + QPainter p(&pm); + p.setCompositionMode(QPainter::CompositionMode_SourceIn); + p.fillRect(pm.rect(), Qt::lightGray); + } + QPixmapCache::insert(key, pm); } return pm; } } // namespace utils + +QToolButton *toolButton(const QString &icon, const QString &tooltip) { + auto btn = new QToolButton(); + btn->setIcon(utils::icon(icon)); + btn->setToolTip(tooltip); + btn->setAutoRaise(true); + const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize); + btn->setIconSize({metric, metric}); + return btn; +}; + + +QString toHex(uint8_t byte) { + static std::array hex = []() { + std::array ret; + for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper(); + return ret; + }(); + return hex[byte]; +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 2717451061..b1acdd8c6e 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,17 +1,18 @@ #pragma once #include +#include #include #include #include #include +#include #include +#include #include -#include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; - +#include "tools/cabana/dbc.h" class ChangeTracker { public: @@ -29,17 +30,53 @@ private: QByteArray prev_dat; }; +class LogSlider : public QSlider { + Q_OBJECT + +public: + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; + + void setRange(double min, double max) { QSlider::setRange(logScale(min), logScale(max)); } + int value() const { return invLogScale(QSlider::value()); } + void setValue(int value) { QSlider::setValue(logScale(value)); } + +private: + double factor; + int logScale(int value) const { return factor * std::log10(value); } + int invLogScale(int value) const { return std::pow(10, value / factor); } +}; + + +enum { + ColorsRole = Qt::UserRole + 1, + BytesRole = Qt::UserRole + 2 +}; + +class SegmentTree { +public: + SegmentTree() = default; + void build(const QVector &arr); + inline std::pair minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); } + +private: + std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const; + void build_tree(const QVector &arr, int n, int left, int right); + std::vector> tree; + int size = 0; +}; + class MessageBytesDelegate : public QStyledItemDelegate { Q_OBJECT public: MessageBytesDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QFont fixed_font; + int byte_width; }; inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } -inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } -QColor getColor(const dbcmanager::Signal *sig); +QString toHex(uint8_t byte); +QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT @@ -52,3 +89,5 @@ public: namespace utils { QPixmap icon(const QString &id); } + +QToolButton *toolButton(const QString &icon, const QString &tooltip); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 2b5374d85f..536ae7ba97 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -28,9 +28,9 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); QFrame *frame = new QFrame(this); - frame->setFrameShape(QFrame::StyledPanel); - frame->setFrameShadow(QFrame::Sunken); + frame->setFrameStyle(QFrame::StyledPanel | QFrame::Plain); main_layout->addWidget(frame); QVBoxLayout *frame_layout = new QVBoxLayout(frame); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 1a7e27f1b3..d10b09fec5 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -13,7 +13,6 @@ #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class Slider : public QSlider { Q_OBJECT diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index b35c66d02d..a368566982 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -17,7 +17,7 @@ ALT_DELTA = 30 MATCH_NUM = 10 REPORT_STATS = 10 -EPHEM_CACHE = "/data/params/d/LaikadEphemeris" +EPHEM_CACHE = "/data/params/d/LaikadEphemerisV2" DOWNLOAD_CACHE = "/tmp/comma_download_cache" SERVER_LOG_FILE = "/tmp/fuzzy_server.log" diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 8bc5dc89a8..2c08c105a1 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -5,7 +5,7 @@ import struct from common.params import Params import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from system.hardware import TICI from selfdrive.test.helpers import with_processes diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 613ac991b1..24ffa6c424 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,7 +4,7 @@ import time import unittest import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from common.params import Params from system.hardware import TICI @@ -39,7 +39,7 @@ class TestLaikad(unittest.TestCase): def setUp(self): # ensure laikad cold start - Params().remove("LaikadEphemeris") + Params().remove("LaikadEphemerisV2") os.environ["LAIKAD_NO_INTERNET"] = "1" managed_processes['laikad'].start() diff --git a/tools/lib/README.md b/tools/lib/README.md index 3cf239d2df..d77eef5ac5 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -1,6 +1,6 @@ ## LogReader -Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. +Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python from tools.lib.route import Route diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5ad702590c..077861ff96 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -165,7 +165,10 @@ void ConsoleUI::updateStatus() { sm.update(0); if (status != Status::Paused) { - status = (sm.updated("carState") || sm.updated("liveParameters")) ? Status::Playing : Status::Waiting; + auto events = replay->events(); + uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9; + bool playing = !events->empty() && events->back()->mono_time > current_mono_time; + status = playing ? Status::Playing : Status::Waiting; } auto [status_str, status_color] = status_text[status]; write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 178b116a87..b68330f688 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -193,7 +193,7 @@ std::optional Replay::find(FindFlag flag) { void Replay::pause(bool pause) { updateEvents([=]() { - rWarning("%s at %d s", pause ? "paused..." : "resuming", currentSeconds()); + rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds()); paused_ = pause; return true; });