From b7cc6983c31b158e2552192ee6f9fdf6116adc8e Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 20 Oct 2023 13:53:22 -0700 Subject: [PATCH 01/22] modeld: send_raw_pred under a flag (#30298) * modeld: SEND_RAW_PRED under a flag * not twice --- selfdrive/modeld/fill_model_msg.py | 7 +++++++ selfdrive/modeld/modeld.py | 8 +++++++- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index dda2e41258..05a159c86d 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -1,9 +1,12 @@ +import os import capnp import numpy as np from typing import Dict from cereal import log from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + ConfidenceClass = log.ModelDataV2.ConfidenceClass class PublishState: @@ -163,6 +166,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, else: modelV2.confidence = ConfidenceClass.red + # raw prediction if enabled + if SEND_RAW_PRED: + modelV2.rawPredictions = net_output_data['raw_pred'].tobytes() + def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None: msg.valid = live_calib_seen & (vipc_dropped_frames < 1) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8bfdaaa350..5df4e5e172 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import sys +import os import time import pickle import numpy as np @@ -20,6 +21,8 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + MODEL_PATHS = { ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} @@ -70,7 +73,10 @@ class ModelState: self.model.addInput(k, v) def slice_outputs(self, model_outputs: np.ndarray) -> Dict[str, np.ndarray]: - return {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} + parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} + if SEND_RAW_PRED: + parsed_model_outputs['raw_pred'] = model_outputs.copy() + return parsed_model_outputs def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[Dict[str, np.ndarray]]: From 54db997d80bdc9105eec9ca969727417b17d968b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 20 Oct 2023 20:28:21 -0700 Subject: [PATCH 02/22] add CNAME for docs.comma.ai --- .github/workflows/docs.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 0a55843cfd..8b5b165536 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -54,6 +54,7 @@ jobs: cp -r ../build/docs/html/ docs/ touch docs/.nojekyll + echo -n docs.comma.ai > docs/CNAME git add -f . git commit -m "build docs" From ac19ecee6f323f81607f4e70789be175c184da68 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 21 Oct 2023 14:48:48 +0800 Subject: [PATCH 03/22] cabana: remove the installed handlers on exit (#30297) remove the installed handlers on exit --- tools/cabana/mainwin.cc | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 5cd5e70267..9ac88032d5 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -22,12 +22,6 @@ #include "tools/cabana/streamselector.h" #include "tools/cabana/tools/findsignal.h" -static MainWindow *main_win = nullptr; -void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { - if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; - if (main_win) emit main_win->showMessage(msg, 2000); -} - MainWindow::MainWindow() : QMainWindow() { createDockWindows(); setCentralWidget(center_widget = new CenterWidget(this)); @@ -45,20 +39,23 @@ MainWindow::MainWindow() : QMainWindow() { } restoreState(settings.window_state); + // install handlers + static auto static_main_win = this; qRegisterMetaType("uint64_t"); qRegisterMetaType("SourceSet"); qRegisterMetaType("ReplyMsgType"); - installMessageHandler([this](ReplyMsgType type, const std::string msg) { - // use queued connection to recv the log messages from replay. - emit showMessage(QString::fromStdString(msg), 2000); + installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) { + emit static_main_win->updateProgressBar(cur, total, success); }); - installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { - emit updateProgressBar(cur, total, success); + qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) { + if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; + emit static_main_win->showMessage(msg, 2000); + }); + installMessageHandler([](ReplyMsgType type, const std::string msg) { + qInfo() << QString::fromStdString(msg); }); - main_win = this; - qInstallMessageHandler(qLogMessageHandler); - + // load fingerprints QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json"); if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); @@ -597,7 +594,9 @@ void MainWindow::closeEvent(QCloseEvent *event) { cleanupAutoSaveFile(); remindSaveChanges(); - main_win = nullptr; + installDownloadProgressHandler(nullptr); + qInstallMessageHandler(nullptr); + if (floating_window) floating_window->deleteLater(); From 48209b4644a45e041c0a27a8a572cd666c97a8c5 Mon Sep 17 00:00:00 2001 From: stevenaa123isme <147911979+stevenaa123isme@users.noreply.github.com> Date: Sat, 21 Oct 2023 01:13:23 -0700 Subject: [PATCH 04/22] Added FW for 2022 Audi Q3 (#30275) * Added 2022 Audi Q3 to Fingerprint * Fingerprinted 2022 Audi Q3/ cleaned up code * add missing srs --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 1c4d090194..c93f7f3db9 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1071,11 +1071,13 @@ FW_VERSIONS = { b'\xf1\x8783A906259 \xf1\x890001', b'\xf1\x8783A906259 \xf1\x890005', b'\xf1\x8783A906259C \xf1\x890002', + b'\xf1\x8783A906259D \xf1\x890001', b'\xf1\x8783A906259F \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158CN\xf1\x893608', b'\xf1\x8709G927158FL\xf1\x893758', + b'\xf1\x8709G927158GG\xf1\x893825', b'\xf1\x8709G927158GP\xf1\x893937', b'\xf1\x870GC300045D \xf1\x892802', b'\xf1\x870GC300046F \xf1\x892701', @@ -1085,6 +1087,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111', + b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300', From 0b7e512a58e9d133c66f022be21df9379cb71339 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 21 Oct 2023 04:14:33 -0400 Subject: [PATCH 05/22] VW MQB: Add FW for 2023 Volkswagen Tiguan (#30271) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c93f7f3db9..6439fb0b6b 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -832,6 +832,7 @@ FW_VERSIONS = { b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', b'\xf1\x8783A907115K \xf1\x890001', + b'\xf1\x8783A907115K \xf1\x890002', b'\xf1\x8704E906024AP\xf1\x891461', b'\xf1\x8783A907115 \xf1\x890007', ], @@ -841,6 +842,7 @@ FW_VERSIONS = { b'\xf1\x8709G927158GC\xf1\x893821', b'\xf1\x8709G927158GD\xf1\x893820', b'\xf1\x8709G927158GM\xf1\x893936', + b'\xf1\x8709G927158GN\xf1\x893938', b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', @@ -879,6 +881,7 @@ 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\x002RA60A2ROM', b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1', From 880afedbb83e4b31a3e55e78f0aeecae5fccfdd2 Mon Sep 17 00:00:00 2001 From: systwo <60156901+systwo@users.noreply.github.com> Date: Sat, 21 Oct 2023 21:29:17 +1300 Subject: [PATCH 06/22] Toyota: Added missing Highlander Hybrid FW versions (#30255) Added Highlander hybrid fingerprint values --- selfdrive/car/toyota/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ca05743550..45585c97f7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1226,6 +1226,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B48241\x00\x00\x00\x00\x00\x00', b'8965B48310\x00\x00\x00\x00\x00\x00', + b'8965B48320\x00\x00\x00\x00\x00\x00', b'8965B48400\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ @@ -1238,6 +1239,7 @@ FW_VERSIONS = { b'\x01F152648J4000\x00\x00\x00\x00', b'\x01F152648J5000\x00\x00\x00\x00', b'\x01F152648J6000\x00\x00\x00\x00', + b'\x01F152648J7000\x00\x00\x00\x00', b'\x01F15264872700\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ @@ -1247,6 +1249,7 @@ FW_VERSIONS = { b'\x01896630EE4100\x00\x00\x00\x00', b'\x01896630EE5000\x00\x00\x00\x00', b'\x01896630EE6000\x00\x00\x00\x00', + b'\x01896630EE7000\x00\x00\x00\x00', b'\x01896630EF8000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', From 6e8301410caa042f0c0626882afc81ab5745bd99 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Sat, 21 Oct 2023 03:34:03 -0500 Subject: [PATCH 07/22] Toyota: add ABS ECU version for HIGHLANDERH_TSS2 (#30230) * Toyota: add ABS ECU version for HIGHLANDERH_TSS2 `@doodoo6163` 2021 Highlander Hybrid Platinum daae45a94e9e3ac6|2023-10-12--12-33-25 * sorted --------- Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 45585c97f7..f69fbd6252 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1234,13 +1234,14 @@ FW_VERSIONS = { b'\x01F15264872400\x00\x00\x00\x00', b'\x01F15264872500\x00\x00\x00\x00', b'\x01F15264872600\x00\x00\x00\x00', + b'\x01F15264872700\x00\x00\x00\x00', b'\x01F15264873500\x00\x00\x00\x00', b'\x01F152648C6300\x00\x00\x00\x00', b'\x01F152648J4000\x00\x00\x00\x00', b'\x01F152648J5000\x00\x00\x00\x00', b'\x01F152648J6000\x00\x00\x00\x00', b'\x01F152648J7000\x00\x00\x00\x00', - b'\x01F15264872700\x00\x00\x00\x00', + b'\x01F152648L5000\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896630E67000\x00\x00\x00\x00', From b95d69ae1bc357edea20141c215289b0bdb68680 Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Sat, 21 Oct 2023 03:04:24 -0600 Subject: [PATCH 08/22] Car port: CADILLAC ESCALADE ESV 2019 (#29913) * add CADILLAC ESCALADE ESV PLATINUM 2019 * add test route * Update selfdrive/car/gm/interface.py * combine params * that's just a trim * wow, there's a huge torque offset (left is 1.2 m/s^2, right is 1.9 m/s^2 max lat accel) * don't hard code * Update selfdrive/car/torque_data/override.yaml * consistent formatting * add to releases --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/gm/interface.py | 13 +++++++++---- selfdrive/car/gm/values.py | 6 ++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 20 insertions(+), 5 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 6adc58197b..96028a9787 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,7 @@ Version 0.9.5 (2023-XX-XX) ======================== * New driving model * Improved navigate on openpilot performance using navigation instructions as an additional model input +* Cadillac Escalade ESV 2019 support thanks to twilsonco! * Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422! diff --git a/docs/CARS.md b/docs/CARS.md index fec2f8b840..fac448a13f 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 device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 265 Supported Cars +# 266 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -20,6 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All |Buick|LaCrosse 2017-19[4](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade ESV 2019[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 9b5cae0961..a0defb7cfb 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -198,17 +198,22 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - elif candidate == CAR.ESCALADE_ESV: + elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019): ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 2739. ret.wheelbase = 3.302 ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] - ret.lateralTuning.pid.kf = 0.000045 ret.tireStiffnessFactor = 1.0 + if candidate == CAR.ESCALADE_ESV: + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] + ret.lateralTuning.pid.kf = 0.000045 + else: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.BOLT_EUV: ret.mass = 1669. ret.wheelbase = 2.63779 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 837d664dad..e9ec8de9c5 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -71,6 +71,7 @@ class CAR(StrEnum): BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE = "CADILLAC ESCALADE 2017" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" + ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019" BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" EQUINOX = "CHEVROLET EQUINOX 2019" @@ -106,6 +107,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), + CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"), CAR.BOLT_EUV: [ GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), @@ -198,6 +200,10 @@ FINGERPRINTS = { { 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 }], + CAR.ESCALADE_ESV_2019: [ + { + 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 + }], CAR.BOLT_EUV: [ { 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 298e2bfec4..bb01956135 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -61,6 +61,7 @@ routes = [ CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), + CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14), # Bolt EV diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index b8c9299685..2f2b804e23 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -37,6 +37,7 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.05] RAM HD 5TH GEN: [1.4, 1.4, 0.05] SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2] CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] +CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16] From 820cccf8d991450f72b3b80f91749b43fb3a90cc Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 21 Oct 2023 06:16:50 -0400 Subject: [PATCH 09/22] Hyundai: split Elantra and Elantra GT (i30) platforms (#29969) * Hyundai: Add FW Versions for 2019 Elantra * wrong platform * Update selfdrive/car/hyundai/values.py * split platforms again * add engine and other trans * legacy: don't trust long * fix * elantra has no eps and i30 has no dates as well * 19 still has no sng * new harness * todo comment * Update CARS.md * re-did * add back * rev * Add Elantra 2017 FW from f6f9e1708bae2ef6 * Add Elantra 2017 FW from 5af39b105269f0f3 * Add Elantra 2017 FW from 2e158bb0e7396dd9 * should be all i30 and elantra drivers --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 5 ++- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/tests/test_hyundai.py | 3 +- selfdrive/car/hyundai/values.py | 44 +++++++++++++++++---- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/substitute.yaml | 1 + 6 files changed, 45 insertions(+), 12 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index fac448a13f..d6961f6f56 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 device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 266 Supported Cars +# 267 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -75,7 +75,8 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 8ccc24d105..de1742f100 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -88,7 +88,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 ret.tireStiffnessFactor = 0.63 - elif candidate == CAR.ELANTRA: + elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): ret.mass = 1275. ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 5fa92624af..dbf2b38615 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -23,6 +23,7 @@ NO_DATES_PLATFORMS = { CAR.TUCSON_HYBRID_4TH_GEN, # CAN CAR.ELANTRA, + CAR.ELANTRA_GT_I30, CAR.KIA_CEED, CAR.KIA_FORTE, CAR.KIA_OPTIMA_G4, @@ -99,7 +100,7 @@ class TestHyundaiFingerprint(unittest.TestCase): def test_platform_code_ecus_available(self): # TODO: add queries for these non-CAN FD cars to get EPS no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, - CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80} + CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA} # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms for car_model, ecus in FW_VERSIONS.items(): diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 69f475e466..56bbc685f9 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -37,7 +37,7 @@ class CarControllerParams: # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. - elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ, + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO): self.STEER_MAX = 255 @@ -72,6 +72,7 @@ class CAR(StrEnum): AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN" AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN" ELANTRA = "HYUNDAI ELANTRA 2017" + ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" @@ -160,7 +161,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.ELANTRA: [ - HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + # TODO: 2017-18 could be Hyundai G + HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), + ], + CAR.ELANTRA_GT_I30: [ HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], @@ -298,9 +303,6 @@ class Buttons: CANCEL = 4 # on newer models, this is a pause/resume button FINGERPRINTS = { - CAR.ELANTRA: [{ - 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], CAR.HYUNDAI_GENESIS: [{ 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 }, @@ -1702,6 +1704,33 @@ FW_VERSIONS = { ], }, CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', + b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', + b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', + b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', + ], + }, + CAR.ELANTRA_GT_I30: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', @@ -2065,7 +2094,7 @@ CHECKSUM = { CAN_GEARS = { # which message has the gear. hybrid and EV use ELECT_GEAR - "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, + "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, } @@ -2094,7 +2123,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, - CAR.KIA_OPTIMA_H} + CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL, @@ -2106,6 +2135,7 @@ DBC = { CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None), CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), + CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index bb01956135..197603423c 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -160,7 +160,7 @@ routes = [ CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), - CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT + CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30), CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 9decbbfa07..558aae59f7 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -34,6 +34,7 @@ HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 +HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN From 964460c0c33669a05714b393187f03d852af5656 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 21 Oct 2023 04:25:16 -0700 Subject: [PATCH 10/22] Hyundai: remove Kona EV and Ioniq 6 from radar-ACC set (#30214) * ADAS ECU sends SCC * try non-silenced * leave rx enabled? * revert * also not a radar scc car * make a canfd unsupported long set * comment --- selfdrive/car/hyundai/interface.py | 7 ++++--- selfdrive/car/hyundai/values.py | 6 +++++- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index de1742f100..26b3491358 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -3,8 +3,8 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.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, UNSUPPORTED_LONGITUDINAL_CAR, \ - Buttons + CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \ + UNSUPPORTED_LONGITUDINAL_CAR, Buttons from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase @@ -260,7 +260,8 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR + ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in + (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)) else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 56bbc685f9..209153c4a4 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -2105,7 +2105,11 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCS # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, - CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6} + CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} + +# These CAN FD cars do not accept communication control to disable the ADAS ECU, +# responds with 0x7F2822 - 'conditions not correct' +CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } From 67f2321060321a87082e297151692ed9b36de2c0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 22 Oct 2023 14:47:38 -0700 Subject: [PATCH 11/22] delete clocksd (#30252) --- README.md | 1 - SConstruct | 1 - release/files_common | 4 -- selfdrive/manager/process_config.py | 1 - selfdrive/test/test_onroad.py | 1 - system/clocksd/.gitignore | 1 - system/clocksd/SConscript | 2 - system/clocksd/clocksd.cc | 73 ----------------------------- 8 files changed, 84 deletions(-) delete mode 100644 system/clocksd/.gitignore delete mode 100644 system/clocksd/SConscript delete mode 100644 system/clocksd/clocksd.cc diff --git a/README.md b/README.md index 523f459f3b..7d051ada14 100644 --- a/README.md +++ b/README.md @@ -109,7 +109,6 @@ Directory Structure ├── third_party # External libraries └── system # Generic services ├── camerad # Driver to capture images from the camera sensors - ├── clocksd # Broadcasts current time ├── hardware # Hardware abstraction classes ├── logcatd # systemd journal as a service ├── loggerd # Logger and uploader of car data diff --git a/SConstruct b/SConstruct index a086f8448a..c0f1a070b2 100644 --- a/SConstruct +++ b/SConstruct @@ -382,7 +382,6 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/clocksd/SConscript', 'system/proclogd/SConscript', 'system/ubloxd/SConscript', 'system/loggerd/SConscript', diff --git a/release/files_common b/release/files_common index 05bd463463..58585c95b4 100644 --- a/release/files_common +++ b/release/files_common @@ -132,10 +132,6 @@ selfdrive/car/tesla/*.py selfdrive/car/toyota/*.py selfdrive/car/volkswagen/*.py -system/clocksd/.gitignore -system/clocksd/SConscript -system/clocksd/clocksd.cc - selfdrive/debug/can_printer.py selfdrive/debug/check_freq.py selfdrive/debug/dump.py diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index aee4748a26..883351cdbc 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -45,7 +45,6 @@ procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), - NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad), NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), PythonProcess("logmessaged", "system.logmessaged", always_run), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 4a9fc85d2e..0e1293ebc3 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -47,7 +47,6 @@ PROCS = { "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, - "./clocksd": 0.02, "selfdrive.tombstoned": 0, "./logcatd": 0, "system.micd": 10.0, diff --git a/system/clocksd/.gitignore b/system/clocksd/.gitignore deleted file mode 100644 index a6d841d65e..0000000000 --- a/system/clocksd/.gitignore +++ /dev/null @@ -1 +0,0 @@ -clocksd diff --git a/system/clocksd/SConscript b/system/clocksd/SConscript deleted file mode 100644 index d1cf13e9e8..0000000000 --- a/system/clocksd/SConscript +++ /dev/null @@ -1,2 +0,0 @@ -Import('env', 'common', 'cereal', 'messaging') -env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj']) diff --git a/system/clocksd/clocksd.cc b/system/clocksd/clocksd.cc deleted file mode 100644 index a5912cf51a..0000000000 --- a/system/clocksd/clocksd.cc +++ /dev/null @@ -1,73 +0,0 @@ -#include -#include -#include - -#include -#include - -// Apple doesn't have timerfd -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/timing.h" -#include "common/util.h" - -ExitHandler do_exit; - -int main() { - setpriority(PRIO_PROCESS, 0, -13); - PubMaster pm({"clocks"}); - -#ifndef __APPLE__ - int timerfd = timerfd_create(CLOCK_BOOTTIME, 0); - assert(timerfd >= 0); - - struct itimerspec spec = {0}; - spec.it_interval.tv_sec = 1; - spec.it_interval.tv_nsec = 0; - spec.it_value.tv_sec = 1; - spec.it_value.tv_nsec = 0; - - int err = timerfd_settime(timerfd, 0, &spec, 0); - assert(err == 0); - - uint64_t expirations = 0; - while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) { - if (err < 0) { - if (errno == EINTR) continue; - break; - } -#else - // Just run at 1Hz on apple - while (!do_exit) { - util::sleep_for(1000); -#endif - - uint64_t boottime = nanos_since_boot(); - uint64_t monotonic = nanos_monotonic(); - uint64_t monotonic_raw = nanos_monotonic_raw(); - uint64_t wall_time = nanos_since_epoch(); - - MessageBuilder msg; - auto clocks = msg.initEvent().initClocks(); - - clocks.setBootTimeNanos(boottime); - clocks.setMonotonicNanos(monotonic); - clocks.setMonotonicRawNanos(monotonic_raw); - clocks.setWallTimeNanos(wall_time); - - pm.send("clocks", msg); - } - -#ifndef __APPLE__ - close(timerfd); -#endif - return 0; -} From 56dea7b0b42e7624a39fef0986cd0db151bb9512 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 23 Oct 2023 00:15:39 -0700 Subject: [PATCH 12/22] Rm laikad (#30299) * rm laika * Rm laika * Needed this * More rm * More rm --- release/files_common | 1 - selfdrive/locationd/laikad.py | 468 ------------------ selfdrive/locationd/test/test_laikad.py | 319 ------------ selfdrive/manager/process_config.py | 1 - selfdrive/test/process_replay/README.md | 4 +- .../test/process_replay/process_replay.py | 21 - selfdrive/test/process_replay/test_fuzzy.py | 2 +- selfdrive/test/profiling/profiler.py | 2 - selfdrive/test/test_onroad.py | 1 - selfdrive/test/update_ci_routes.py | 2 - system/sensord/rawgps/test_rawgps.py | 19 - tools/gpstest/fuzzy_testing.py | 10 +- tools/gpstest/rpc_server.py | 185 ------- tools/gpstest/test_laikad.py | 105 ---- 14 files changed, 5 insertions(+), 1135 deletions(-) delete mode 100755 selfdrive/locationd/laikad.py delete mode 100755 selfdrive/locationd/test/test_laikad.py delete mode 100644 tools/gpstest/rpc_server.py delete mode 100755 tools/gpstest/test_laikad.py diff --git a/release/files_common b/release/files_common index 58585c95b4..1e16cb9439 100644 --- a/release/files_common +++ b/release/files_common @@ -226,7 +226,6 @@ 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 selfdrive/locationd/paramsd.py diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py deleted file mode 100755 index 10c0e4a7b0..0000000000 --- a/selfdrive/locationd/laikad.py +++ /dev/null @@ -1,468 +0,0 @@ -#!/usr/bin/env python3 -import math -import os -import time -import shutil -from collections import defaultdict -from concurrent.futures import Future, ProcessPoolExecutor -from enum import IntEnum -from typing import List, Optional, Dict, Any - -import numpy as np - -from cereal import log, messaging -from openpilot.common.params import Params, put_nonblocking -from laika import AstroDog -from laika.constants import SECS_IN_HR, SECS_IN_MIN -from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId, get_sv_id -from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox -from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports -from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func -from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind -from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman -from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates -from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog - -MAX_TIME_GAP = 10 -EPHEMERIS_CACHE = 'LaikadEphemerisV3' -CACHE_VERSION = 0.2 -POS_FIX_RESIDUAL_THRESHOLD = 100.0 - - -class LogEphemerisType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - -class EphemerisSource(IntEnum): - gnssChip = 0 - internet = 1 - cache = 2 - unknown = 3 - -def get_log_eph_type(ephem): - if ephem.eph_type == EphemerisType.NAV: - source_type = LogEphemerisType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = LogEphemerisType.qcom - else: - assert ephem.file_epoch is not None - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = LogEphemerisType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = LogEphemerisType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - return source_type - -def get_log_eph_source(ephem): - if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': - source = EphemerisSource.gnssChip - elif ephem.file_name == EPHEMERIS_CACHE: - source = EphemerisSource.cache - else: - source = EphemerisSource.internet - return source - - -class Laikad: - def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False, - valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), - save_ephemeris=False, use_qcom=False): - """ - valid_const: GNSS constellation which can be used - auto_fetch_navs: If true fetch navs from internet when needed - auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere. - valid_ephem_types: Valid ephemeris types to be used by AstroDog - save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. - """ - self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, - clear_old_ephemeris=True, cache_dir=Paths.download_cache_root()) - self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) - - self.auto_fetch_navs = auto_fetch_navs - self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None - self.orbit_fetch_future: Optional[Future] = None - - self.last_report_time = GPSTime(0, 0) - self.last_fetch_navs_t = GPSTime(0, 0) - self.last_cached_t = GPSTime(0, 0) - self.save_ephemeris = save_ephemeris - self.load_cache() - - self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} - self.velfix_function = get_velfix_sympy_func() - self.last_fix_pos = None - self.last_fix_t = None - self.use_qcom = use_qcom - self.first_log_time = None - self.ttff = -1 - self.measurement_lag = 0.630 if self.use_qcom else 0.095 - - # qcom specific stuff - self.qcom_reports_received = 4 - self.qcom_reports = [] - - def load_cache(self): - if not self.save_ephemeris: - return - - cache_bytes = Params().get(EPHEMERIS_CACHE) - if not cache_bytes: - return - - nav_dict = {} - try: - with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache: - glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] - gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] - for e in sum([glonass_navs, gps_navs], []): - if e.prn not in nav_dict: - nav_dict[e.prn] = [] - nav_dict[e.prn].append(e) - self.astro_dog.add_navs(nav_dict) - except Exception: - cloudlog.exception("Error parsing cache") - cloudlog.debug( - f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ") - - def cache_ephemeris(self): - - if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): - nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) - #TODO this only saves currently valid ephems, when we download future ephems we should save them too - valid_navs = [e for e in nav_list if e.valid(self.last_report_time)] - if len(valid_navs) > 0: - ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'], - gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G']) - put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) - cloudlog.debug("Cache saved") - self.last_cached_t = self.last_report_time - - def create_ephem_statuses(self): - ephemeris_statuses = [] - eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], []) - for eph in eph_list: - status = log.GnssMeasurements.EphemerisStatus.new_message() - status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value - status.svId = get_sv_id(eph.prn) - status.type = get_log_eph_type(eph).value - status.source = get_log_eph_source(eph).value - status.tow = eph.epoch.tow - status.gpsWeek = eph.epoch.week - ephemeris_statuses.append(status) - return ephemeris_statuses - - - def get_lsq_fix(self, t, measurements): - if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: - 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] - position_std = pos_std[: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 = vel_std[:3] - - return position_estimate, position_std, velocity_estimate, velocity_std - - def is_good_report(self, gnss_msg): - if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom: - # TODO: Understand and use remaining unknown constellations - try: - if gnss_msg.which() == 'drMeasurementReport': - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) - else: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source) - good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] - report_time = gps_time_from_qcom_report(gnss_msg) - except NotImplementedError: - return False - # Garbage timestamps with week > 32767 are sometimes sent by module. - # This is an issue with gpsTime and GLONASS time. - good_week = report_time.week < np.iinfo(np.int16).max - return good_constellation and good_week - elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: - return True - else: - return False - - def read_report(self, gnss_msg): - if self.use_qcom: - # QCOM reports are per constellation, so we need to aggregate them - # Additionally, the pseudoranges are broken in the measurementReports - # and the doppler filteredSpeed is broken in the drMeasurementReports - report_time = gps_time_from_qcom_report(gnss_msg) - if report_time - self.last_report_time == 0: - self.qcom_reports.append(gnss_msg) - self.last_report_time = report_time - elif report_time - self.last_report_time > 0: - self.qcom_reports_received = max(1, len(self.qcom_reports)) - self.qcom_reports = [gnss_msg] - self.last_report_time = report_time - else: - # Sometimes DR reports get sent one iteration late (1second), they need to be ignored - cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}") - - if len(self.qcom_reports) == self.qcom_reports_received: - new_meas = get_measurements_from_qcom_reports(self.qcom_reports) - else: - new_meas = [] - else: - report = gnss_msg.measurementReport - self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) - new_meas = read_raw_ublox(report) - return self.last_report_time, new_meas - - def is_ephemeris(self, gnss_msg): - if self.use_qcom: - return gnss_msg.which() == 'drSvPoly' - else: - return gnss_msg.which() in ('ephemeris', 'glonassEphemeris') - - def read_ephemeris(self, gnss_msg): - if self.use_qcom: - try: - ephem = parse_qcom_ephem(gnss_msg.drSvPoly) - self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) - except Exception: - cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module") - return - - else: - if gnss_msg.which() == 'ephemeris': - data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) - try: - ephem = GPSEphemeris(data_struct, file_name='ublox') - except Exception: - cloudlog.exception("Error parsing GPS ephemeris from ublox") - return - elif gnss_msg.which() == 'glonassEphemeris': - data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) - try: - ephem = GLONASSEphemeris(data_struct, file_name='ublox') - except Exception: - cloudlog.exception("Error parsing GLONASS ephemeris from ublox") - return - else: - cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") - return - self.astro_dog.add_navs({ephem.prn: [ephem]}) - self.cache_ephemeris() - - def process_report(self, new_meas, t): - # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites - new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] - processed_measurements = process_measurements(new_meas, self.astro_dog) - if self.last_fix_pos is not None: - est_pos = self.last_fix_pos - correct_delay = True - else: - est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() - correct_delay = False - corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay) - # If many measurements weren't corrected, position may be garbage, so reset - if len(processed_measurements) >= 8 and len(corrected_measurements) < 5: - cloudlog.error("Didn't correct enough measurements, resetting estimate position") - self.last_fix_pos = None - self.last_fix_t = None - return corrected_measurements - - def calc_fix(self, t, measurements): - instant_fix = self.get_lsq_fix(t, measurements) - if instant_fix is None: - return None - else: - position_estimate, position_std, velocity_estimate, velocity_std = instant_fix - self.last_fix_t = t - self.last_fix_pos = position_estimate - self.lat_fix_pos_std = position_std - return position_estimate, position_std, velocity_estimate, velocity_std - - def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): - out_msg = messaging.new_message("gnssMeasurements") - t = gnss_mono_time * 1e-9 - msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)} - if self.first_log_time is None: - self.first_log_time = 1e-9 * gnss_mono_time - if self.is_ephemeris(gnss_msg): - self.read_ephemeris(gnss_msg) - elif self.is_good_report(gnss_msg): - report_t, new_meas = self.read_report(gnss_msg) - if report_t.week > 0: - if self.auto_fetch_navs: - self.fetch_navs(report_t, block) - - corrected_measurements = self.process_report(new_meas, t) - msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] - - fix = self.calc_fix(t, corrected_measurements) - measurement_msg = log.LiveLocationKalman.Measurement.new_message - if fix is not None: - position_estimate, position_std, velocity_estimate, velocity_std = fix - if self.ttff <= 0: - self.ttff = max(1e-3, t - self.first_log_time) - msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)) - msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)) - - self.update_localizer(self.last_fix_pos, t, corrected_measurements) - P_diag = self.gnss_kf.P.diagonal() - kf_valid = all(self.kf_valid(t)) - msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), - std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(), - valid=kf_valid) - msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), - std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(), - valid=kf_valid) - - msg_dict['gpsWeek'] = self.last_report_time.week - msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow - msg_dict['timeToFirstFix'] = self.ttff - msg_dict['ephemerisStatuses'] = self.create_ephem_statuses() - out_msg.gnssMeasurements = msg_dict - return out_msg - - def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): - # Check time and outputs are valid - valid = self.kf_valid(t) - if not all(valid): - if not valid[0]: # Filter not initialized - pass - elif not valid[1]: - cloudlog.error("Time gap of over 10s detected, gnss kalman reset") - elif not valid[2]: - cloudlog.error("Gnss kalman filter state is nan") - if est_pos is not None and len(est_pos) > 0: - cloudlog.info(f"Reset kalman filter with {est_pos}") - self.init_gnss_localizer(est_pos) - else: - return - if len(measurements) > 0: - kf_add_observations(self.gnss_kf, t, measurements) - else: - # Ensure gnss filter is updated even with no new measurements - self.gnss_kf.predict(t) - - def kf_valid(self, t: float) -> List[bool]: - filter_time = self.gnss_kf.filter.get_filter_time() - return [not math.isnan(filter_time), - abs(t - filter_time) < MAX_TIME_GAP, - all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] - - def init_gnss_localizer(self, est_pos): - x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial)) - x_initial[GStates.ECEF_POS] = est_pos - p_initial_diag[GStates.ECEF_POS] = 1000 ** 2 - self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) - - def fetch_navs(self, t: GPSTime, block): - # Download new navs if 1 hour of navs data left - if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): - astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir - ret = None - - if block: # Used for testing purposes - ret = get_orbit_data(t, *astro_dog_vars) - elif self.orbit_fetch_future is None: - self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1) - self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) - elif self.orbit_fetch_future.done(): - ret = self.orbit_fetch_future.result() - self.orbit_fetch_executor = self.orbit_fetch_future = None - - if ret is not None: - if ret[0] is None: - self.last_fetch_navs_t = ret[2] - else: - self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret - self.cache_ephemeris() - - -def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): - astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir) - cloudlog.info(f"Start to download/parse navs for time {t.as_datetime()}") - start_time = time.monotonic() - try: - astro_dog.get_navs(t) - cloudlog.info(f"Done parsing navs. Took {time.monotonic() - start_time:.1f}s") - cloudlog.debug(f"Downloaded navs ({sum([len(v) for v in astro_dog.navs])}): {list(astro_dog.navs.keys())}" + - f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}") - return astro_dog.navs, astro_dog.navs_fetched_times, t - except (DownloadFailed, RuntimeError, ValueError, IOError) as e: - cloudlog.warning(f"No orbit data found or parsing failure: {e}") - return None, None, t - - -def create_measurement_msg(meas: GNSSMeasurement): - c = log.GnssMeasurements.CorrectedMeasurement.new_message() - c.constellationId = meas.constellation_id.value - c.svId = meas.sv_id - c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0 - c.pseudorange = float(meas.observables_final['C1C']) - c.pseudorangeStd = float(meas.observables_std['C1C']) - c.pseudorangeRate = float(meas.observables_final['D1C']) - c.pseudorangeRateStd = float(meas.observables_std['D1C']) - c.satPos = meas.sat_pos_final.tolist() - c.satVel = meas.sat_vel.tolist() - c.satVel = meas.sat_vel.tolist() - return c - -def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): - ekf_data = defaultdict(list) - for m in measurements: - m_arr = m.as_array() - if m.constellation_id == ConstellationId.GPS: - ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr) - elif m.constellation_id == ConstellationId.GLONASS: - ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr) - ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS] - ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS] - for kind, data in ekf_data.items(): - if len(data) > 0: - gnss_kf.predict_and_observe(t, kind, data) - - -def clear_tmp_cache(): - if os.path.exists(Paths.download_cache_root()): - shutil.rmtree(Paths.download_cache_root()) - os.mkdir(Paths.download_cache_root()) - - -def main(): - #clear_tmp_cache() - - use_qcom = not Params().get_bool("UbloxAvailable") - if use_qcom: - raw_name = "qcomGnss" - else: - raw_name = "ubloxGnss" - raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False) - pm = messaging.PubMaster(['gnssMeasurements']) - - # disable until set as main gps source, to better analyze startup time - # TODO ensure low CPU usage before enabling - use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ - - replay = "REPLAY" in os.environ - laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) - - while True: - for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True): - out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) - pm.send('gnssMeasurements', out_msg) - - -if __name__ == "__main__": - main() diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py deleted file mode 100755 index db8802ed36..0000000000 --- a/selfdrive/locationd/test/test_laikad.py +++ /dev/null @@ -1,319 +0,0 @@ -#!/usr/bin/env python3 -import pytest -import time -import unittest -from cereal import log -from openpilot.common.params import Params -from datetime import datetime -from unittest import mock - - -from laika.constants import SECS_IN_DAY -from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId -from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.tools.lib.logreader import LogReader - -from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process - -GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) -UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" -QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31" - - -def get_log_ublox(): - logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0)) - - ublox_cfg = get_process_config("ubloxd") - all_logs = replay_process(ublox_cfg, logs) - low_gnss = [] - for m in all_logs: - if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport': - continue - - MAX_MEAS = 7 - if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: - mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict()) - mb.logMonoTime = m.logMonoTime - mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS - mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] - mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 - low_gnss.append(mb.as_reader()) - else: - low_gnss.append(m) - return all_logs, low_gnss - - -def get_log_qcom(): - logs = LogReader(get_url(QCOM_TEST_ROUTE, 0)) - all_logs = [m for m in logs if m.which() == 'qcomGnss'] - return all_logs - - -def verify_messages(lr, laikad, return_one_success=False): - good_msgs = [] - for m in lr: - if m.which() == 'ubloxGnss': - gnss_msg = m.ubloxGnss - elif m.which() == 'qcomGnss': - gnss_msg = m.qcomGnss - else: - continue - msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True) - if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: - good_msgs.append(msg) - if return_one_success: - return msg - return good_msgs - - -def get_first_gps_time(logs): - for m in logs: - if m.which() == 'ubloxGnss': - if m.ubloxGnss.which == 'measurementReport': - new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) - if len(new_meas) > 0: - return new_meas[0].recv_time - elif m.which() == "qcomGnss": - if m.qcomGnss.which == 'measurementReport': - new_meas = read_raw_qcom(m.qcomGnss.measurementReport) - if len(new_meas) > 0: - return new_meas[0].recv_time - - -def get_measurement_mock(gpstime, sat_ephemeris): - meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.}) - # Fake measurement being processed - meas.observables_final = meas.observables - meas.sat_ephemeris = sat_ephemeris - return meas - - -@pytest.mark.slow -class TestLaikad(unittest.TestCase): - - @classmethod - def setUpClass(cls): - logs, low_gnss = get_log_ublox() - cls.logs = logs - cls.low_gnss = low_gnss - cls.logs_qcom = get_log_qcom() - first_gps_time = get_first_gps_time(logs) - cls.first_gps_time = first_gps_time - - def setUp(self): - Params().remove(EPHEMERIS_CACHE) - - def test_fetch_navs_non_blocking(self): - gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) - laikad = Laikad() - laikad.fetch_navs(gpstime, block=False) - laikad.orbit_fetch_future.result(30) - - # Get results and save orbits to laikad: - laikad.fetch_navs(gpstime, block=False) - ephem = laikad.astro_dog.navs['G01'][0] - self.assertIsNotNone(ephem) - - laikad.fetch_navs(gpstime+2*SECS_IN_DAY, block=False) - laikad.orbit_fetch_future.result(30) - # Get results and save orbits to laikad: - laikad.fetch_navs(gpstime + 2 * SECS_IN_DAY, block=False) - - ephem2 = laikad.astro_dog.navs['G01'][0] - self.assertIsNotNone(ephem) - self.assertNotEqual(ephem, ephem2) - - - def test_fetch_navs_with_wrong_clocks(self): - laikad = Laikad() - - def check_has_navs(): - self.assertGreater(len(laikad.astro_dog.navs), 0) - ephem = laikad.astro_dog.navs['G01'][0] - self.assertIsNotNone(ephem) - real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1)) - wrong_future_clock_time = real_current_time + SECS_IN_DAY - - laikad.fetch_navs(wrong_future_clock_time, block=True) - check_has_navs() - self.assertEqual(laikad.last_fetch_navs_t, wrong_future_clock_time) - - # Test fetching orbits with earlier time - assert real_current_time < laikad.last_fetch_navs_t - - laikad.astro_dog.orbits = {} - laikad.fetch_navs(real_current_time, block=True) - check_has_navs() - self.assertEqual(laikad.last_fetch_navs_t, real_current_time) - - def test_laika_online(self): - laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) - correct_msgs = verify_messages(self.logs, laikad) - - correct_msgs_expected = 560 - 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])) - - def test_kf_becomes_valid(self): - laikad = Laikad(auto_update=False) - m = self.logs[0] - self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9))) - kf_valid = False - for m in self.logs: - if m.which() != 'ubloxGnss': - continue - - laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) - kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9)) - if kf_valid: - break - self.assertTrue(kf_valid) - - def test_laika_online_nav_only(self): - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): - laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) - # Disable fetch_orbits to test NAV only - correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 55 if use_qcom else 560 - valid_fix_expected = 55 if use_qcom else 560 - - self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - - @mock.patch('laika.downloader.download_and_cache_file') - def test_laika_offline(self, downloader_mock): - downloader_mock.side_effect = DownloadFailed("Mock download failed") - laikad = Laikad(auto_update=False) - laikad.fetch_navs(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True) - - @mock.patch('laika.downloader.download_and_cache_file') - def test_download_failed_russian_source(self, downloader_mock): - downloader_mock.side_effect = DownloadFailed - laikad = Laikad(auto_update=False) - correct_msgs = verify_messages(self.logs, laikad) - expected_msgs = 376 - self.assertEqual(expected_msgs, len(correct_msgs)) - self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - - def test_laika_get_orbits(self): - laikad = Laikad(auto_update=False) - # Pretend process has loaded the orbits on startup by using the time of the first gps message. - laikad.fetch_navs(self.first_gps_time, block=True) - self.dict_has_values(laikad.astro_dog.navs) - - @unittest.skip("Use to debug live data") - def test_laika_get_navs_now(self): - laikad = Laikad(auto_update=False) - laikad.fetch_navs(GPSTime.from_datetime(datetime.utcnow()), block=True) - prn = "G01" - self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) - prn = "R01" - self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) - - def test_get_navs_in_process(self): - for auto_fetch_navs in [True, False]: - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): - laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) - has_navs = False - has_fix = False - seen_chip_eph = False - seen_internet_eph = False - - for m in logs: - if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss': - continue - - gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss - out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - vals = laikad.astro_dog.qcom_polys.values() - has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 - has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid - if len(out_msg.gnssMeasurements.ephemerisStatuses): - seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses) - seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses) - - self.assertTrue(has_navs or has_polys) - self.assertTrue(has_fix) - self.assertTrue(seen_chip_eph or auto_fetch_navs) - self.assertTrue(seen_internet_eph or not auto_fetch_navs) - self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) - - def test_cache(self): - use_qcom = True - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): - Params().remove(EPHEMERIS_CACHE) - laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom) - def wait_for_cache(): - max_time = 2 - while Params().get(EPHEMERIS_CACHE) is None: - time.sleep(0.1) - max_time -= 0.1 - if max_time < 0: - self.fail("Cache has not been written after 2 seconds") - - # Test cache with no ephemeris - laikad.last_report_time = GPSTime(1,0) - laikad.cache_ephemeris() - if Params().get(EPHEMERIS_CACHE) is not None: - self.fail("Cache should not have been written without valid ephem") - - #laikad.astro_dog.get_navs(self.first_gps_time) - msg = verify_messages(logs, laikad, return_one_success=True) - laikad.cache_ephemeris() - wait_for_cache() - - # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, - save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False) - # Verify navs are loaded from cache - self.dict_has_values(laikad.astro_dog.navs) - # Verify cache is working for only nav by running a segment - msg = verify_messages(logs, laikad, return_one_success=True) - self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) - self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses)) - self.assertIsNotNone(msg) - - #TODO test cache with only orbits - #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: - # # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently - # laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() - # laikad.fetch_navs(self.first_gps_time, block=False) - # mock_method.assert_not_called() - - # # Verify cache is working for only orbits by running a segment - # laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) - # msg = verify_messages(self.logs, laikad, return_one_success=True) - # self.assertIsNotNone(msg) - # # Verify orbit data is not downloaded - # mock_method.assert_not_called() - #break - - def test_low_gnss_meas(self): - cnt = 0 - laikad = Laikad() - for m in self.low_gnss: - msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) - if msg is None: - continue - gm = msg.gnssMeasurements - if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: - cnt += 1 - self.assertEqual(cnt, 560) - - def dict_has_values(self, dct): - self.assertGreater(len(dct), 0) - self.assertGreater(min([len(v) for v in dct.values()]), 0) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 883351cdbc..320958d344 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -68,7 +68,6 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), - PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad), PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 6992d46f1d..bec3eb9016 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -17,7 +17,6 @@ Currently the following processes are tested: * locationd * paramsd * ubloxd -* laikad * torqued ### Usage @@ -71,7 +70,7 @@ lr = LogReader(...) output_logs = replay_process_with_name('locationd', lr) # or list of names -output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr) +output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr) ``` Supported processes: @@ -83,7 +82,6 @@ Supported processes: * locationd * paramsd * ubloxd -* laikad * torqued * modeld * dmonitoringmodeld diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9aab541991..0cb8ac9cac 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -448,16 +448,6 @@ def controlsd_config_callback(params, cfg, lr): params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) -def laikad_config_pubsub_callback(params, cfg, lr): - ublox = params.get_bool("UbloxAvailable") - main_key = "ubloxGnss" if ublox else "qcomGnss" - sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", }) - - cfg.pubs = set(cfg.pubs) - sub_keys - cfg.main_pub = main_key - cfg.main_pub_drained = True - - def locationd_config_pubsub_callback(params, cfg, lr): ublox = params.get_bool("UbloxAvailable") sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) @@ -543,17 +533,6 @@ CONFIGS = [ subs=["ubloxGnss", "gpsLocationExternal"], ignore=["logMonoTime"], ), - ProcessConfig( - proc_name="laikad", - pubs=["ubloxGnss", "qcomGnss"], - subs=["gnssMeasurements"], - ignore=["logMonoTime"], - config_callback=laikad_config_pubsub_callback, - tolerance=NUMPY_TOLERANCE, - processing_time=0.002, - timeout=60*10, # first messages are blocked on internet assistance - main_pub="ubloxGnss", # config_callback will switch this to qcom if needed - ), ProcessConfig( proc_name="torqued", pubs=["liveLocationKalman", "carState", "carControl"], diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index f3f48d0159..4b8629fc7d 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -13,7 +13,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable -NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld'] +NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] class TestFuzzProcesses(unittest.TestCase): diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 1d380ba5eb..6d0cc204c5 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -83,14 +83,12 @@ if __name__ == '__main__': from openpilot.selfdrive.controls.radard import radard_thread from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread from openpilot.selfdrive.controls.plannerd import main as plannerd_thread - from openpilot.selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, 'controlsd': controlsd_thread, 'paramsd': paramsd_thread, 'plannerd': plannerd_thread, - 'laikad': laikad_thread, } proc = sys.argv[1] diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0e1293ebc3..e4f6bccf6c 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,6 @@ PROCS = { "selfdrive.navd.navd": 0.4, "system.loggerd.uploader": 3.0, "system.loggerd.deleter": 0.1, - "selfdrive.locationd.laikad": (1.0, 80.0), # TODO: better GPS setup in testing closet } PROCS.update({ diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 8157066334..326cb4fa56 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -8,7 +8,6 @@ from azure.storage.blob import ContainerClient from tqdm import tqdm from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes -from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, get_azure_credential, get_container_sas) @@ -90,7 +89,6 @@ if __name__ == "__main__": if not len(to_sync): # sync routes from the car tests routes and process replay - to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE]) to_sync.extend([rt.route for rt in test_car_models_routes]) to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments]) diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py index 02777d5a1d..2a0ee656e2 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/sensord/rawgps/test_rawgps.py @@ -5,13 +5,11 @@ import time import datetime import unittest import subprocess -import numpy as np import cereal.messaging as messaging from openpilot.system.hardware import TICI from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.common.transformations.coordinates import ecef_from_geodetic GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) @@ -123,22 +121,5 @@ class TestRawgpsd(unittest.TestCase): managed_processes['rawgpsd'].stop() self.check_assistance(True) - @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal") - def test_fix(self): - managed_processes['rawgpsd'].start() - managed_processes['laikad'].start() - assert self._wait_for_output(60) - assert self.sm.updated['qcomGnss'] - assert self.sm.updated['gpsLocation'] - assert self.sm['gpsLocation'].flags == 1 - module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude, - self.sm['gpsLocation'].longitude, - self.sm['gpsLocation'].altitude]) - assert self.sm['gnssMeasurements'].positionECEF.valid - total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix - self.assertLess(np.linalg.norm(total_diff), 100) - managed_processes['laikad'].stop() - managed_processes['rawgpsd'].stop() - if __name__ == "__main__": unittest.main(failfast=True) diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index 3bad2770cd..532fd2d34c 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -33,8 +33,7 @@ def run_remote_checker(lat, lon, alt, duration, ip_addr): return False, None, None matched, log, info = con.root.exposed_run_checker(lat, lon, alt, - timeout=duration, - use_laikad=True) + timeout=duration) con.close() # TODO: might wanna fetch more logs here con = None @@ -43,7 +42,7 @@ def run_remote_checker(lat, lon, alt, duration, ip_addr): stats = defaultdict(int) # type: ignore -keys = ['success', 'failed', 'ublox_fail', 'laikad_fail', 'proc_crash', 'checker_crash'] +keys = ['success', 'failed', 'ublox_fail', 'proc_crash', 'checker_crash'] def print_report(): print("\nFuzzy testing report summary:") @@ -62,10 +61,7 @@ def update_stats(matched, log, info): if log == "CHECKER CRASHED": stats['checker_crash'] += 1 if log == "TIMEOUT": - if "LAIKAD" in info: - stats['laikad_fail'] += 1 - else: # "UBLOX" in info - stats['ublox_fail'] += 1 + stats['ublox_fail'] += 1 def main(ip_addr, continuous_mode, timeout, pos): diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py deleted file mode 100644 index 798237142d..0000000000 --- a/tools/gpstest/rpc_server.py +++ /dev/null @@ -1,185 +0,0 @@ -import os -import time -import shutil -from datetime import datetime -from collections import defaultdict -from openpilot.system.hardware.hw import Paths - -import rpyc -from rpyc.utils.server import ThreadedServer - -#from openpilot.common.params import Params -import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes -from laika.lib.coordinates import ecef2geodetic - -DELTA = 0.001 -ALT_DELTA = 30 -MATCH_NUM = 10 -REPORT_STATS = 10 - -EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3" - -SERVER_LOG_FILE = "/tmp/fuzzy_server.log" -server_log = open(SERVER_LOG_FILE, "w+") - -def slog(msg): - server_log.write(f"{datetime.now().strftime('%H:%M:%S.%f')} | {msg}\n") - server_log.flush() - -def handle_laikad(msg): - if not hasattr(msg, 'correctedMeasurements'): - return None - - num_corr = len(msg.correctedMeasurements) - pos_ecef = msg.positionECEF.value - pos_geo = [] - if len(pos_ecef) > 0: - pos_geo = ecef2geodetic(pos_ecef) - - pos_std = msg.positionECEF.std - pos_valid = msg.positionECEF.valid - - slog(f"{num_corr} {pos_geo} {pos_ecef} {pos_std} {pos_valid}") - return pos_geo, (num_corr, pos_geo, list(pos_ecef), list(msg.positionECEF.std)) - -hw_msgs = 0 -ephem_msgs: dict = defaultdict(int) -def handle_ublox(msg): - global hw_msgs - - d = msg.to_dict() - - if 'hwStatus2' in d: - hw_msgs += 1 - - if 'ephemeris' in d: - ephem_msgs[msg.ephemeris.svId] += 1 - - num_meas = None - if 'measurementReport' in d: - num_meas = msg.measurementReport.numMeas - - return [hw_msgs, ephem_msgs, num_meas] - - -def start_procs(procs): - for p in procs: - managed_processes[p].start() - time.sleep(1) - -def kill_procs(procs, no_retry=False): - for p in procs: - managed_processes[p].stop() - time.sleep(1) - - if not no_retry: - for p in procs: - mp = managed_processes[p].proc - if mp is not None and mp.is_alive(): - managed_processes[p].stop() - time.sleep(3) - -def check_alive_procs(procs): - for p in procs: - mp = managed_processes[p].proc - if mp is None or not mp.is_alive(): - return False, p - return True, None - - -class RemoteCheckerService(rpyc.Service): - def on_connect(self, conn): - pass - - def on_disconnect(self, conn): - #kill_procs(self.procs, no_retry=False) - # this execution is delayed, it will kill the next run of laikad - # TODO: add polling to wait for everything is killed - pass - - def run_checker(self, slat, slon, salt, sockets, procs, timeout): - global hw_msgs, ephem_msgs - hw_msgs = 0 - ephem_msgs = defaultdict(int) - - slog(f"Run test: {slat} {slon} {salt}") - - # quectel_mod = Params().get_bool("UbloxAvailable") - - match_cnt = 0 - msg_cnt = 0 - stats_laikad = [] - stats_ublox = [] - - self.procs = procs - start_procs(procs) - sm = messaging.SubMaster(sockets) - - start_time = time.monotonic() - while True: - sm.update() - - if sm.updated['ubloxGnss']: - stats_ublox.append(handle_ublox(sm['ubloxGnss'])) - - if sm.updated['gnssMeasurements']: - pos_geo, stats = handle_laikad(sm['gnssMeasurements']) - if pos_geo is None or len(pos_geo) == 0: - continue - - match = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True)) - match &= abs(pos_geo[2] - salt) < ALT_DELTA - if match: - match_cnt += 1 - if match_cnt >= MATCH_NUM: - return True, "MATCH", f"After: {round(time.monotonic() - start_time, 4)}" - - # keep some stats for error reporting - stats_laikad.append(stats) - - if (msg_cnt % 10) == 0: - a, p = check_alive_procs(procs) - if not a: - return False, "PROC CRASH", f"{p}" - msg_cnt += 1 - - if (time.monotonic() - start_time) > timeout: - h = f"LAIKAD: {stats_laikad[-REPORT_STATS:]}" - if len(h) == 0: - h = f"UBLOX: {stats_ublox[-REPORT_STATS:]}" - return False, "TIMEOUT", h - - - def exposed_run_checker(self, slat, slon, salt, timeout=180, use_laikad=True): - try: - procs = [] - sockets = [] - - if use_laikad: - procs.append("laikad") # pigeond, ubloxd # might wanna keep them running - sockets += ['ubloxGnss', 'gnssMeasurements'] - - if os.path.exists(EPHEM_CACHE): - os.remove(EPHEM_CACHE) - shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) - - ret = self.run_checker(slat, slon, salt, sockets, procs, timeout) - kill_procs(procs) - return ret - - except Exception as e: - # always make sure processes get killed - kill_procs(procs) - return False, "CHECKER CRASHED", f"{str(e)}" - - - def exposed_kill_procs(self): - kill_procs(self.procs, no_retry=True) - - -if __name__ == "__main__": - print(f"Sever Log written to: {SERVER_LOG_FILE}") - t = ThreadedServer(RemoteCheckerService, port=18861) - t.start() - diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py deleted file mode 100755 index abb47d4bfc..0000000000 --- a/tools/gpstest/test_laikad.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import unittest - -import cereal.messaging as messaging -import openpilot.system.sensord.pigeond as pd - -from openpilot.common.params import Params -from openpilot.system.hardware import TICI -from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.test.helpers import with_processes - - -def wait_for_location(sm, timeout, con=10): - cons_meas = 0 - start_time = time.monotonic() - while (time.monotonic() - start_time) < timeout: - sm.update() - if not sm.updated["gnssMeasurements"]: - continue - - msg = sm["gnssMeasurements"] - cons_meas = (cons_meas + 1) if 'positionECEF' in msg.to_dict() else 0 - if cons_meas >= con: - return True - return False - - -class TestLaikad(unittest.TestCase): - @classmethod - def setUpClass(self): - if not TICI: - raise unittest.SkipTest - - ublox_available = Params().get_bool("UbloxAvailable") - if not ublox_available: - raise unittest.SkipTest - - def setUp(self): - # ensure laikad cold start - Params().remove("LaikadEphemerisV3") - os.environ["LAIKAD_NO_INTERNET"] = "1" - managed_processes['laikad'].start() - - def tearDown(self): - managed_processes['laikad'].stop() - - - @with_processes(['pigeond', 'ubloxd']) - def test_laikad_cold_start(self): - time.sleep(5) - - start_time = time.monotonic() - sm = messaging.SubMaster(["gnssMeasurements"]) - - success = wait_for_location(sm, 60*2, con=10) - duration = time.monotonic() - start_time - - assert success, "Waiting for location timed out (2min)!" - assert duration < 60, f"Received Location {duration}!" - - - @with_processes(['ubloxd']) - def test_laikad_ublox_reset_start(self): - time.sleep(2) - - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - assert pigeon.reset_device(), "Could not reset device!" - - laikad_sock = messaging.sub_sock("gnssMeasurements", timeout=0.1) - ublox_gnss_sock = messaging.sub_sock("ubloxGnss", timeout=0.1) - - pd.init_baudrate(pigeon) - pd.initialize_pigeon(pigeon) - pd.run_receiving(pigeon, pm, 180) - - ublox_msgs = messaging.drain_sock(ublox_gnss_sock) - laikad_msgs = messaging.drain_sock(laikad_sock) - - gps_ephem_cnt = 0 - glonass_ephem_cnt = 0 - for um in ublox_msgs: - if um.ubloxGnss.which() == 'ephemeris': - gps_ephem_cnt += 1 - elif um.ubloxGnss.which() == 'glonassEphemeris': - glonass_ephem_cnt += 1 - - assert gps_ephem_cnt > 0, "NO gps ephemeris collected!" - assert glonass_ephem_cnt > 0, "NO glonass ephemeris collected!" - - pos_meas = 0 - duration = -1 - for lm in laikad_msgs: - pos_meas = (pos_meas + 1) if 'positionECEF' in lm.gnssMeasurements.to_dict() else 0 - if pos_meas > 5: - duration = (lm.logMonoTime - laikad_msgs[0].logMonoTime)*1e-9 - break - - assert pos_meas > 5, "NOT enough positions at end of read!" - assert duration < 120, "Laikad took too long to get a Position!" - -if __name__ == "__main__": - unittest.main() From c626078e9d2134bc879f16d10d283b4a81bae34b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 23 Oct 2023 11:41:42 -0700 Subject: [PATCH 13/22] Toyota: combine rest of hybrid platforms (#30259) * Highlander TSS2: merge * Highlander TSS2: remove duplicate FW * Highlander TSS2: merge torque params * C-HR TSS2: merge * Alphard TSS2: merge * Avalon 2019: merge * Avalon TSS2: merge * Camry TSS2: merge * Camry TSS-P: merge * Camry TSS-P: remove duplicate FW * RAV4 TSS 2022: merge * RAV4 TSS 2023: merge fix * clean up tss2 car list * fix from merge * rename internal seg list platforms * fix test --- selfdrive/car/tests/routes.py | 19 +- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/tests/test_models_segs.txt | 4 +- selfdrive/car/torque_data/override.yaml | 1 - selfdrive/car/torque_data/params.yaml | 13 +- selfdrive/car/torque_data/substitute.yaml | 9 +- selfdrive/car/toyota/interface.py | 13 +- selfdrive/car/toyota/values.py | 450 ++++++--------------- 8 files changed, 158 insertions(+), 353 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 197603423c..da5d760dfe 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -25,7 +25,6 @@ non_tested_cars = [ HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, - TOYOTA.RAV4H_TSS2_2023, SUBARU.FORESTER_HYBRID, ] @@ -168,17 +167,17 @@ routes = [ CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80), CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2), - CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2), + CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2), # hybrid CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON), CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019), - CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019), + CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019), # hybrid CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), - CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2), + CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2), # hybrid CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter + CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY), # hybrid CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), - CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2), - CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH), + CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2), # hybrid CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA), CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid @@ -187,7 +186,7 @@ routes = [ CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid - CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), + CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid @@ -203,7 +202,7 @@ routes = [ CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), - CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2), + CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), @@ -215,8 +214,8 @@ routes = [ CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR), # hybrid CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2), CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU - CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), - # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2), # openpilot longitudinal, radar disabled + CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2), # hybrid + # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 787b5d6316..5fa1a02897 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -133,7 +133,7 @@ class TestCarInterfaces(unittest.TestCase): # Make sure we can combine dicts ret = get_interface_attr('DBC', combine_brands=True) - self.assertGreaterEqual(len(ret), 170) + self.assertGreaterEqual(len(ret), 160) # We don't support combining non-dicts ret = get_interface_attr('CAR', combine_brands=True) diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt index d838c14765..27a2104cf7 100644 --- a/selfdrive/car/tests/test_models_segs.txt +++ b/selfdrive/car/tests/test_models_segs.txt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2e57357c95937475fe92c13709ff2ee067f036643d5d455383bd9c3335525614 -size 126281 +oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887 +size 125301 diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 2f2b804e23..29e616b102 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -14,7 +14,6 @@ SUBARU ASCENT 2023: [.nan, 3.0, .nan] # Toyota LTA also has torque TOYOTA RAV4 2023: [.nan, 3.0, .nan] -TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 86984525e9..2d2dbc3f0b 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -61,16 +61,13 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] -TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506] -TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615] -TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565] -TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257] +TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753] +TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436] TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432] TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] -TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] +TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] -TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993] TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515] TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] @@ -79,8 +76,8 @@ TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817] TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986] TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] -TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174] -TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] +TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174] +TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456] VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 558aae59f7..c7a1566b32 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -4,18 +4,13 @@ MAZDA CX-5: MAZDA CX-9 2021 MAZDA CX-5 2022: MAZDA CX-9 2021 MAZDA CX-9: MAZDA CX-9 2021 -TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018 TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 -TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022 -TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021 LEXUS IS 2018: LEXUS NX 2018 LEXUS CT HYBRID 2018 : LEXUS NX 2018 -LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018 -LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 +LEXUS ES 2018: TOYOTA CAMRY 2018 +LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018 LEXUS RC 2020: LEXUS NX 2020 -TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 -TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020 KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020 diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 8cc1a95e2e..42ab5cf257 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -85,28 +85,28 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG # mean between min and max - elif candidate in (CAR.CHR, CAR.CHR_TSS2, CAR.CHRH_TSS2): + elif candidate in (CAR.CHR, CAR.CHR_TSS2): stop_and_go = True ret.wheelbase = 2.63906 ret.steerRatio = 13.6 ret.tireStiffnessFactor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG - elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): + elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2): stop_and_go = True ret.wheelbase = 2.82448 ret.steerRatio = 13.7 ret.tireStiffnessFactor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2): stop_and_go = True ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 ret.tireStiffnessFactor = 0.8 ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): + elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf stop_and_go = candidate != CAR.AVALON @@ -115,8 +115,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2022, - CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023): ret.wheelbase = 2.68986 ret.steerRatio = 14.3 ret.tireStiffnessFactor = 0.7933 @@ -191,7 +190,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.8 ret.mass = 4300. * CV.LB_TO_KG - elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): + elif candidate == CAR.ALPHARD_TSS2: ret.wheelbase = 3.00 ret.steerRatio = 14.2 ret.tireStiffnessFactor = 0.444 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f69fbd6252..f8fccb8d5b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -49,26 +49,19 @@ class ToyotaFlags(IntFlag): class CAR(StrEnum): # Toyota ALPHARD_TSS2 = "TOYOTA ALPHARD 2020" - ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021" AVALON = "TOYOTA AVALON 2016" AVALON_2019 = "TOYOTA AVALON 2019" - AVALONH_2019 = "TOYOTA AVALON HYBRID 2019" AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5 - AVALONH_TSS2 = "TOYOTA AVALON HYBRID 2022" CAMRY = "TOYOTA CAMRY 2018" - CAMRYH = "TOYOTA CAMRY HYBRID 2018" CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5 - CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021" CHR = "TOYOTA C-HR 2018" CHR_TSS2 = "TOYOTA C-HR 2021" - CHRH_TSS2 = "TOYOTA C-HR HYBRID 2022" COROLLA = "TOYOTA COROLLA 2017" # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" HIGHLANDER = "TOYOTA HIGHLANDER 2017" HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" - HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020" PRIUS = "TOYOTA PRIUS 2017" PRIUS_V = "TOYOTA PRIUS v 2017" PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" @@ -77,8 +70,6 @@ class CAR(StrEnum): RAV4_TSS2 = "TOYOTA RAV4 2019" RAV4_TSS2_2022 = "TOYOTA RAV4 2022" RAV4_TSS2_2023 = "TOYOTA RAV4 2023" - RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022" - RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023" MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 SIENNA = "TOYOTA SIENNA 2018" @@ -111,26 +102,38 @@ class ToyotaCarInfo(CarInfo): CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Toyota - CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"), - CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"), + CAR.ALPHARD_TSS2: [ + ToyotaCarInfo("Toyota Alphard 2019-20"), + ToyotaCarInfo("Toyota Alphard Hybrid 2021"), + ], CAR.AVALON: [ ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"), ToyotaCarInfo("Toyota Avalon 2017-18"), ], - CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"), - CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), - CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"), - 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 2021-23", footnotes=[Footnote.CAMRY]), - CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), + CAR.AVALON_2019: [ + ToyotaCarInfo("Toyota Avalon 2019-21"), + ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), + ], + CAR.AVALON_TSS2: [ + ToyotaCarInfo("Toyota Avalon 2022"), + ToyotaCarInfo("Toyota Avalon Hybrid 2022"), + ], + CAR.CAMRY: [ + ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), + ], + CAR.CAMRY_TSS2: [ + ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), + ], CAR.CHR: [ ToyotaCarInfo("Toyota C-HR 2017-20"), ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), ], - CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"), - CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), + CAR.CHR_TSS2: [ + ToyotaCarInfo("Toyota C-HR 2021"), + 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"), @@ -143,9 +146,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), - CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"), + CAR.HIGHLANDER_TSS2: [ + ToyotaCarInfo("Toyota Highlander 2020-23"), + ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), + ], CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), - CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), CAR.PRIUS: [ ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), @@ -168,10 +173,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), ], - CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), - CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"), - CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), - CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), + CAR.RAV4_TSS2_2022: [ + ToyotaCarInfo("Toyota RAV4 2022"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + ], + CAR.RAV4_TSS2_2023: [ + ToyotaCarInfo("Toyota RAV4 2023"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), + ], CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), @@ -381,7 +390,7 @@ FW_QUERY_CONFIG = FwQueryConfig( ], non_essential_ecus={ # FIXME: On some models, abs can sometimes be missing - Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS], + Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], # On some models, the engine can show on two different addresses Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2], @@ -453,44 +462,26 @@ FW_VERSIONS = { b'F152607171\x00\x00\x00\x00\x00\x00', b'F152607110\x00\x00\x00\x00\x00\x00', b'F152607180\x00\x00\x00\x00\x00\x00', + b'F152641040\x00\x00\x00\x00\x00\x00', + b'F152641061\x00\x00\x00\x00\x00\x00', + b'F152641050\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ b'881510703200\x00\x00\x00\x00', + b'881510704200\x00\x00\x00\x00', + b'881514107100\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B41080\x00\x00\x00\x00\x00\x00', b'8965B07010\x00\x00\x00\x00\x00\x00', b'8965B41090\x00\x00\x00\x00\x00\x00', + b'8965B41070\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896630725200\x00\x00\x00\x00', b'\x01896630725300\x00\x00\x00\x00', b'\x01896630735100\x00\x00\x00\x00', b'\x01896630738000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0702100\x00\x00\x00\x00', - ], - }, - CAR.AVALONH_2019: { - (Ecu.abs, 0x7b0, None): [ - b'F152641040\x00\x00\x00\x00\x00\x00', - b'F152641061\x00\x00\x00\x00\x00\x00', - b'F152641050\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510704200\x00\x00\x00\x00', - b'881514107100\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B07010\x00\x00\x00\x00\x00\x00', - b'8965B41090\x00\x00\x00\x00\x00\x00', - b'8965B41070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', @@ -507,6 +498,7 @@ FW_VERSIONS = { b'\x01F152607240\x00\x00\x00\x00\x00\x00', b'\x01F152607250\x00\x00\x00\x00\x00\x00', b'\x01F152607280\x00\x00\x00\x00\x00\x00', + b'F152641080\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B41110\x00\x00\x00\x00\x00\x00', @@ -514,24 +506,6 @@ FW_VERSIONS = { (Ecu.engine, 0x700, None): [ b'\x01896630742000\x00\x00\x00\x00', b'\x01896630743000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.AVALONH_TSS2: { - (Ecu.abs, 0x7b0, None): [ - b'F152641080\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41110\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -567,65 +541,6 @@ FW_VERSIONS = { b'\x018966333Q6300\x00\x00\x00\x00', b'\x018966333Q6500\x00\x00\x00\x00', b'\x018966333W6000\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0602000 ', - b'8821F0603300 ', - b'8821F0604100 ', - b'8821F0605200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609100 ', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152606210\x00\x00\x00\x00\x00\x00', - b'F152606230\x00\x00\x00\x00\x00\x00', - b'F152606270\x00\x00\x00\x00\x00\x00', - b'F152606290\x00\x00\x00\x00\x00\x00', - b'F152606410\x00\x00\x00\x00\x00\x00', - b'F152633540\x00\x00\x00\x00\x00\x00', - b'F152633A10\x00\x00\x00\x00\x00\x00', - b'F152633A20\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B33540\x00\x00\x00\x00\x00\x00', - b'8965B33542\x00\x00\x00\x00\x00\x00', - b'8965B33580\x00\x00\x00\x00\x00\x00', - b'8965B33581\x00\x00\x00\x00\x00\x00', - b'8965B33621\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791 - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0602000 ', - b'8821F0603300 ', - b'8821F0604100 ', - b'8821F0605200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609100 ', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0601200 ', - b'8646F0601300 ', - b'8646F0601400 ', - b'8646F0603400 ', - b'8646F0604100 ', - b'8646F0605000 ', - b'8646F0606000 ', - b'8646F0606100 ', - b'8646F0607100 ', - ], - }, - CAR.CAMRYH: { - (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966333N1100\x00\x00\x00\x00', b'\x018966333N4300\x00\x00\x00\x00', @@ -648,7 +563,35 @@ FW_VERSIONS = { b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', ], + (Ecu.engine, 0x7e0, None): [ + b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'8821F0601200 ', + b'8821F0601300 ', + b'8821F0602000 ', + b'8821F0603300 ', + b'8821F0604100 ', + b'8821F0605200 ', + b'8821F0607200 ', + b'8821F0608000 ', + b'8821F0608200 ', + b'8821F0609100 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604200 ', + b'8821F0606200 ', + b'8821F0609000 ', + ], (Ecu.abs, 0x7b0, None): [ + b'F152606210\x00\x00\x00\x00\x00\x00', + b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606270\x00\x00\x00\x00\x00\x00', + b'F152606290\x00\x00\x00\x00\x00\x00', + b'F152606410\x00\x00\x00\x00\x00\x00', + b'F152633540\x00\x00\x00\x00\x00\x00', + b'F152633A10\x00\x00\x00\x00\x00\x00', + b'F152633A20\x00\x00\x00\x00\x00\x00', b'F152633214\x00\x00\x00\x00\x00\x00', b'F152633660\x00\x00\x00\x00\x00\x00', b'F152633712\x00\x00\x00\x00\x00\x00', @@ -656,70 +599,61 @@ FW_VERSIONS = { b'F152633B51\x00\x00\x00\x00\x00\x00', b'F152633B60\x00\x00\x00\x00\x00\x00', ], - (Ecu.dsu, 0x791, None): [ - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0603400 ', - b'8821F0604000 ', - b'8821F0604100 ', - b'8821F0604200 ', - b'8821F0605200 ', - b'8821F0606200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609000 ', - b'8821F0609100 ', - ], (Ecu.eps, 0x7a1, None): [ b'8965B33540\x00\x00\x00\x00\x00\x00', b'8965B33542\x00\x00\x00\x00\x00\x00', - b'8965B33550\x00\x00\x00\x00\x00\x00', - b'8965B33551\x00\x00\x00\x00\x00\x00', b'8965B33580\x00\x00\x00\x00\x00\x00', b'8965B33581\x00\x00\x00\x00\x00\x00', - b'8965B33611\x00\x00\x00\x00\x00\x00', b'8965B33621\x00\x00\x00\x00\x00\x00', + b'8965B33550\x00\x00\x00\x00\x00\x00', + b'8965B33551\x00\x00\x00\x00\x00\x00', + b'8965B33611\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791 b'8821F0601200 ', b'8821F0601300 ', - b'8821F0603400 ', - b'8821F0604000 ', + b'8821F0602000 ', + b'8821F0603300 ', b'8821F0604100 ', - b'8821F0604200 ', b'8821F0605200 ', - b'8821F0606200 ', b'8821F0607200 ', b'8821F0608000 ', b'8821F0608200 ', - b'8821F0609000 ', b'8821F0609100 ', + b'8821F0603400 ', + b'8821F0604000 ', + b'8821F0604200 ', + b'8821F0606200 ', + b'8821F0609000 ', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'8646F0601200 ', b'8646F0601300 ', b'8646F0601400 ', b'8646F0603400 ', - b'8646F0603500 ', b'8646F0604100 ', b'8646F0605000 ', b'8646F0606000 ', b'8646F0606100 ', - b'8646F0607000 ', b'8646F0607100 ', + b'8646F0603500 ', + b'8646F0607000 ', ], }, CAR.CAMRY_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', b'8965B33640\x00\x00\x00\x00\x00\x00', + b'8965B33650\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F152606370\x00\x00\x00\x00\x00\x00', b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', b'\x01F152606431\x00\x00\x00\x00\x00\x00', + b'F152633D00\x00\x00\x00\x00\x00\x00', + b'F152633D60\x00\x00\x00\x00\x00\x00', + b'F152633310\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q5000\x00\x00\x00\x00', @@ -730,10 +664,16 @@ FW_VERSIONS = { b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', b'\x018966306T4100\x00\x00\x00\x00', + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306T0000\x00\x00\x00\x00', + b'\x018966306V1000\x00\x00\x00\x00', + b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', @@ -743,35 +683,7 @@ FW_VERSIONS = { b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.CAMRYH_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B33630\x00\x00\x00\x00\x00\x00', - b'8965B33650\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152633D00\x00\x00\x00\x00\x00\x00', - b'F152633D60\x00\x00\x00\x00\x00\x00', - b'F152633310\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x018966306Q6000\x00\x00\x00\x00', - b'\x018966306Q7000\x00\x00\x00\x00', - b'\x018966306T0000\x00\x00\x00\x00', - b'\x018966306V1000\x00\x00\x00\x00', - b'\x01896633T20000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 15): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - b'\x018821F6201400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 109): [ - b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CHR: { @@ -863,13 +775,19 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'F152610260\x00\x00\x00\x00\x00\x00', b'F1526F4270\x00\x00\x00\x00\x00\x00', + b'F152610041\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B10091\x00\x00\x00\x00\x00\x00', b'8965B10110\x00\x00\x00\x00\x00\x00', + b'8965B10092\x00\x00\x00\x00\x00\x00', + b'8965B10111\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x0189663F459000\x00\x00\x00\x00', + b'\x0189663F438000\x00\x00\x00\x00', + b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', @@ -877,33 +795,12 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821FF410200\x00\x00\x00\x00', b'\x018821FF410300\x00\x00\x00\x00', + b'\x018821FF410500\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00', b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', - ], - }, - CAR.CHRH_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B10092\x00\x00\x00\x00\x00\x00', - b'8965B10091\x00\x00\x00\x00\x00\x00', - b'8965B10111\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152610041\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x0189663F438000\x00\x00\x00\x00', - b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 15): [ - b'\x018821FF410500\x00\x00\x00\x00', - b'\x018821FF410300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 109): [ b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', - b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', ], }, CAR.COROLLA: { @@ -1189,6 +1086,18 @@ FW_VERSIONS = { b'\x01F15260E110\x00\x00\x00\x00\x00\x00', b'\x01F15260E170\x00\x00\x00\x00\x00\x00', b'\x01F15260E05300\x00\x00\x00\x00', + b'\x01F15264872300\x00\x00\x00\x00', + b'\x01F15264872400\x00\x00\x00\x00', + b'\x01F15264872500\x00\x00\x00\x00', + b'\x01F15264872600\x00\x00\x00\x00', + b'\x01F15264872700\x00\x00\x00\x00', + b'\x01F15264873500\x00\x00\x00\x00', + b'\x01F152648C6300\x00\x00\x00\x00', + b'\x01F152648J4000\x00\x00\x00\x00', + b'\x01F152648J5000\x00\x00\x00\x00', + b'\x01F152648J6000\x00\x00\x00\x00', + b'\x01F152648J7000\x00\x00\x00\x00', + b'\x01F152648L5000\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896630E62100\x00\x00\x00\x00', @@ -1209,41 +1118,6 @@ FW_VERSIONS = { b'\x01896630EE1100\x00\x00\x00\x00', b'\x01896630EG3000\x00\x00\x00\x00', b'\x01896630EG5000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301400\x00\x00\x00\x00', - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', - b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.HIGHLANDERH_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B48241\x00\x00\x00\x00\x00\x00', - b'8965B48310\x00\x00\x00\x00\x00\x00', - b'8965B48320\x00\x00\x00\x00\x00\x00', - b'8965B48400\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'\x01F15264872300\x00\x00\x00\x00', - b'\x01F15264872400\x00\x00\x00\x00', - b'\x01F15264872500\x00\x00\x00\x00', - b'\x01F15264872600\x00\x00\x00\x00', - b'\x01F15264872700\x00\x00\x00\x00', - b'\x01F15264873500\x00\x00\x00\x00', - b'\x01F152648C6300\x00\x00\x00\x00', - b'\x01F152648J4000\x00\x00\x00\x00', - b'\x01F152648J5000\x00\x00\x00\x00', - b'\x01F152648J6000\x00\x00\x00\x00', - b'\x01F152648J7000\x00\x00\x00\x00', - b'\x01F152648L5000\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ b'\x01896630E67000\x00\x00\x00\x00', b'\x01896630EA1000\x00\x00\x00\x00', b'\x01896630EE4000\x00\x00\x00\x00', @@ -1638,46 +1512,6 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'\x01F15260R350\x00\x00\x00\x00\x00\x00', b'\x01F15260R361\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896634AA0000\x00\x00\x00\x00', - b'\x01896634AA0100\x00\x00\x00\x00', - b'\x01896634AA1000\x00\x00\x00\x00', - b'\x01896634A88000\x00\x00\x00\x00', - b'\x01896634A89000\x00\x00\x00\x00', - b'\x01896634A89100\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F0R01100\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', - ], - }, - CAR.RAV4_TSS2_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\x01F15260R450\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896634A88100\x00\x00\x00\x00', - b'\x01896634AJ2000\x00\x00\x00\x00', - b'\x01896634A89100\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F0R03100\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', - ], - }, - CAR.RAV4H_TSS2_2022: { - (Ecu.abs, 0x7b0, None): [ b'\x01F15264283100\x00\x00\x00\x00', b'\x01F15264286200\x00\x00\x00\x00', b'\x01F15264286100\x00\x00\x00\x00', @@ -1689,6 +1523,12 @@ FW_VERSIONS = { b'8965B42172\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896634AA0000\x00\x00\x00\x00', + b'\x01896634AA0100\x00\x00\x00\x00', + b'\x01896634AA1000\x00\x00\x00\x00', + b'\x01896634A88000\x00\x00\x00\x00', + b'\x01896634A89000\x00\x00\x00\x00', + b'\x01896634A89100\x00\x00\x00\x00', b'\x01896634A02001\x00\x00\x00\x00', b'\x01896634A03000\x00\x00\x00\x00', b'\x01896634A08000\x00\x00\x00\x00', @@ -1704,8 +1544,9 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, - CAR.RAV4H_TSS2_2023: { + CAR.RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R450\x00\x00\x00\x00\x00\x00', b'\x01F15264283200\x00\x00\x00\x00', b'\x01F15264283300\x00\x00\x00\x00', b'\x01F152642F1000\x00\x00\x00\x00', @@ -1715,15 +1556,12 @@ FW_VERSIONS = { b'8965B42371\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896634A88100\x00\x00\x00\x00', + b'\x01896634AJ2000\x00\x00\x00\x00', + b'\x01896634A89100\x00\x00\x00\x00', b'\x01896634AE1001\x00\x00\x00\x00', b'\x01896634AF0000\x00\x00\x00\x00', ], - (Ecu.hybrid, 0x7d2, None): [ - b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00', - b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00', - b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00', - b'\x028998342C6000\x00\x00\x00\x00899854224000\x00\x00\x00\x00', - ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R03100\x00\x00\x00\x00', ], @@ -2182,11 +2020,15 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B58040\x00\x00\x00\x00\x00\x00', b'8965B58052\x00\x00\x00\x00\x00\x00', ], + (Ecu.abs, 0x7b0, None): [ + b'F152658341\x00\x00\x00\x00\x00\x00' + ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301200\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00', @@ -2194,22 +2036,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, - CAR.ALPHARDH_TSS2: { - (Ecu.engine, 0x7e0, None): [ - b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B58040\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152658341\x00\x00\x00\x00\x00\x00' - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', ], }, @@ -2229,20 +2055,14 @@ DBC = { CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), - CAR.CHRH_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.AVALONH_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), @@ -2254,14 +2074,11 @@ DBC = { CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), - CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), } # These cars have non-standard EPS torque scale factors. All others are 73 @@ -2269,20 +2086,19 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I # Toyota/Lexus Safety Sense 2.0 and 2.5 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2, - CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, - CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, - CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} + CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2, + CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2} -NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY, CAR.CAMRYH} +NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} # the DSU uses the AEB message for longitudinal on these cars UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera -RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} +RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} # these cars use the Lane Tracing Assist (LTA) message for lateral control -ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} +ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023} # no resume button press required NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} From 1802de3f01e960a257884262986fdaa1e321ebdc Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 23 Oct 2023 15:22:32 -0700 Subject: [PATCH 14/22] modeld: fix prev brake probs shapes (#30309) --- selfdrive/modeld/constants.py | 2 ++ selfdrive/modeld/fill_model_msg.py | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index a5ac977390..e03d93d7e8 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -25,6 +25,8 @@ class ModelConstants: # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32) + FCW_5MS2_PROBS_WIDTH = 5 + FCW_3MS2_PROBS_WIDTH = 2 DISENGAGE_WIDTH = 5 POSE_WIDTH = 6 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 05a159c86d..55d7abc1aa 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -12,8 +12,8 @@ ConfidenceClass = log.ModelDataV2.ConfidenceClass class PublishState: def __init__(self): self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) - self.prev_brake_5ms2_probs = np.zeros(ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) - self.prev_brake_3ms2_probs = np.zeros(ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) + self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32) + self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32) def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None): builder.t = t From 412f4cbc1a82fe585d2beb5c84032c685f22e5ec Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 23 Oct 2023 20:41:19 -0400 Subject: [PATCH 15/22] Pytest: fix local params overriden (#30312) * fix local params being overriden * just reset prefix after completion --- common/prefix.py | 3 +++ conftest.py | 5 +++++ 2 files changed, 8 insertions(+) diff --git a/common/prefix.py b/common/prefix.py index 6b7e7e2fd7..c1744e8ff7 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -14,6 +14,7 @@ class OpenpilotPrefix: self.clean_dirs_on_exit = clean_dirs_on_exit def __enter__(self): + self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) os.environ['OPENPILOT_PREFIX'] = self.prefix try: os.mkdir(self.msgq_path) @@ -28,6 +29,8 @@ class OpenpilotPrefix: self.clean_dirs() try: del os.environ['OPENPILOT_PREFIX'] + if self.original_prefix is not None: + os.environ['OPENPILOT_PREFIX'] = self.original_prefix except KeyError: pass return False diff --git a/conftest.py b/conftest.py index 2cc906b919..ee46436d3c 100644 --- a/conftest.py +++ b/conftest.py @@ -10,8 +10,13 @@ def openpilot_function_fixture(): # setup a clean environment for each test with OpenpilotPrefix(): + prefix = os.environ["OPENPILOT_PREFIX"] + yield + # ensure the test doesn't change the prefix + assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"] + os.environ.clear() os.environ.update(starting_env) From 0431bbaa8b5df4dbde27f91808064d3887512faf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 24 Oct 2023 11:51:39 +0800 Subject: [PATCH 16/22] cabana: set the COMMA_CACHE environment variable (#29849) * set COMMA_CACHE enviroment * use /tmp/comma_donwloand_cache --- tools/cabana/streams/replaystream.cc | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 2e580c0f0d..550e2be6a3 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -8,10 +8,13 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { unsetenv("ZMQ"); + setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1); + // TODO: Remove when OpenpilotPrefix supports ZMQ #ifndef __APPLE__ op_prefix = std::make_unique(); #endif + QObject::connect(&settings, &Settings::changed, [this]() { if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); }); From e287a5f1641ae93a31deaeb3c03c5fd27ed80759 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 25 Oct 2023 01:38:50 +0800 Subject: [PATCH 17/22] cabana: remove the qlog parsing thread (#30319) remove the qlog thread --- tools/cabana/streams/replaystream.cc | 1 + tools/cabana/streams/replaystream.h | 3 ++ tools/cabana/videowidget.cc | 77 +++++++++------------------- tools/cabana/videowidget.h | 13 +---- tools/replay/replay.cc | 10 ++-- tools/replay/replay.h | 2 + 6 files changed, 38 insertions(+), 68 deletions(-) diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 550e2be6a3..8a6b806a8a 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -40,6 +40,7 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); + QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection); return replay->load(); } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index de69d9e86c..3f301d2ce2 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -32,6 +32,9 @@ public: inline const std::vector> getTimeline() override { return replay->getTimeline(); } static AbstractOpenStreamWidget *widget(AbstractStream **stream); +signals: + void qLogLoaded(int segnum, std::shared_ptr qlog); + private: void mergeSegments(); std::unique_ptr replay = nullptr; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 7e051ef3b9..3e22464d06 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,8 +1,6 @@ #include "tools/cabana/videowidget.h" #include -#include -#include #include #include @@ -11,7 +9,6 @@ #include #include #include -#include #include #include @@ -125,6 +122,7 @@ QWidget *VideoWidget::createCameraWidget() { QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); }); QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); + QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog); QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); return w; } @@ -165,29 +163,9 @@ void VideoWidget::updatePlayBtnState() { Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) { setMouseTracking(true); - auto timer = new QTimer(this); - timer->callOnTimeout([this]() { - timeline = can->getTimeline(); - std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); }); - update(); - }); - timer->start(2000); - QObject::connect(can, &AbstractStream::eventsMerged, [this]() { - if (!qlog_future) { - qlog_future = std::make_unique>(QtConcurrent::run(this, &Slider::parseQLog)); - } - }); - QObject::connect(qApp, &QApplication::aboutToQuit, [this]() { - abort_parse_qlog = true; - if (qlog_future && qlog_future->isRunning()) { - qDebug() << "stopping thumbnail thread"; - qlog_future->waitForFinished(); - } - }); } AlertInfo Slider::alertInfo(double seconds) { - std::lock_guard lk(thumbnail_lock); uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; auto alert_it = alerts.lower_bound(mono_time); bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8); @@ -195,7 +173,6 @@ AlertInfo Slider::alertInfo(double seconds) { } QPixmap Slider::thumbnail(double seconds) { - std::lock_guard lk(thumbnail_lock); uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; auto it = thumbnails.lowerBound(mono_time); return it != thumbnails.end() ? it.value() : QPixmap(); @@ -206,36 +183,32 @@ void Slider::setTimeRange(double min, double max) { setRange(min * factor, max * factor); } -void Slider::parseQLog() { - const auto &segments = can->route()->segments(); - for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) { - LogReader log; - std::string qlog = it->second.qlog.toStdString(); - if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { - if (it == segments.rbegin() && !log.events.empty()) { - double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime(); - emit updateMaximumTime(max_time); +void Slider::parseQLog(int segnum, std::shared_ptr qlog) { + const auto &segments = qobject_cast(can)->route()->segments(); + if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) { + emit updateMaximumTime(qlog->events.back()->mono_time / 1e9 - can->routeStartTime()); + } + + std::mutex mutex; + QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event *e) { + if (e->which == cereal::Event::Which::THUMBNAIL) { + auto thumb = e->event.getThumbnail(); + auto data = thumb.getThumbnail(); + if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) { + QPixmap scaled = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation); + std::lock_guard lk(mutex); + thumbnails[thumb.getTimestampEof()] = scaled; } - for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) { - if ((*ev)->which == cereal::Event::Which::THUMBNAIL) { - auto thumb = (*ev)->event.getThumbnail(); - auto data = thumb.getThumbnail(); - if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) { - pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation); - std::lock_guard lk(thumbnail_lock); - thumbnails[thumb.getTimestampEof()] = pm; - } - } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) { - auto cs = (*ev)->event.getControlsState(); - if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 && - cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) { - std::lock_guard lk(thumbnail_lock); - alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()}); - } - } + } else if (e->which == cereal::Event::Which::CONTROLS_STATE) { + auto cs = e->event.getControlsState(); + if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 && + cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) { + std::lock_guard lk(mutex); + alerts.emplace(e->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()}); } } - } + }); + update(); } void Slider::paintEvent(QPaintEvent *ev) { @@ -245,7 +218,7 @@ void Slider::paintEvent(QPaintEvent *ev) { double min = minimum() / factor; double max = maximum() / factor; - for (auto [begin, end, type] : timeline) { + for (auto [begin, end, type] : qobject_cast(can)->getTimeline()) { if (begin > max || end < min) continue; r.setLeft(((std::max(min, begin) - min) / (max - min)) * width()); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index aca44d0ac1..12961cd061 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,19 +1,14 @@ #pragma once -#include #include #include -#include -#include -#include -#include #include #include #include #include "selfdrive/ui/qt/widgets/cameraview.h" -#include "tools/cabana/streams/abstractstream.h" +#include "tools/cabana/streams/replaystream.h" struct AlertInfo { cereal::ControlsState::AlertStatus status; @@ -42,6 +37,7 @@ public: void setTimeRange(double min, double max); AlertInfo alertInfo(double sec); QPixmap thumbnail(double sec); + void parseQLog(int segnum, std::shared_ptr qlog); signals: void updateMaximumTime(double); @@ -51,15 +47,10 @@ private: void mouseMoveEvent(QMouseEvent *e) override; bool event(QEvent *event) override; void paintEvent(QPaintEvent *ev) override; - void parseQLog(); const double factor = 1000.0; - std::vector> timeline; - std::mutex thumbnail_lock; - std::atomic abort_parse_qlog = false; QMap thumbnails; std::map alerts; - std::unique_ptr> qlog_future; InfoLabel thumbnail_label; }; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index d3a32a2651..b83f657e39 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -153,12 +153,10 @@ void Replay::buildTimeline() { const auto &route_segments = route_->segments(); for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { - LogReader log; - if (!log.load(it->second.qlog.toStdString(), &exit_, - {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG}, - !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; + std::shared_ptr log(new LogReader()); + if (!log->load(it->second.qlog.toStdString(), &exit_, {}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; - for (const Event *e : log.events) { + for (const Event *e : log->events) { if (e->which == cereal::Event::Which::CONTROLS_STATE) { auto cs = e->event.getControlsState(); @@ -186,6 +184,8 @@ void Replay::buildTimeline() { timeline.push_back({toSeconds(e->mono_time), toSeconds(e->mono_time), TimelineType::UserFlag}); } } + std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); }); + emit qLogLoaded(it->first, log); } } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 5ed4ff11b5..01969b0a9f 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -44,6 +44,7 @@ enum class FindFlag { enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; typedef bool (*replayEventFilter)(const Event *, void *); +Q_DECLARE_METATYPE(std::shared_ptr); class Replay : public QObject { Q_OBJECT @@ -91,6 +92,7 @@ signals: void streamStarted(); void segmentsMerged(); void seekedTo(double sec); + void qLogLoaded(int segnum, std::shared_ptr qlog); protected slots: void segmentLoadFinished(bool success); From d3d51980bc38b0df4a66e0dd8639f76801b68c9a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 24 Oct 2023 11:25:39 -0700 Subject: [PATCH 18/22] Update Python packages and pre-commit hooks (#30321) Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 236 ++++++++++++++++++++-------------------- 2 files changed, 119 insertions(+), 119 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index eb938f1bf4..880912e271 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -41,7 +41,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.0 + rev: v0.1.1 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/poetry.lock b/poetry.lock index c27810076a..93e907a578 100644 --- a/poetry.lock +++ b/poetry.lock @@ -314,13 +314,13 @@ files = [ [[package]] name = "azure-core" -version = "1.29.4" +version = "1.29.5" description = "Microsoft Azure Core Library for Python" optional = false python-versions = ">=3.7" files = [ - {file = "azure-core-1.29.4.tar.gz", hash = "sha256:500b3aa9bf2e90c5ccc88bb105d056114ca0ce7d0ce73afb8bc4d714b2fc7568"}, - {file = "azure_core-1.29.4-py3-none-any.whl", hash = "sha256:b03261bcba22c0b9290faf9999cedd23e849ed2577feee90515694cea6bc74bf"}, + {file = "azure-core-1.29.5.tar.gz", hash = "sha256:52983c89d394c6f881a121e5101c5fa67278ca3b1f339c8fb2ef39230c70e9ac"}, + {file = "azure_core-1.29.5-py3-none-any.whl", hash = "sha256:0fa04b7b1f7d44a4fb8468c4093deb2ea01fdf4faddbf802ed9205615f99d68c"}, ] [package.dependencies] @@ -370,13 +370,13 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"] [[package]] name = "babel" -version = "2.13.0" +version = "2.13.1" description = "Internationalization utilities" optional = false python-versions = ">=3.7" files = [ - {file = "Babel-2.13.0-py3-none-any.whl", hash = "sha256:fbfcae1575ff78e26c7449136f1abbefc3c13ce542eeb13d43d50d8b047216ec"}, - {file = "Babel-2.13.0.tar.gz", hash = "sha256:04c3e2d28d2b7681644508f836be388ae49e0cfe91465095340395b60d00f210"}, + {file = "Babel-2.13.1-py3-none-any.whl", hash = "sha256:7077a4984b02b6727ac10f1f7294484f737443d7e2e66c5e4380e41a3ae0b4ed"}, + {file = "Babel-2.13.1.tar.gz", hash = "sha256:33e0952d7dd6374af8dbf6768cc4ddf3ccfefc244f9986d4074704f2fbd18900"}, ] [package.extras] @@ -554,101 +554,101 @@ files = [ [[package]] name = "charset-normalizer" -version = "3.3.0" +version = "3.3.1" description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet." optional = false python-versions = ">=3.7.0" files = [ - {file = "charset-normalizer-3.3.0.tar.gz", hash = "sha256:63563193aec44bce707e0c5ca64ff69fa72ed7cf34ce6e11d5127555756fd2f6"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:effe5406c9bd748a871dbcaf3ac69167c38d72db8c9baf3ff954c344f31c4cbe"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:4162918ef3098851fcd8a628bf9b6a98d10c380725df9e04caf5ca6dd48c847a"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:0570d21da019941634a531444364f2482e8db0b3425fcd5ac0c36565a64142c8"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5707a746c6083a3a74b46b3a631d78d129edab06195a92a8ece755aac25a3f3d"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:278c296c6f96fa686d74eb449ea1697f3c03dc28b75f873b65b5201806346a69"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a4b71f4d1765639372a3b32d2638197f5cd5221b19531f9245fcc9ee62d38f56"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f5969baeaea61c97efa706b9b107dcba02784b1601c74ac84f2a532ea079403e"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a3f93dab657839dfa61025056606600a11d0b696d79386f974e459a3fbc568ec"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:db756e48f9c5c607b5e33dd36b1d5872d0422e960145b08ab0ec7fd420e9d649"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:232ac332403e37e4a03d209a3f92ed9071f7d3dbda70e2a5e9cff1c4ba9f0678"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:e5c1502d4ace69a179305abb3f0bb6141cbe4714bc9b31d427329a95acfc8bdd"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:2502dd2a736c879c0f0d3e2161e74d9907231e25d35794584b1ca5284e43f596"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:23e8565ab7ff33218530bc817922fae827420f143479b753104ab801145b1d5b"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-win32.whl", hash = "sha256:1872d01ac8c618a8da634e232f24793883d6e456a66593135aeafe3784b0848d"}, - {file = "charset_normalizer-3.3.0-cp310-cp310-win_amd64.whl", hash = "sha256:557b21a44ceac6c6b9773bc65aa1b4cc3e248a5ad2f5b914b91579a32e22204d"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:d7eff0f27edc5afa9e405f7165f85a6d782d308f3b6b9d96016c010597958e63"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6a685067d05e46641d5d1623d7c7fdf15a357546cbb2f71b0ebde91b175ffc3e"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:0d3d5b7db9ed8a2b11a774db2bbea7ba1884430a205dbd54a32d61d7c2a190fa"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2935ffc78db9645cb2086c2f8f4cfd23d9b73cc0dc80334bc30aac6f03f68f8c"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9fe359b2e3a7729010060fbca442ca225280c16e923b37db0e955ac2a2b72a05"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:380c4bde80bce25c6e4f77b19386f5ec9db230df9f2f2ac1e5ad7af2caa70459"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f0d1e3732768fecb052d90d62b220af62ead5748ac51ef61e7b32c266cac9293"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1b2919306936ac6efb3aed1fbf81039f7087ddadb3160882a57ee2ff74fd2382"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:f8888e31e3a85943743f8fc15e71536bda1c81d5aa36d014a3c0c44481d7db6e"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:82eb849f085624f6a607538ee7b83a6d8126df6d2f7d3b319cb837b289123078"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:7b8b8bf1189b3ba9b8de5c8db4d541b406611a71a955bbbd7385bbc45fcb786c"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:5adf257bd58c1b8632046bbe43ee38c04e1038e9d37de9c57a94d6bd6ce5da34"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c350354efb159b8767a6244c166f66e67506e06c8924ed74669b2c70bc8735b1"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-win32.whl", hash = "sha256:02af06682e3590ab952599fbadac535ede5d60d78848e555aa58d0c0abbde786"}, - {file = "charset_normalizer-3.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:86d1f65ac145e2c9ed71d8ffb1905e9bba3a91ae29ba55b4c46ae6fc31d7c0d4"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:3b447982ad46348c02cb90d230b75ac34e9886273df3a93eec0539308a6296d7"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:abf0d9f45ea5fb95051c8bfe43cb40cda383772f7e5023a83cc481ca2604d74e"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:b09719a17a2301178fac4470d54b1680b18a5048b481cb8890e1ef820cb80455"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b3d9b48ee6e3967b7901c052b670c7dda6deb812c309439adaffdec55c6d7b78"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:edfe077ab09442d4ef3c52cb1f9dab89bff02f4524afc0acf2d46be17dc479f5"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:3debd1150027933210c2fc321527c2299118aa929c2f5a0a80ab6953e3bd1908"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:86f63face3a527284f7bb8a9d4f78988e3c06823f7bea2bd6f0e0e9298ca0403"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:24817cb02cbef7cd499f7c9a2735286b4782bd47a5b3516a0e84c50eab44b98e"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:c71f16da1ed8949774ef79f4a0260d28b83b3a50c6576f8f4f0288d109777989"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:9cf3126b85822c4e53aa28c7ec9869b924d6fcfb76e77a45c44b83d91afd74f9"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:b3b2316b25644b23b54a6f6401074cebcecd1244c0b8e80111c9a3f1c8e83d65"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_s390x.whl", hash = "sha256:03680bb39035fbcffe828eae9c3f8afc0428c91d38e7d61aa992ef7a59fb120e"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4cc152c5dd831641e995764f9f0b6589519f6f5123258ccaca8c6d34572fefa8"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-win32.whl", hash = "sha256:b8f3307af845803fb0b060ab76cf6dd3a13adc15b6b451f54281d25911eb92df"}, - {file = "charset_normalizer-3.3.0-cp312-cp312-win_amd64.whl", hash = "sha256:8eaf82f0eccd1505cf39a45a6bd0a8cf1c70dcfc30dba338207a969d91b965c0"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:dc45229747b67ffc441b3de2f3ae5e62877a282ea828a5bdb67883c4ee4a8810"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2f4a0033ce9a76e391542c182f0d48d084855b5fcba5010f707c8e8c34663d77"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ada214c6fa40f8d800e575de6b91a40d0548139e5dc457d2ebb61470abf50186"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b1121de0e9d6e6ca08289583d7491e7fcb18a439305b34a30b20d8215922d43c"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1063da2c85b95f2d1a430f1c33b55c9c17ffaf5e612e10aeaad641c55a9e2b9d"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:70f1d09c0d7748b73290b29219e854b3207aea922f839437870d8cc2168e31cc"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:250c9eb0f4600361dd80d46112213dff2286231d92d3e52af1e5a6083d10cad9"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:750b446b2ffce1739e8578576092179160f6d26bd5e23eb1789c4d64d5af7dc7"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:fc52b79d83a3fe3a360902d3f5d79073a993597d48114c29485e9431092905d8"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:588245972aca710b5b68802c8cad9edaa98589b1b42ad2b53accd6910dad3545"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e39c7eb31e3f5b1f88caff88bcff1b7f8334975b46f6ac6e9fc725d829bc35d4"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-win32.whl", hash = "sha256:abecce40dfebbfa6abf8e324e1860092eeca6f7375c8c4e655a8afb61af58f2c"}, - {file = "charset_normalizer-3.3.0-cp37-cp37m-win_amd64.whl", hash = "sha256:24a91a981f185721542a0b7c92e9054b7ab4fea0508a795846bc5b0abf8118d4"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:67b8cc9574bb518ec76dc8e705d4c39ae78bb96237cb533edac149352c1f39fe"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ac71b2977fb90c35d41c9453116e283fac47bb9096ad917b8819ca8b943abecd"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3ae38d325b512f63f8da31f826e6cb6c367336f95e418137286ba362925c877e"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:542da1178c1c6af8873e143910e2269add130a299c9106eef2594e15dae5e482"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:30a85aed0b864ac88309b7d94be09f6046c834ef60762a8833b660139cfbad13"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aae32c93e0f64469f74ccc730a7cb21c7610af3a775157e50bbd38f816536b38"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:15b26ddf78d57f1d143bdf32e820fd8935d36abe8a25eb9ec0b5a71c82eb3895"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7f5d10bae5d78e4551b7be7a9b29643a95aded9d0f602aa2ba584f0388e7a557"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:249c6470a2b60935bafd1d1d13cd613f8cd8388d53461c67397ee6a0f5dce741"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:c5a74c359b2d47d26cdbbc7845e9662d6b08a1e915eb015d044729e92e7050b7"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:b5bcf60a228acae568e9911f410f9d9e0d43197d030ae5799e20dca8df588287"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:187d18082694a29005ba2944c882344b6748d5be69e3a89bf3cc9d878e548d5a"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:81bf654678e575403736b85ba3a7867e31c2c30a69bc57fe88e3ace52fb17b89"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-win32.whl", hash = "sha256:85a32721ddde63c9df9ebb0d2045b9691d9750cb139c161c80e500d210f5e26e"}, - {file = "charset_normalizer-3.3.0-cp38-cp38-win_amd64.whl", hash = "sha256:468d2a840567b13a590e67dd276c570f8de00ed767ecc611994c301d0f8c014f"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:e0fc42822278451bc13a2e8626cf2218ba570f27856b536e00cfa53099724828"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:09c77f964f351a7369cc343911e0df63e762e42bac24cd7d18525961c81754f4"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:12ebea541c44fdc88ccb794a13fe861cc5e35d64ed689513a5c03d05b53b7c82"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:805dfea4ca10411a5296bcc75638017215a93ffb584c9e344731eef0dcfb026a"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:96c2b49eb6a72c0e4991d62406e365d87067ca14c1a729a870d22354e6f68115"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aaf7b34c5bc56b38c931a54f7952f1ff0ae77a2e82496583b247f7c969eb1479"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:619d1c96099be5823db34fe89e2582b336b5b074a7f47f819d6b3a57ff7bdb86"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a0ac5e7015a5920cfce654c06618ec40c33e12801711da6b4258af59a8eff00a"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:93aa7eef6ee71c629b51ef873991d6911b906d7312c6e8e99790c0f33c576f89"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:7966951325782121e67c81299a031f4c115615e68046f79b85856b86ebffc4cd"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:02673e456dc5ab13659f85196c534dc596d4ef260e4d86e856c3b2773ce09843"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:c2af80fb58f0f24b3f3adcb9148e6203fa67dd3f61c4af146ecad033024dde43"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:153e7b6e724761741e0974fc4dcd406d35ba70b92bfe3fedcb497226c93b9da7"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-win32.whl", hash = "sha256:d47ecf253780c90ee181d4d871cd655a789da937454045b17b5798da9393901a"}, - {file = "charset_normalizer-3.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:d97d85fa63f315a8bdaba2af9a6a686e0eceab77b3089af45133252618e70884"}, - {file = "charset_normalizer-3.3.0-py3-none-any.whl", hash = "sha256:e46cd37076971c1040fc8c41273a8b3e2c624ce4f2be3f5dfcb7a430c1d3acc2"}, + {file = "charset-normalizer-3.3.1.tar.gz", hash = "sha256:d9137a876020661972ca6eec0766d81aef8a5627df628b664b234b73396e727e"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8aee051c89e13565c6bd366813c386939f8e928af93c29fda4af86d25b73d8f8"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:352a88c3df0d1fa886562384b86f9a9e27563d4704ee0e9d56ec6fcd270ea690"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:223b4d54561c01048f657fa6ce41461d5ad8ff128b9678cfe8b2ecd951e3f8a2"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4f861d94c2a450b974b86093c6c027888627b8082f1299dfd5a4bae8e2292821"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1171ef1fc5ab4693c5d151ae0fdad7f7349920eabbaca6271f95969fa0756c2d"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28f512b9a33235545fbbdac6a330a510b63be278a50071a336afc1b78781b147"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c0e842112fe3f1a4ffcf64b06dc4c61a88441c2f02f373367f7b4c1aa9be2ad5"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3f9bc2ce123637a60ebe819f9fccc614da1bcc05798bbbaf2dd4ec91f3e08846"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:f194cce575e59ffe442c10a360182a986535fd90b57f7debfaa5c845c409ecc3"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:9a74041ba0bfa9bc9b9bb2cd3238a6ab3b7618e759b41bd15b5f6ad958d17605"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:b578cbe580e3b41ad17b1c428f382c814b32a6ce90f2d8e39e2e635d49e498d1"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:6db3cfb9b4fcecb4390db154e75b49578c87a3b9979b40cdf90d7e4b945656e1"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:debb633f3f7856f95ad957d9b9c781f8e2c6303ef21724ec94bea2ce2fcbd056"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-win32.whl", hash = "sha256:87071618d3d8ec8b186d53cb6e66955ef2a0e4fa63ccd3709c0c90ac5a43520f"}, + {file = "charset_normalizer-3.3.1-cp310-cp310-win_amd64.whl", hash = "sha256:e372d7dfd154009142631de2d316adad3cc1c36c32a38b16a4751ba78da2a397"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ae4070f741f8d809075ef697877fd350ecf0b7c5837ed68738607ee0a2c572cf"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:58e875eb7016fd014c0eea46c6fa92b87b62c0cb31b9feae25cbbe62c919f54d"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:dbd95e300367aa0827496fe75a1766d198d34385a58f97683fe6e07f89ca3e3c"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:de0b4caa1c8a21394e8ce971997614a17648f94e1cd0640fbd6b4d14cab13a72"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:985c7965f62f6f32bf432e2681173db41336a9c2611693247069288bcb0c7f8b"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a15c1fe6d26e83fd2e5972425a772cca158eae58b05d4a25a4e474c221053e2d"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae55d592b02c4349525b6ed8f74c692509e5adffa842e582c0f861751701a673"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:be4d9c2770044a59715eb57c1144dedea7c5d5ae80c68fb9959515037cde2008"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:851cf693fb3aaef71031237cd68699dded198657ec1e76a76eb8be58c03a5d1f"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:31bbaba7218904d2eabecf4feec0d07469284e952a27400f23b6628439439fa7"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:871d045d6ccc181fd863a3cd66ee8e395523ebfbc57f85f91f035f50cee8e3d4"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:501adc5eb6cd5f40a6f77fbd90e5ab915c8fd6e8c614af2db5561e16c600d6f3"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:f5fb672c396d826ca16a022ac04c9dce74e00a1c344f6ad1a0fdc1ba1f332213"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-win32.whl", hash = "sha256:bb06098d019766ca16fc915ecaa455c1f1cd594204e7f840cd6258237b5079a8"}, + {file = "charset_normalizer-3.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:8af5a8917b8af42295e86b64903156b4f110a30dca5f3b5aedea123fbd638bff"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:7ae8e5142dcc7a49168f4055255dbcced01dc1714a90a21f87448dc8d90617d1"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:5b70bab78accbc672f50e878a5b73ca692f45f5b5e25c8066d748c09405e6a55"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:5ceca5876032362ae73b83347be8b5dbd2d1faf3358deb38c9c88776779b2e2f"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:34d95638ff3613849f473afc33f65c401a89f3b9528d0d213c7037c398a51296"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9edbe6a5bf8b56a4a84533ba2b2f489d0046e755c29616ef8830f9e7d9cf5728"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f6a02a3c7950cafaadcd46a226ad9e12fc9744652cc69f9e5534f98b47f3bbcf"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10b8dd31e10f32410751b3430996f9807fc4d1587ca69772e2aa940a82ab571a"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:edc0202099ea1d82844316604e17d2b175044f9bcb6b398aab781eba957224bd"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:b891a2f68e09c5ef989007fac11476ed33c5c9994449a4e2c3386529d703dc8b"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:71ef3b9be10070360f289aea4838c784f8b851be3ba58cf796262b57775c2f14"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:55602981b2dbf8184c098bc10287e8c245e351cd4fdcad050bd7199d5a8bf514"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_s390x.whl", hash = "sha256:46fb9970aa5eeca547d7aa0de5d4b124a288b42eaefac677bde805013c95725c"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:520b7a142d2524f999447b3a0cf95115df81c4f33003c51a6ab637cbda9d0bf4"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-win32.whl", hash = "sha256:8ec8ef42c6cd5856a7613dcd1eaf21e5573b2185263d87d27c8edcae33b62a61"}, + {file = "charset_normalizer-3.3.1-cp312-cp312-win_amd64.whl", hash = "sha256:baec8148d6b8bd5cee1ae138ba658c71f5b03e0d69d5907703e3e1df96db5e41"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:63a6f59e2d01310f754c270e4a257426fe5a591dc487f1983b3bbe793cf6bac6"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1d6bfc32a68bc0933819cfdfe45f9abc3cae3877e1d90aac7259d57e6e0f85b1"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4f3100d86dcd03c03f7e9c3fdb23d92e32abbca07e7c13ebd7ddfbcb06f5991f"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:39b70a6f88eebe239fa775190796d55a33cfb6d36b9ffdd37843f7c4c1b5dc67"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4e12f8ee80aa35e746230a2af83e81bd6b52daa92a8afaef4fea4a2ce9b9f4fa"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7b6cefa579e1237ce198619b76eaa148b71894fb0d6bcf9024460f9bf30fd228"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:61f1e3fb621f5420523abb71f5771a204b33c21d31e7d9d86881b2cffe92c47c"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:4f6e2a839f83a6a76854d12dbebde50e4b1afa63e27761549d006fa53e9aa80e"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:1ec937546cad86d0dce5396748bf392bb7b62a9eeb8c66efac60e947697f0e58"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:82ca51ff0fc5b641a2d4e1cc8c5ff108699b7a56d7f3ad6f6da9dbb6f0145b48"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:633968254f8d421e70f91c6ebe71ed0ab140220469cf87a9857e21c16687c034"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-win32.whl", hash = "sha256:c0c72d34e7de5604df0fde3644cc079feee5e55464967d10b24b1de268deceb9"}, + {file = "charset_normalizer-3.3.1-cp37-cp37m-win_amd64.whl", hash = "sha256:63accd11149c0f9a99e3bc095bbdb5a464862d77a7e309ad5938fbc8721235ae"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:5a3580a4fdc4ac05f9e53c57f965e3594b2f99796231380adb2baaab96e22761"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2465aa50c9299d615d757c1c888bc6fef384b7c4aec81c05a0172b4400f98557"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:cb7cd68814308aade9d0c93c5bd2ade9f9441666f8ba5aa9c2d4b389cb5e2a45"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:91e43805ccafa0a91831f9cd5443aa34528c0c3f2cc48c4cb3d9a7721053874b"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:854cc74367180beb327ab9d00f964f6d91da06450b0855cbbb09187bcdb02de5"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c15070ebf11b8b7fd1bfff7217e9324963c82dbdf6182ff7050519e350e7ad9f"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2c4c99f98fc3a1835af8179dcc9013f93594d0670e2fa80c83aa36346ee763d2"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3fb765362688821404ad6cf86772fc54993ec11577cd5a92ac44b4c2ba52155b"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:dced27917823df984fe0c80a5c4ad75cf58df0fbfae890bc08004cd3888922a2"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:a66bcdf19c1a523e41b8e9d53d0cedbfbac2e93c649a2e9502cb26c014d0980c"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:ecd26be9f112c4f96718290c10f4caea6cc798459a3a76636b817a0ed7874e42"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:3f70fd716855cd3b855316b226a1ac8bdb3caf4f7ea96edcccc6f484217c9597"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:17a866d61259c7de1bdadef418a37755050ddb4b922df8b356503234fff7932c"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-win32.whl", hash = "sha256:548eefad783ed787b38cb6f9a574bd8664468cc76d1538215d510a3cd41406cb"}, + {file = "charset_normalizer-3.3.1-cp38-cp38-win_amd64.whl", hash = "sha256:45f053a0ece92c734d874861ffe6e3cc92150e32136dd59ab1fb070575189c97"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:bc791ec3fd0c4309a753f95bb6c749ef0d8ea3aea91f07ee1cf06b7b02118f2f"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0c8c61fb505c7dad1d251c284e712d4e0372cef3b067f7ddf82a7fa82e1e9a93"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:2c092be3885a1b7899cd85ce24acedc1034199d6fca1483fa2c3a35c86e43041"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c2000c54c395d9e5e44c99dc7c20a64dc371f777faf8bae4919ad3e99ce5253e"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4cb50a0335382aac15c31b61d8531bc9bb657cfd848b1d7158009472189f3d62"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c30187840d36d0ba2893bc3271a36a517a717f9fd383a98e2697ee890a37c273"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fe81b35c33772e56f4b6cf62cf4aedc1762ef7162a31e6ac7fe5e40d0149eb67"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0bf89afcbcf4d1bb2652f6580e5e55a840fdf87384f6063c4a4f0c95e378656"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:06cf46bdff72f58645434d467bf5228080801298fbba19fe268a01b4534467f5"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:3c66df3f41abee950d6638adc7eac4730a306b022570f71dd0bd6ba53503ab57"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:cd805513198304026bd379d1d516afbf6c3c13f4382134a2c526b8b854da1c2e"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:9505dc359edb6a330efcd2be825fdb73ee3e628d9010597aa1aee5aa63442e97"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:31445f38053476a0c4e6d12b047b08ced81e2c7c712e5a1ad97bc913256f91b2"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-win32.whl", hash = "sha256:bd28b31730f0e982ace8663d108e01199098432a30a4c410d06fe08fdb9e93f4"}, + {file = "charset_normalizer-3.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:555fe186da0068d3354cdf4bbcbc609b0ecae4d04c921cc13e209eece7720727"}, + {file = "charset_normalizer-3.3.1-py3-none-any.whl", hash = "sha256:800561453acdecedaac137bf09cd719c7a440b6800ec182f077bb8e7025fb708"}, ] [[package]] @@ -4197,28 +4197,28 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] [[package]] name = "ruff" -version = "0.1.0" +version = "0.1.1" description = "An extremely fast Python linter, written in Rust." optional = false python-versions = ">=3.7" files = [ - {file = "ruff-0.1.0-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:87114e254dee35e069e1b922d85d4b21a5b61aec759849f393e1dbb308a00439"}, - {file = "ruff-0.1.0-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:764f36d2982cc4a703e69fb73a280b7c539fd74b50c9ee531a4e3fe88152f521"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:65f4b7fb539e5cf0f71e9bd74f8ddab74cabdd673c6fb7f17a4dcfd29f126255"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:299fff467a0f163baa282266b310589b21400de0a42d8f68553422fa6bf7ee01"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0d412678bf205787263bb702c984012a4f97e460944c072fd7cfa2bd084857c4"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:a5391b49b1669b540924640587d8d24128e45be17d1a916b1801d6645e831581"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ee8cd57f454cdd77bbcf1e11ff4e0046fb6547cac1922cc6e3583ce4b9c326d1"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:fa7aeed7bc23861a2b38319b636737bf11cfa55d2109620b49cf995663d3e888"}, - {file = "ruff-0.1.0-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b04cd4298b43b16824d9a37800e4c145ba75c29c43ce0d74cad1d66d7ae0a4c5"}, - {file = "ruff-0.1.0-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:7186ccf54707801d91e6314a016d1c7895e21d2e4cd614500d55870ed983aa9f"}, - {file = "ruff-0.1.0-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:d88adfd93849bc62449518228581d132e2023e30ebd2da097f73059900d8dce3"}, - {file = "ruff-0.1.0-py3-none-musllinux_1_2_i686.whl", hash = "sha256:ad2ccdb3bad5a61013c76a9c1240fdfadf2c7103a2aeebd7bcbbed61f363138f"}, - {file = "ruff-0.1.0-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:b77f6cfa72c6eb19b5cac967cc49762ae14d036db033f7d97a72912770fd8e1c"}, - {file = "ruff-0.1.0-py3-none-win32.whl", hash = "sha256:480bd704e8af1afe3fd444cc52e3c900b936e6ca0baf4fb0281124330b6ceba2"}, - {file = "ruff-0.1.0-py3-none-win_amd64.whl", hash = "sha256:a76ba81860f7ee1f2d5651983f87beb835def94425022dc5f0803108f1b8bfa2"}, - {file = "ruff-0.1.0-py3-none-win_arm64.whl", hash = "sha256:45abdbdab22509a2c6052ecf7050b3f5c7d6b7898dc07e82869401b531d46da4"}, - {file = "ruff-0.1.0.tar.gz", hash = "sha256:ad6b13824714b19c5f8225871cf532afb994470eecb74631cd3500fe817e6b3f"}, + {file = "ruff-0.1.1-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:b7cdc893aef23ccc14c54bd79a8109a82a2c527e11d030b62201d86f6c2b81c5"}, + {file = "ruff-0.1.1-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:620d4b34302538dbd8bbbe8fdb8e8f98d72d29bd47e972e2b59ce6c1e8862257"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2a909d3930afdbc2e9fd893b0034479e90e7981791879aab50ce3d9f55205bd6"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:3305d1cb4eb8ff6d3e63a48d1659d20aab43b49fe987b3ca4900528342367145"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c34ae501d0ec71acf19ee5d4d889e379863dcc4b796bf8ce2934a9357dc31db7"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:6aa7e63c3852cf8fe62698aef31e563e97143a4b801b57f920012d0e07049a8d"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2d68367d1379a6b47e61bc9de144a47bcdb1aad7903bbf256e4c3d31f11a87ae"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bc11955f6ce3398d2afe81ad7e49d0ebf0a581d8bcb27b8c300281737735e3a3"}, + {file = "ruff-0.1.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbbd8eead88ea83a250499074e2a8e9d80975f0b324b1e2e679e4594da318c25"}, + {file = "ruff-0.1.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f4780e2bb52f3863a565ec3f699319d3493b83ff95ebbb4993e59c62aaf6e75e"}, + {file = "ruff-0.1.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:8f5b24daddf35b6c207619301170cae5d2699955829cda77b6ce1e5fc69340df"}, + {file = "ruff-0.1.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:d3f9ac658ba29e07b95c80fa742b059a55aefffa8b1e078bc3c08768bdd4b11a"}, + {file = "ruff-0.1.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:3521bf910104bf781e6753282282acc145cbe3eff79a1ce6b920404cd756075a"}, + {file = "ruff-0.1.1-py3-none-win32.whl", hash = "sha256:ba3208543ab91d3e4032db2652dcb6c22a25787b85b8dc3aeff084afdc612e5c"}, + {file = "ruff-0.1.1-py3-none-win_amd64.whl", hash = "sha256:3ff3006c97d9dc396b87fb46bb65818e614ad0181f059322df82bbfe6944e264"}, + {file = "ruff-0.1.1-py3-none-win_arm64.whl", hash = "sha256:e140bd717c49164c8feb4f65c644046fe929c46f42493672853e3213d7bdbce2"}, + {file = "ruff-0.1.1.tar.gz", hash = "sha256:c90461ae4abec261609e5ea436de4a4b5f2822921cf04c16d2cc9327182dbbcc"}, ] [[package]] @@ -5024,13 +5024,13 @@ zstd = ["zstandard (>=0.18.0)"] [[package]] name = "virtualenv" -version = "20.24.5" +version = "20.24.6" description = "Virtual Python Environment builder" optional = false python-versions = ">=3.7" files = [ - {file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"}, - {file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"}, + {file = "virtualenv-20.24.6-py3-none-any.whl", hash = "sha256:520d056652454c5098a00c0f073611ccbea4c79089331f60bf9d7ba247bb7381"}, + {file = "virtualenv-20.24.6.tar.gz", hash = "sha256:02ece4f56fbf939dbbc33c0715159951d6bf14aaf5457b092e4548e1382455af"}, ] [package.dependencies] From f47723d1d16c50c28c19cd79df1af000e93e9dad Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 25 Oct 2023 02:25:50 +0800 Subject: [PATCH 19/22] cabana: fix sparkline glitch (#30320) fix glitch --- tools/cabana/signalview.cc | 17 +++++++++++------ tools/cabana/signalview.h | 1 + 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 4a07e25beb..934609a439 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -447,7 +447,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QRegularExpression re("\\S+"); filter_edit->setValidator(new QRegularExpressionValidator(re, this)); filter_edit->setClearButtonEnabled(true); - filter_edit->setPlaceholderText(tr("filter signals")); + filter_edit->setPlaceholderText(tr("Filter Signal")); hl->addWidget(filter_edit); hl->addStretch(1); @@ -502,6 +502,12 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); }); QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); }); QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState); + QObject::connect(tree->header(), &QHeaderView::sectionResized, [this](int logicalIndex, int oldSize, int newSize) { + if (logicalIndex == 1) { + value_column_width = newSize - delegate->button_size.width(); + updateState(); + } + }); setWhatsThis(tr(R"( Signal view
@@ -638,11 +644,10 @@ void SignalView::updateState(const QHash *msgs) { last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row(); } - QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height()); - int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5); - int value_width = std::min(max_value_width, size.width() * 0.35); - size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2}; - + const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5; + int value_width = std::min(max_value_width + min_max_width, value_column_width / 2); + QSize size(value_column_width - value_width, + delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2); QFutureSynchronizer synchronizer; for (int i = first_visible_row; i <= last_visible_row; ++i) { auto item = model->getItem(model->index(i, 1)); diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index bcf0019bc4..c08579bc55 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -136,6 +136,7 @@ private: } }; int max_value_width = 0; + int value_column_width = 0; TreeView *tree; QLabel *sparkline_label; QSlider *sparkline_range_slider; From 691c7c2c66785e9b06aae02bf278e343b8c9397b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 26 Oct 2023 01:56:07 +0800 Subject: [PATCH 20/22] cabana: add `Node` column to message table (#30317) * add Node column * add views menu to toolbar * match NODE * rename fetchData to filterAndSort * simplify sortMessages --- tools/cabana/messageswidget.cc | 219 +++++++++++++-------------------- tools/cabana/messageswidget.h | 22 ++-- 2 files changed, 98 insertions(+), 143 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 1a83a0c446..6a94e013f6 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,9 +1,6 @@ #include "tools/cabana/messageswidget.h" -#include #include -#include -#include #include #include @@ -13,34 +10,24 @@ #include "tools/cabana/commands.h" -MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { +static QString msg_node_from_id(const MessageId &id) { + auto msg = dbc()->msg(id); + return msg ? msg->transmitter : QString(); +} + +MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - - QHBoxLayout *title_layout = new QHBoxLayout(); - num_msg_label = new QLabel(this); - title_layout->addSpacing(10); - title_layout->addWidget(num_msg_label); - - title_layout->addStretch(); - title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this)); - multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines")); - multiple_lines_bytes->setChecked(settings.multiple_lines_bytes); - QPushButton *clear_filters = new QPushButton(tr("&Clear Filters")); - clear_filters->setEnabled(false); - title_layout->addWidget(clear_filters); - main_layout->addLayout(title_layout); - + main_layout->setSpacing(0); + // toolbar + main_layout->addWidget(createToolBar()); // message table view = new MessageView(this); model = new MessageListModel(this); header = new MessageViewHeader(this); - auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes); - - view->setItemDelegate(delegate); + view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes)); view->setHeader(header); view->setModel(model); - view->setHeader(header); view->setSortingEnabled(true); view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder); view->setAllColumnsShowFocus(true); @@ -51,13 +38,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // Must be called before setting any header parameters to avoid overriding restoreHeaderState(settings.message_header_state); - view->header()->setSectionsMovable(true); - view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed); - view->header()->setStretchLastSection(true); - - // Header context menu - view->header()->setContextMenuPolicy(Qt::CustomContextMenu); - QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent); + header->setSectionsMovable(true); + header->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed); + header->setStretchLastSection(true); + header->setContextMenuPolicy(Qt::CustomContextMenu); main_layout->addWidget(view); @@ -73,20 +57,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { main_layout->addLayout(suppress_layout); // signals/slots + QObject::connect(menu, &QMenu::aboutToShow, this, &MessagesWidget::menuAboutToShow); QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings); - QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap &filters) { - clear_filters->setEnabled(!filters.isEmpty()); - }); + QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent); QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); - QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters); - QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) { - settings.multiple_lines_bytes = (state == Qt::Checked); - delegate->setMultipleLines(settings.multiple_lines_bytes); - view->setUniformRowHeights(!settings.multiple_lines_bytes); - - // Reset model to force recalculation of the width of the bytes column - model->forceResetModel(); - }); QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) { settings.suppress_defined_signals = (state == Qt::Checked); emit settings.changed(); @@ -130,6 +104,21 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { )")); } +QToolBar *MessagesWidget::createToolBar() { + QToolBar *toolbar = new QToolBar(this); + toolbar->setIconSize({12, 12}); + toolbar->addWidget(num_msg_label = new QLabel(this)); + num_msg_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + + auto views_btn = toolbar->addAction(utils::icon("three-dots"), tr("View...")); + views_btn->setMenu(menu); + auto view_button = qobject_cast(toolbar->widgetForAction(views_btn)); + view_button->setPopupMode(QToolButton::InstantPopup); + view_button->setToolButtonStyle(Qt::ToolButtonIconOnly); + view_button->setStyleSheet("QToolButton::menu-indicator { image: none; }"); + return toolbar; +} + void MessagesWidget::dbcModified() { num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount())); model->dbcModified(); @@ -152,6 +141,34 @@ void MessagesWidget::updateSuppressedButtons() { } } +void MessagesWidget::headerContextMenuEvent(const QPoint &pos) { + menu->exec(header->mapToGlobal(pos)); +} + +void MessagesWidget::menuAboutToShow() { + menu->clear(); + for (int i = 0; i < header->count(); ++i) { + int logical_index = header->logicalIndex(i); + auto action = menu->addAction(model->headerData(logical_index, Qt::Horizontal).toString(), + [=](bool checked) { header->setSectionHidden(logical_index, !checked); }); + action->setCheckable(true); + action->setChecked(!header->isSectionHidden(logical_index)); + // Can't hide the name column + action->setEnabled(logical_index > 0); + } + menu->addSeparator(); + auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes); + action->setCheckable(true); + action->setChecked(settings.multiple_lines_bytes); +} + +void MessagesWidget::setMultiLineBytes(bool multi) { + settings.multiple_lines_bytes = multi; + delegate->setMultipleLines(multi); + view->updateBytesSectionSize(); + view->doItemsLayout(); +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -160,6 +177,7 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, case Column::NAME: return tr("Name"); case Column::SOURCE: return tr("Bus"); case Column::ADDRESS: return tr("ID"); + case Column::NODE: return tr("Node"); case Column::FREQ: return tr("Freq"); case Column::COUNT: return tr("Count"); case Column::DATA: return tr("Bytes"); @@ -171,22 +189,22 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (!index.isValid() || index.row() >= msgs.size()) return {}; - const auto &id = msgs[index.row()]; - auto &can_data = can->lastMessage(id); - - auto getFreq = [](const CanData &d) -> QString { + auto getFreq = [](const CanData &d) { if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) { return d.freq >= 0.95 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); } else { - return "--"; + return QStringLiteral("--"); } }; + const auto &id = msgs[index.row()]; + auto &can_data = can->lastMessage(id); if (role == Qt::DisplayRole) { switch (index.column()) { case Column::NAME: return msgName(id); case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A"; case Column::ADDRESS: return QString::number(id.address, 16); + case Column::NODE: return msg_node_from_id(id); case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A"; case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A"; case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A"; @@ -214,7 +232,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { void MessageListModel::setFilterStrings(const QMap &filters) { filter_str = filters; - fetchData(); + filterAndSort(); } void MessageListModel::dbcModified() { @@ -222,40 +240,22 @@ void MessageListModel::dbcModified() { for (const auto &[_, m] : dbc()->getMessages(-1)) { dbc_address.insert(m.address); } - fetchData(); + filterAndSort(); } void MessageListModel::sortMessages(std::vector &new_msgs) { - if (sort_column == Column::NAME) { - std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { - auto ll = std::pair{msgName(l), l}; - auto rr = std::pair{msgName(r), r}; - return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; - }); - } else if (sort_column == Column::SOURCE) { - std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &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 == Column::ADDRESS) { - std::sort(new_msgs.begin(), new_msgs.end(), [=](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 == Column::FREQ) { - std::sort(new_msgs.begin(), new_msgs.end(), [=](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 == Column::COUNT) { - std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { - auto ll = std::pair{can->lastMessage(l).count, l}; - auto rr = std::pair{can->lastMessage(r).count, r}; - return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; + auto do_sort = [order = sort_order](std::vector &m, auto proj) { + std::sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) { + return order == Qt::AscendingOrder ? proj(l) < proj(r) : proj(l) > proj(r); }); + }; + switch (sort_column) { + case Column::NAME: do_sort(new_msgs, [](auto &id) { return std::make_pair(msgName(id), id); }); break; + case Column::SOURCE: do_sort(new_msgs, [](auto &id) { return std::tie(id.source, id); }); break; + case Column::ADDRESS: do_sort(new_msgs, [](auto &id) { return std::tie(id.address, id);}); break; + case Column::NODE: do_sort(new_msgs, [](auto &id) { return std::make_pair(msg_node_from_id(id), id);}); break; + case Column::FREQ: do_sort(new_msgs, [](auto &id) { return std::tie(can->lastMessage(id).freq, id); }); break; + case Column::COUNT: do_sort(new_msgs, [](auto &id) { return std::tie(can->lastMessage(id).count, id); }); break; } } @@ -295,6 +295,9 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co match = match || parseRange(txt, id.address, 16); break; } + case Column::NODE: + match = re.match(msg_node_from_id(id)).hasMatch(); + break; case Column::FREQ: // TODO: Hide stale messages? match = parseRange(txt, data.freq); @@ -313,7 +316,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co return match; } -void MessageListModel::fetchData() { +void MessageListModel::filterAndSort() { std::vector new_msgs; new_msgs.reserve(can->last_msgs.size() + dbc_address.size()); @@ -344,7 +347,7 @@ void MessageListModel::fetchData() { void MessageListModel::msgsReceived(const QHash *new_msgs, bool has_new_ids) { if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) { - fetchData(); + filterAndSort(); } for (int i = 0; i < msgs.size(); ++i) { if (new_msgs->contains(msgs[i])) { @@ -358,7 +361,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { if (column != columnCount() - 1) { sort_column = column; sort_order = order; - fetchData(); + filterAndSort(); } } @@ -380,11 +383,6 @@ void MessageListModel::clearSuppress() { suppressed_bytes.clear(); } -void MessageListModel::forceResetModel() { - beginResetModel(); - endResetModel(); -} - // MessageView void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -425,35 +423,7 @@ void MessageView::updateBytesSectionSize() { } } -void MessageView::headerContextMenuEvent(const QPoint &pos) { - QMenu menu(this); - int cur_index = header()->logicalIndexAt(pos); - - QAction *action; - for (int visual_index = 0; visual_index < header()->count(); visual_index++) { - int logical_index = header()->logicalIndex(visual_index); - QString column_name = model()->headerData(logical_index, Qt::Horizontal).toString(); - - // Hide show action - if (header()->isSectionHidden(logical_index)) { - action = menu.addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); }); - } else { - action = menu.addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); }); - } - - // Can't hide the name column - action->setEnabled(logical_index > 0); - - // Make current column bold - if (logical_index == cur_index) { - QFont font = action->font(); - font.setBold(true); - action->setFont(font); - } - } - - menu.exec(header()->mapToGlobal(pos)); -} +// MessageViewHeader MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) { QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions); @@ -463,22 +433,13 @@ MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizont void MessageViewHeader::updateFilters() { QMap filters; for (int i = 0; i < count(); i++) { - if (editors[i]) { - QString filter = editors[i]->text(); - if (!filter.isEmpty()) { - filters[i] = filter; - } + if (editors[i] && !editors[i]->text().isEmpty()) { + filters[i] = editors[i]->text(); } } emit filtersUpdated(filters); } -void MessageViewHeader::clearFilters() { - for (QLineEdit *editor : editors) { - editor->clear(); - } -} - void MessageViewHeader::updateHeaderPositions() { QSize sz = QHeaderView::sizeHint(); for (int i = 0; i < count(); i++) { @@ -508,11 +469,7 @@ void MessageViewHeader::updateGeometries() { updateHeaderPositions(); } - QSize MessageViewHeader::sizeHint() const { QSize sz = QHeaderView::sizeHint(); - if (editors[0]) { - sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1); - } - return sz; + return editors[0] ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz; } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index f6d71a5a2e..11d95dd3f2 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -5,13 +5,12 @@ #include #include -#include -#include #include #include #include #include #include +#include #include #include "tools/cabana/dbc/dbcmanager.h" @@ -21,11 +20,11 @@ class MessageListModel : public QAbstractTableModel { Q_OBJECT public: - enum Column { NAME = 0, SOURCE, ADDRESS, + NODE, FREQ, COUNT, DATA, @@ -39,10 +38,9 @@ public: void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; void setFilterStrings(const QMap &filters); void msgsReceived(const QHash *new_msgs, bool has_new_ids); - void fetchData(); + void filterAndSort(); void suppress(); void clearSuppress(); - void forceResetModel(); void dbcModified(); std::vector msgs; QSet> suppressed_bytes; @@ -65,23 +63,17 @@ public: void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {} void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override; void updateBytesSectionSize(); - void headerContextMenuEvent(const QPoint &pos); }; class MessageViewHeader : public QHeaderView { // https://stackoverflow.com/a/44346317 - Q_OBJECT public: MessageViewHeader(QWidget *parent); void updateHeaderPositions(); - void updateGeometries() override; QSize sizeHint() const override; -public slots: - void clearFilters(); - signals: void filtersUpdated(const QMap &filters); @@ -108,12 +100,18 @@ signals: void msgSelectionChanged(const MessageId &message_id); protected: + QToolBar *createToolBar(); + void headerContextMenuEvent(const QPoint &pos); + void menuAboutToShow(); + void setMultiLineBytes(bool multi); + MessageView *view; MessageViewHeader *header; + MessageBytesDelegate *delegate; std::optional current_msg_id; - QCheckBox *multiple_lines_bytes; MessageListModel *model; QPushButton *suppress_add; QPushButton *suppress_clear; QLabel *num_msg_label; + QMenu *menu; }; From 57621afcb0f4a95f5fd36cc47a7801a776383af5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 26 Oct 2023 01:56:49 +0800 Subject: [PATCH 21/22] cabana/chart: populate the points incrementally (#30326) * populate the points incrementally * less spacing --- tools/cabana/chart/chart.cc | 92 +++++++++++++------------- tools/cabana/chart/chart.h | 12 ++-- tools/cabana/chart/chartswidget.cc | 29 ++++---- tools/cabana/chart/chartswidget.h | 2 +- tools/cabana/streams/abstractstream.cc | 28 ++++---- tools/cabana/streams/abstractstream.h | 8 ++- tools/cabana/util.cc | 4 +- tools/cabana/util.h | 4 +- 8 files changed, 90 insertions(+), 89 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 2bd6cfd6cc..dee7cc5248 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -279,38 +279,50 @@ void ChartView::updateSeriesPoints() { } } -void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { +void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector &events, + std::vector &vals, std::vector &step_vals) { + vals.reserve(vals.size() + events.capacity()); + step_vals.reserve(step_vals.size() + events.capacity() * 2); + + double value = 0; + const uint64_t begin_mono_time = can->routeStartTime() * 1e9; + for (const CanEvent *e : events) { + if (sig->getValue(e->dat, e->size, &value)) { + const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9; + vals.emplace_back(ts, value); + if (!step_vals.empty()) + step_vals.emplace_back(ts, step_vals.back().y()); + step_vals.emplace_back(ts, value); + } + } +} + +void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *msg_new_events) { for (auto &s : sigs) { if (!sig || s.sig == sig) { - if (clear) { + if (!msg_new_events) { s.vals.clear(); s.step_vals.clear(); - s.last_value_mono_time = 0; + } + auto events = msg_new_events ? msg_new_events : &can->eventsMap(); + auto it = events->find(s.msg_id); + if (it == events->end() || it->second.empty()) continue; + + if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) { + appendCanEvents(s.sig, it->second, s.vals, s.step_vals); + } else { + std::vector vals, step_vals; + appendCanEvents(s.sig, it->second, vals, step_vals); + s.vals.insert(std::lower_bound(s.vals.begin(), s.vals.end(), vals.front().x(), xLessThan), + vals.begin(), vals.end()); + s.step_vals.insert(std::lower_bound(s.step_vals.begin(), s.step_vals.end(), step_vals.front().x(), xLessThan), + step_vals.begin(), step_vals.end()); } - const auto &msgs = can->events(s.msg_id); - s.vals.reserve(msgs.capacity()); - s.step_vals.reserve(msgs.capacity() * 2); - - auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, CompareCanEvent()); - const double route_start_time = can->routeStartTime(); - for (auto end = msgs.cend(); first != end; ++first) { - const CanEvent *e = *first; - double value = 0; - if (s.sig->getValue(e->dat, e->size, &value)) { - double ts = e->mono_time / 1e9 - route_start_time; // seconds - s.vals.append({ts, value}); - if (!s.step_vals.empty()) { - s.step_vals.append({ts, s.step_vals.back().y()}); - } - s.step_vals.append({ts, value}); - s.last_value_mono_time = e->mono_time; - } - } if (!can->liveStreaming()) { s.segment_tree.build(s.vals); } - s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); + s.series->replace(QVector::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals)); } } updateAxisY(); @@ -320,7 +332,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { // auto zoom on yaxis void ChartView::updateAxisY() { - if (sigs.isEmpty()) return; + if (sigs.empty()) return; double min = std::numeric_limits::max(); double max = std::numeric_limits::lowest(); @@ -344,9 +356,7 @@ void ChartView::updateAxisY() { if (it->y() > s.max) s.max = it->y(); } } else { - auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last)); - s.min = min_y; - s.max = max_y; + std::tie(s.min, s.max) = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last)); } min = std::min(min, s.min); max = std::max(max, s.max); @@ -365,7 +375,7 @@ void ChartView::updateAxisY() { axis_y->setRange(min_y, max_y); axis_y->setTickCount(tick_count); - int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; + int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0); int max_label_width = 0; QFontMetrics fm(axis_y->labelsFont()); for (int i = 0; i < tick_count; i++) { @@ -453,7 +463,7 @@ static QPixmap getDropPixmap(const QPixmap &src) { return px; } -void ChartView::contextMenuEvent(QContextMenuEvent *event) { +void ChartView::contextMenuEvent(QContextMenuEvent *event) { QMenu context_menu(this); context_menu.addActions(menu->actions()); context_menu.addSeparator(); @@ -492,13 +502,9 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { rubber->hide(); auto rect = rubber->geometry().normalized(); - double min = chart()->mapToValue(rect.topLeft()).x(); - double max = chart()->mapToValue(rect.bottomRight()).x(); - // Prevent zooming/seeking past the end of the route - min = std::clamp(min, 0., can->totalSeconds()); - max = std::clamp(max, 0., can->totalSeconds()); - + double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds()); + double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds()); if (rubber->width() <= 0) { // no rubber dragged, seek to mouse position can->seekTo(min); @@ -623,7 +629,7 @@ void ChartView::dropEvent(QDropEvent *event) { source_chart->chart()->removeSeries(s.series); addSeries(s.series); } - sigs.append(source_chart->sigs); + sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end())); updateAxisY(); updateTitle(); startAnimation(); @@ -763,13 +769,8 @@ void ChartView::drawSignalValue(QPainter *painter) { painter->setPen(chart()->legend()->labelColor()); int i = 0; for (auto &s : sigs) { - QString value = "--"; - if (s.series->isVisible()) { - auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); - if (it != s.vals.crend() && it->x() >= axis_x->min()) { - value = s.sig->formatValue(it->y()); - } - } + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); + QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--"; QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width()); @@ -841,9 +842,8 @@ void ChartView::setSeriesType(SeriesType type) { s.series->deleteLater(); } for (auto &s : sigs) { - auto series = createSeries(series_type, s.sig->color); - series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); - s.series = series; + s.series = createSeries(series_type, s.sig->color); + s.series->replace(QVector::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals)); } updateSeriesPoints(); updateTitle(); diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index f91b81cc91..896eaaf2a3 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -31,7 +32,7 @@ public: ChartView(const std::pair &x_range, ChartsWidget *parent = nullptr); void addSignal(const MessageId &msg_id, const cabana::Signal *sig); bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const; - void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true); + void updateSeries(const cabana::Signal *sig = nullptr, const MessageEventsMap *msg_new_events = nullptr); void updatePlot(double cur, double min, double max); void setSeriesType(SeriesType type); void updatePlotArea(int left, bool force = false); @@ -43,9 +44,8 @@ public: MessageId msg_id; const cabana::Signal *sig = nullptr; QXYSeries *series = nullptr; - QVector vals; - QVector step_vals; - uint64_t last_value_mono_time = 0; + std::vector vals; + std::vector step_vals; QPointF track_pt{}; SegmentTree segment_tree; double min = 0; @@ -64,6 +64,8 @@ private slots: void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: + void appendCanEvents(const cabana::Signal *sig, const std::vector &events, + std::vector &vals, std::vector &step_vals); void createToolButtons(); void addSeries(QXYSeries *series); void contextMenuEvent(QContextMenuEvent *event) override; @@ -107,7 +109,7 @@ private: QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; TipLabel tip_label; - QList sigs; + std::vector sigs; double cur_sec = 0; SeriesType series_type = SeriesType::Line; bool is_scrubbing = false; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 64eb99325c..a0cb09d07b 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -12,7 +12,7 @@ #include "tools/cabana/chart/chart.h" const int MAX_COLUMN_COUNT = 4; -const int CHART_SPACING = 10; +const int CHART_SPACING = 4; ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); @@ -78,8 +78,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim // charts charts_container = new ChartsContainer(this); - + charts_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); charts_scroll = new QScrollArea(this); + charts_scroll->viewport()->setBackgroundRole(QPalette::Base); charts_scroll->setFrameStyle(QFrame::NoFrame); charts_scroll->setWidgetResizable(true); charts_scroll->setWidget(charts_container); @@ -149,11 +150,10 @@ void ChartsWidget::updateTabBar() { } } -void ChartsWidget::eventsMerged() { +void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) { QFutureSynchronizer future_synchronizer; - bool clear = !can->liveStreaming(); for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear)); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events)); } } @@ -282,7 +282,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) { it->series->setColor(it->sig->color); c->addSeries(it->series); - c->sigs.push_back(*it); + c->sigs.emplace_back(std::move(*it)); c->updateAxisY(); c->updateTitle(); it = src_chart->sigs.erase(it); @@ -322,7 +322,7 @@ void ChartsWidget::updateLayout(bool force) { } for (int i = 0; i < current_charts.size(); ++i) { charts_layout->addWidget(current_charts[i], i / n, i % n); - if (current_charts[i]->sigs.isEmpty()) { + if (current_charts[i]->sigs.empty()) { // the chart will be resized after add signal. delay setVisible to reduce flicker. QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); }); } else { @@ -474,8 +474,9 @@ bool ChartsWidget::event(QEvent *event) { ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) { setAcceptDrops(true); + setBackgroundRole(QPalette::Window); QVBoxLayout *charts_main_layout = new QVBoxLayout(this); - charts_main_layout->setContentsMargins(0, 10, 0, 0); + charts_main_layout->setContentsMargins(0, CHART_SPACING, 0, CHART_SPACING); charts_layout = new QGridLayout(); charts_layout->setSpacing(CHART_SPACING); charts_main_layout->addLayout(charts_layout); @@ -519,15 +520,11 @@ void ChartsContainer::paintEvent(QPaintEvent *ev) { r.setHeight(CHART_SPACING); } - const int margin = (CHART_SPACING - 2) / 2; - QPainterPath path; - path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()})); - path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()})); - QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - p.fillPath(path, palette().highlight()); - p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight()); + p.setPen(QPen(palette().highlight(), 2)); + p.drawLine(r.topLeft() + QPoint(1, 0), r.bottomLeft() + QPoint(1, 0)); + p.drawLine(r.topLeft() + QPoint(0, r.height() / 2), r.topRight() + QPoint(0, r.height() / 2)); + p.drawLine(r.topRight(), r.bottomRight()); } } diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 6a7b535543..c85cd09963 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -63,7 +63,7 @@ private: void removeChart(ChartView *chart); void splitChart(ChartView *chart); QRect chartVisibleRect(ChartView *chart); - void eventsMerged(); + void eventsMerged(const MessageEventsMap &new_events); void updateState(); void zoomReset(); void startAutoScroll(); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 6fa479815d..eb2859e5a3 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,7 +1,6 @@ #include "tools/cabana/streams/abstractstream.h" #include -#include #include @@ -139,9 +138,10 @@ void AbstractStream::updateLastMsgsTo(double sec) { } void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) { - static std::unordered_map> new_events_map; + static MessageEventsMap msg_events; static std::vector new_events; - new_events_map.clear(); + + std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); }); new_events.clear(); for (auto it = first; it != last; ++it) { @@ -156,25 +156,25 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std e->size = dat.size(); memcpy(e->dat, (uint8_t *)dat.begin(), e->size); - new_events_map[{.source = e->src, .address = e->address}].push_back(e); + msg_events[{.source = e->src, .address = e->address}].push_back(e); new_events.push_back(e); } } } - for (auto &[id, new_e] : new_events_map) { - auto &e = events_[id]; - auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent()); - e.insert(insert_pos, new_e.cbegin(), new_e.cend()); - } - if (!new_events.empty()) { - auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent()); - all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); + for (auto &[id, new_e] : msg_events) { + if (!new_e.empty()) { + auto &e = events_[id]; + auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent()); + e.insert(pos, new_e.cbegin(), new_e.cend()); + } + } + auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent()); + all_events_.insert(pos, new_events.cbegin(), new_events.cend()); + emit eventsMerged(msg_events); } - lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time; - emit eventsMerged(); } // CanData diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 3a89d4e57d..64c1991501 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -2,7 +2,6 @@ #include #include -#include #include #include #include @@ -52,6 +51,8 @@ struct BusConfig { bool can_fd = false; }; +typedef std::unordered_map> MessageEventsMap; + class AbstractStream : public QObject { Q_OBJECT @@ -73,6 +74,7 @@ public: virtual double getSpeed() { return 1; } virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} + const MessageEventsMap &eventsMap() const { return events_; } const std::vector &allEvents() const { return all_events_; } const std::vector &events(const MessageId &id) const; virtual const std::vector> getTimeline() { return {}; } @@ -82,7 +84,7 @@ signals: void resume(); void seekedTo(double sec); void streamStarted(); - void eventsMerged(); + void eventsMerged(const MessageEventsMap &events_map); void updated(); void msgsReceived(const QHash *new_msgs, bool has_new_ids); void sourcesUpdated(const SourceSet &s); @@ -104,7 +106,7 @@ protected: std::atomic processing = false; std::unique_ptr> new_msgs; QHash all_msgs; - std::unordered_map> events_; + MessageEventsMap events_; std::vector all_events_; std::unique_ptr event_buffer; std::mutex mutex; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 4c21530774..41d55b793f 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -19,7 +19,7 @@ // SegmentTree -void SegmentTree::build(const QVector &arr) { +void SegmentTree::build(const std::vector &arr) { size = arr.size(); tree.resize(4 * size); // size of the tree is 4 times the size of the array if (size > 0) { @@ -27,7 +27,7 @@ void SegmentTree::build(const QVector &arr) { } } -void SegmentTree::build_tree(const QVector &arr, int n, int left, int right) { +void SegmentTree::build_tree(const std::vector &arr, int n, int left, int right) { if (left == right) { const double y = arr[left].y(); tree[n] = {y, y}; diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 2c1bc5cf7b..0409d5c825 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -57,12 +57,12 @@ enum { class SegmentTree { public: SegmentTree() = default; - void build(const QVector &arr); + void build(const std::vector &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); + void build_tree(const std::vector &arr, int n, int left, int right); std::vector> tree; int size = 0; }; From 952838335d318ab3ecc2365d4f466800ad87aac4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 26 Oct 2023 01:57:09 +0800 Subject: [PATCH 22/22] cabana: improve playback controller (#30325) improve playback controller --- tools/cabana/chart/chartswidget.cc | 2 +- tools/cabana/detailwidget.cc | 16 +-- tools/cabana/detailwidget.h | 2 +- tools/cabana/settings.cc | 2 + tools/cabana/settings.h | 1 + tools/cabana/streams/abstractstream.h | 2 + tools/cabana/streams/livestream.cc | 1 + tools/cabana/streams/livestream.h | 2 + tools/cabana/streams/replaystream.h | 2 + tools/cabana/util.cc | 7 ++ tools/cabana/util.h | 4 +- tools/cabana/videowidget.cc | 157 ++++++++++++++++---------- tools/cabana/videowidget.h | 23 ++-- 13 files changed, 141 insertions(+), 80 deletions(-) diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index a0cb09d07b..63e103793c 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -190,7 +190,7 @@ void ChartsWidget::updateState() { if (pos < 0 || pos > 0.8) { display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); } - double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds()); + double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds()); display_range.first = std::max(0.0, max_sec - max_chart_range); display_range.second = display_range.first + max_chart_range; } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) { diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 87fa267d5a..472ffce104 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include "tools/cabana/commands.h" #include "tools/cabana/mainwin.h" @@ -22,19 +23,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // message title QHBoxLayout *title_layout = new QHBoxLayout(); title_layout->setContentsMargins(3, 6, 3, 0); - time_label = new QLabel(this); - time_label->setToolTip(tr("Current time")); - time_label->setStyleSheet("QLabel{font-weight:bold;}"); - title_layout->addWidget(time_label); - name_label = new ElidedLabel(this); + auto spacer = new QSpacerItem(0, 1); + title_layout->addItem(spacer); + title_layout->addWidget(name_label = new ElidedLabel(this), 1); name_label->setStyleSheet("QLabel{font-weight:bold;}"); name_label->setAlignment(Qt::AlignCenter); - name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - title_layout->addWidget(name_label); auto edit_btn = new ToolButton("pencil", tr("Edit Message")); title_layout->addWidget(edit_btn); - remove_btn = new ToolButton("x-lg", tr("Remove Message")); - title_layout->addWidget(remove_btn); + title_layout->addWidget(remove_btn = new ToolButton("x-lg", tr("Remove Message"))); + spacer->changeSize(edit_btn->sizeHint().width() * 2 + 9, 1); main_layout->addLayout(title_layout); // warning @@ -151,7 +148,6 @@ void DetailWidget::refresh() { } void DetailWidget::updateState(const QHash *msgs) { - time_label->setText(QString::number(can->currentSec(), 'f', 3)); if ((msgs && !msgs->contains(msg_id))) return; diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index ed6a865f53..5bb4b7f305 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -42,7 +42,7 @@ private: void updateState(const QHash * msgs = nullptr); MessageId msg_id; - QLabel *time_label, *warning_icon, *warning_label; + QLabel *warning_icon, *warning_label; ElidedLabel *name_label; QWidget *warning_widget; TabBar *tabbar; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index ee345c490c..c408179fdd 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -14,6 +14,7 @@ Settings settings; QSettings::Status Settings::save() { QSettings s(filePath(), QSettings::IniFormat); + s.setValue("absolute_time", absolute_time); s.setValue("fps", fps); s.setValue("max_cached_minutes", max_cached_minutes); s.setValue("chart_height", chart_height); @@ -40,6 +41,7 @@ QSettings::Status Settings::save() { void Settings::load() { QSettings s(filePath(), QSettings::IniFormat); + absolute_time = s.value("absolute_time", false).toBool(); fps = s.value("fps", 10).toInt(); max_cached_minutes = s.value("max_cached_minutes", 30).toInt(); chart_height = s.value("chart_height", 200).toInt(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 42073a72de..da7781e6e4 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -29,6 +29,7 @@ public: void load(); inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; } + bool absolute_time = false; int fps = 10; int max_cached_minutes = 30; int chart_height = 200; diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 64c1991501..4a17affebe 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -8,6 +8,7 @@ #include #include +#include #include #include "common/timing.h" @@ -64,6 +65,7 @@ public: virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } + virtual QDateTime beginDateTime() const { return {}; } virtual double routeStartTime() const { return 0; } virtual double currentSec() const = 0; virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 17805a0b66..fd140eb8bf 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -46,6 +46,7 @@ void LiveStream::start() { emit streamStarted(); stream_thread->start(); startUpdateTimer(); + begin_date_time = QDateTime::currentDateTime(); } LiveStream::~LiveStream() { diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 38ef2c67f9..d72112c604 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -15,6 +15,7 @@ public: LiveStream(QObject *parent); virtual ~LiveStream(); void start() override; + inline QDateTime beginDateTime() const { return begin_date_time; } inline double routeStartTime() const override { return begin_event_ts / 1e9; } inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; } void setSpeed(float speed) override { speed_ = speed; } @@ -49,6 +50,7 @@ private: int timer_id; QBasicTimer update_timer; + QDateTime begin_date_time; uint64_t begin_event_ts = 0; uint64_t current_event_ts = 0; uint64_t first_event_ts = 0; diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 3f301d2ce2..d69922a432 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -22,11 +22,13 @@ public: inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } double totalSeconds() const override { return replay->totalSeconds(); } inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } + inline QDateTime beginDateTime() const { return replay->route()->datetime(); } inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const override { return replay->currentSeconds(); } inline const Route *route() const override { return replay->route(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline float getSpeed() const { return replay->getSpeed(); } + inline Replay *getReplay() const { return replay.get(); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; inline const std::vector> getTimeline() override { return replay->getTimeline(); } diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 41d55b793f..38190da301 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -242,6 +242,13 @@ void setTheme(int theme) { } } +QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) { + QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss" + : (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss"); + if (include_milliseconds) format += ".zzz"; + return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format); +} + } // namespace utils QString toHex(uint8_t byte) { diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 0409d5c825..da476ab31a 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -103,9 +103,7 @@ public: namespace utils { QPixmap icon(const QString &id); void setTheme(int theme); -inline QString formatSeconds(int seconds) { - return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); -} +QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false); inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) { auto size = (r.size() - text.size()) / 2; p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 3e22464d06..0a1d2855a5 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -3,8 +3,9 @@ #include #include -#include -#include +#include +#include +#include #include #include #include @@ -27,50 +28,18 @@ static const QColor timeline_colors[] = { VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); auto main_layout = new QVBoxLayout(this); - if (!can->liveStreaming()) { + if (!can->liveStreaming()) main_layout->addWidget(createCameraWidget()); - } + main_layout->addLayout(createPlaybackController()); - // btn controls - QButtonGroup *group = new QButtonGroup(this); - group->setExclusive(true); - - QHBoxLayout *control_layout = new QHBoxLayout(); - play_btn = new QToolButton(); - play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); - control_layout->addWidget(play_btn); - if (can->liveStreaming()) { - control_layout->addWidget(skip_to_end_btn = new QToolButton(this)); - skip_to_end_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); - skip_to_end_btn->setIcon(utils::icon("skip-end-fill")); - skip_to_end_btn->setToolTip(tr("Skip to the end")); - QObject::connect(skip_to_end_btn, &QToolButton::clicked, [group]() { - // set speed to 1.0 - group->buttons()[2]->click(); - can->pause(false); - can->seekTo(can->totalSeconds() + 1); - }); - } - - for (float speed : {0.1, 0.5, 1., 2.}) { - QToolButton *btn = new QToolButton(this); - btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); - btn->setText(QString("%1x").arg(speed)); - btn->setCheckable(true); - QObject::connect(btn, &QToolButton::clicked, [speed]() { can->setSpeed(speed); }); - control_layout->addWidget(btn); - group->addButton(btn); - if (speed == 1.0) btn->setChecked(true); - } - main_layout->addLayout(control_layout); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); - QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState); + QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState); - updatePlayBtnState(); + updatePlayBtnState(); setWhatsThis(tr(R"( Video
@@ -93,6 +62,71 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { timeline_colors[(int)TimelineType::AlertCritical].name())); } +QHBoxLayout *VideoWidget::createPlaybackController() { + QHBoxLayout *layout = new QHBoxLayout(); + layout->addWidget(seek_backward_btn = new ToolButton("rewind", tr("Seek backward"))); + layout->addWidget(play_btn = new ToolButton("play", tr("Play"))); + layout->addWidget(seek_forward_btn = new ToolButton("fast-forward", tr("Seek forward"))); + + if (can->liveStreaming()) { + layout->addWidget(skip_to_end_btn = new ToolButton("skip-end", tr("Skip to the end"), this)); + QObject::connect(skip_to_end_btn, &QToolButton::clicked, [this]() { + // set speed to 1.0 + speed_btn->menu()->actions()[7]->setChecked(true); + can->pause(false); + can->seekTo(can->totalSeconds() + 1); + }); + } + + layout->addWidget(time_btn = new QToolButton); + time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time")); + time_btn->setAutoRaise(true); + layout->addStretch(0); + + if (!can->liveStreaming()) { + layout->addWidget(loop_btn = new ToolButton("repeat", tr("Loop playback"))); + QObject::connect(loop_btn, &QToolButton::clicked, this, &VideoWidget::loopPlaybackClicked); + } + + // speed selector + layout->addWidget(speed_btn = new QToolButton(this)); + speed_btn->setAutoRaise(true); + speed_btn->setMenu(new QMenu(speed_btn)); + speed_btn->setPopupMode(QToolButton::InstantPopup); + QActionGroup *speed_group = new QActionGroup(this); + speed_group->setExclusive(true); + + int max_width = 0; + QFont font = speed_btn->font(); + font.setBold(true); + speed_btn->setFont(font); + QFontMetrics fm(font); + for (float speed : {0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 0.8, 1., 2., 3., 5.}) { + QString name = QString("%1x").arg(speed); + max_width = std::max(max_width, fm.width(name) + fm.horizontalAdvance(QLatin1Char(' ')) * 2); + + QAction *act = new QAction(name, speed_group); + act->setCheckable(true); + QObject::connect(act, &QAction::toggled, [this, speed]() { + can->setSpeed(speed); + speed_btn->setText(QString("%1x ").arg(speed)); + }); + speed_btn->menu()->addAction(act); + if (speed == 1.0)act->setChecked(true); + } + speed_btn->setMinimumWidth(max_width + style()->pixelMetric(QStyle::PM_MenuButtonIndicator)); + + QObject::connect(play_btn, &QToolButton::clicked, []() { can->pause(!can->isPaused()); }); + QObject::connect(seek_backward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() - 1); }); + QObject::connect(seek_forward_btn, &QToolButton::clicked, []() { can->seekTo(can->currentSec() + 1); }); + QObject::connect(time_btn, &QToolButton::clicked, [this]() { + settings.absolute_time = !settings.absolute_time; + time_btn->setToolTip(settings.absolute_time ? tr("Elapsed time") : tr("Absolute time")); + updateState(); + }); + return layout; +} + QWidget *VideoWidget::createCameraWidget() { QWidget *w = new QWidget(this); QVBoxLayout *l = new QVBoxLayout(w); @@ -106,30 +140,30 @@ QWidget *VideoWidget::createCameraWidget() { stacked->addWidget(alert_label = new InfoLabel(this)); l->addLayout(stacked); - // slider controls - auto slider_layout = new QHBoxLayout(); - slider_layout->addWidget(time_label = new QLabel("00:00")); - - slider = new Slider(this); + l->addWidget(slider = new Slider(this)); slider->setSingleStep(0); - slider_layout->addWidget(slider); - - slider_layout->addWidget(end_time_label = new QLabel(this)); - l->addLayout(slider_layout); setMaximumTime(can->totalSeconds()); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); }); - QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); }); QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog); - QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); return w; } +void VideoWidget::loopPlaybackClicked() { + auto replay = qobject_cast(can)->getReplay(); + if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) { + replay->removeFlag(REPLAY_FLAG_NO_LOOP); + loop_btn->setIcon("repeat"); + } else { + replay->addFlag(REPLAY_FLAG_NO_LOOP); + loop_btn->setIcon("repeat-1"); + } +} + void VideoWidget::setMaximumTime(double sec) { maximum_time = sec; - end_time_label->setText(utils::formatSeconds(sec)); slider->setTimeRange(0, sec); } @@ -143,19 +177,29 @@ void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) { min = 0; max = maximum_time; } - end_time_label->setText(utils::formatSeconds(max)); slider->setTimeRange(min, max); } +QString VideoWidget::formatTime(double sec, bool include_milliseconds) { + if (settings.absolute_time) + sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0; + return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time); +} + void VideoWidget::updateState() { - if (!slider->isSliderDown()) { - slider->setCurrentSecond(can->currentSec()); + if (slider) { + if (!slider->isSliderDown()) + slider->setCurrentSecond(can->currentSec()); + alert_label->showAlert(slider->alertInfo(can->currentSec())); + time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true), + formatTime(slider->maximum() / slider->factor))); + } else { + time_btn->setText(formatTime(can->currentSec(), true)); } - alert_label->showAlert(slider->alertInfo(can->currentSec())); } void VideoWidget::updatePlayBtnState() { - play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause")); + play_btn->setIcon(can->isPaused() ? "play" : "pause"); play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause")); } @@ -284,8 +328,7 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap & second = sec; pixmap = pm; alert_info = alert; - resize(pm.size()); - move(pt); + setGeometry(QRect(pt, pm.size())); setVisible(true); update(); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 12961cd061..68e0461117 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -3,7 +3,7 @@ #include #include -#include +#include #include #include @@ -39,6 +39,8 @@ public: QPixmap thumbnail(double sec); void parseQLog(int segnum, std::shared_ptr qlog); + const double factor = 1000.0; + signals: void updateMaximumTime(double); @@ -48,7 +50,6 @@ private: bool event(QEvent *event) override; void paintEvent(QPaintEvent *ev) override; - const double factor = 1000.0; QMap thumbnails; std::map alerts; InfoLabel thumbnail_label; @@ -63,16 +64,22 @@ public: void setMaximumTime(double sec); protected: + QString formatTime(double sec, bool include_milliseconds = false); void updateState(); void updatePlayBtnState(); QWidget *createCameraWidget(); + QHBoxLayout *createPlaybackController(); + void loopPlaybackClicked(); CameraWidget *cam_widget; double maximum_time = 0; - QLabel *end_time_label; - QLabel *time_label; - QToolButton *play_btn; - QToolButton *skip_to_end_btn = nullptr; - InfoLabel *alert_label; - Slider *slider; + QToolButton *time_btn = nullptr; + ToolButton *seek_backward_btn = nullptr; + ToolButton *play_btn = nullptr; + ToolButton *seek_forward_btn = nullptr; + ToolButton *loop_btn = nullptr; + QToolButton *speed_btn = nullptr; + ToolButton *skip_to_end_btn = nullptr; + InfoLabel *alert_label = nullptr; + Slider *slider = nullptr; };