From d76012ec38ff5b996a329d35adc21ade17845d53 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 29 Jan 2023 21:52:42 +0100 Subject: [PATCH 01/75] cabana: fix overlap in byte highlighting (#27139) --- tools/cabana/util.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 0684d3c59a..7796800103 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -85,7 +85,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & pos.moveLeft(pos.x() + space.width()); int m = space.width() / 2; - const QMargins margins(m + 1, m, m, m); + const QMargins margins(m, m, m, m); int i = 0; for (auto &byte : opt.text.split(" ")) { From 3d641fa5e530bd51ec40e9f1d9b466d75d2aefdf Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 29 Jan 2023 21:54:46 +0100 Subject: [PATCH 02/75] cabana: replace space by underscore when editing signal name (#27130) cabana: replace space by _ whene editing signal name --- tools/cabana/detailwidget.cc | 2 +- tools/cabana/signaledit.cc | 2 +- tools/cabana/util.cc | 7 +++++++ tools/cabana/util.h | 9 +++++++++ 4 files changed, 18 insertions(+), 2 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 233bc493df..ef8a8f6290 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -288,7 +288,7 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title form_layout->addRow("ID", new QLabel(msg_id)); name_edit = new QLineEdit(title, this); - name_edit->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name_edit)); + name_edit->setValidator(new NameValidator(name_edit)); form_layout->addRow(tr("Name"), name_edit); size_spin = new QSpinBox(this); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 112c2807f9..52ce74ae08 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -19,7 +19,7 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { main_layout->addLayout(form_layout); name = new QLineEdit(); - name->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name)); + name->setValidator(new NameValidator(name)); form_layout->addRow(tr("Name"), name); QHBoxLayout *hl = new QHBoxLayout(this); diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 7796800103..726cbbe2a1 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -97,3 +97,10 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & i++; } } + +NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) { } + +QValidator::State NameValidator::validate(QString &input, int &pos) const { + input.replace(' ', '_'); + return QRegExpValidator::validate(input, pos); +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 146410d7c6..20c85af39e 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -36,3 +37,11 @@ inline const QString &getColor(int i) { static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } + +class NameValidator : public QRegExpValidator { + Q_OBJECT + +public: + NameValidator(QObject *parent=nullptr); + QValidator::State validate(QString &input, int &pos) const override; +}; From bdb42f7f84516279f308f95496a5f5f901c4adc1 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 29 Jan 2023 21:55:10 +0100 Subject: [PATCH 03/75] cabana: fix occasional ellipsis on y axis ticks (#27142) --- tools/cabana/chartswidget.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3ecdbb08bd..26c05cf119 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -521,8 +521,8 @@ void ChartView::updateAxisY() { if (min_y == std::numeric_limits::max()) min_y = 0; if (max_y == std::numeric_limits::lowest()) max_y = 0; - if (max_y == min_y) { - axis_y->setRange(min_y - 1, max_y + 1); + if (std::abs(max_y - min_y) < 1e-3) { + applyNiceNumbers(min_y - 1, max_y + 1); } else { double range = max_y - min_y; applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05); @@ -539,6 +539,7 @@ void ChartView::applyNiceNumbers(qreal min, qreal max) { tick_count = int(max - min) + 1; axis_y->setRange(min * step, max * step); axis_y->setTickCount(tick_count); + axis_y->setLabelFormat("%.1f"); } // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n From f038193f4447afc8ae7b6034dec430d08f6da331 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 29 Jan 2023 21:57:01 +0100 Subject: [PATCH 04/75] cabana: show dots when zoomed far into a signal (#27145) * cabana: show dots when zoomed far into a signal * review comments --- tools/cabana/chartswidget.cc | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 26c05cf119..9f5b4acbd1 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -469,6 +469,18 @@ void ChartView::updatePlot(double cur, double min, double max) { axis_x->setRange(min, max); updateAxisY(); } + + // Show points when zoomed in enough + for (auto &s : sigs) { + auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); + auto end = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + + int num_points = std::max(end - begin, 1); + int pixels_per_point = width() / num_points; + + s.series->setPointsVisible(pixels_per_point > 20); + } + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } From d60aca8dd28731f947153f9f5dcb26d0f92ac2ad Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 30 Jan 2023 05:01:57 +0800 Subject: [PATCH 05/75] cabana: only update the colors of newly fetched messages in historylog (#27144) only update new msgs color --- tools/cabana/historylog.cc | 46 ++++++++++++++++---------------------- tools/cabana/historylog.h | 1 - 2 files changed, 19 insertions(+), 28 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index ccc2c5533d..44f3a63b95 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -84,7 +84,6 @@ void HistoryLogModel::updateState() { if ((has_more_data = !new_msgs.empty())) { beginInsertRows({}, 0, new_msgs.size() - 1); messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); - updateColors(); endInsertRows(); } last_fetch_time = current_time; @@ -97,29 +96,11 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) { if ((has_more_data = !new_msgs.empty())) { beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1); messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); - if (!dynamic_mode) { - updateColors(); - } endInsertRows(); } } } -void HistoryLogModel::updateColors() { - if (!display_signals_mode || sigs.empty()) { - const auto freq = can->lastMessage(msg_id).freq; - if (dynamic_mode) { - for (auto it = messages.rbegin(); it != messages.rend(); ++it) { - it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); - } - } else { - for (auto it = messages.begin(); it != messages.end(); ++it) { - it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); - } - } - } -} - template std::deque HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) { std::deque msgs; @@ -153,17 +134,28 @@ template std::deque HistoryLogModel::fetchData<>(std:: std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { auto events = can->events(); + const auto freq = can->lastMessage(msg_id).freq; + const bool update_colors = !display_signals_mode || sigs.empty(); + if (dynamic_mode) { - auto it = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { - return e->mono_time < ts; - }); - return fetchData(it, events->rend(), min_time); + auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; }); + auto msgs = fetchData(first, events->rend(), min_time); + if (update_colors && min_time > 0) { + for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { + it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + } + } + return msgs; } else { assert(min_time == 0); - auto it = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { - return ts < e->mono_time; - }); - return fetchData(it, events->end(), 0); + auto first = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { return ts < e->mono_time; }); + auto msgs = fetchData(first, events->end(), 0); + if (update_colors) { + for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { + it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + } + } + return msgs; } } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 83b5f623ea..c1a2c13769 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -33,7 +33,6 @@ public: int columnCount(const QModelIndex &parent = QModelIndex()) const override { return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2; } - void updateColors(); void refresh(); public slots: From a84b601d4cd2dbd1494ea1dcf31e21aacd579574 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 30 Jan 2023 05:02:20 +0800 Subject: [PATCH 06/75] Cabana: load commaai/opendbc from menu (#27114) * load from opendbc * move load from commaai/opendbc to menu * keep margins --- tools/cabana/mainwin.cc | 53 ++++++++++++++-------------------- tools/cabana/mainwin.h | 6 ++-- tools/cabana/messageswidget.cc | 1 - 3 files changed, 24 insertions(+), 36 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d674ec9059..d875d079fa 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -2,7 +2,6 @@ #include #include -#include #include #include #include @@ -54,7 +53,6 @@ MainWindow::MainWindow() : QMainWindow() { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } - QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); @@ -68,7 +66,7 @@ void MainWindow::createActions() { QMenu *file_menu = menuBar()->addMenu(tr("&File")); file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New); file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open); - file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); + open_recent_menu = file_menu->addMenu(tr("Open &Recent")); for (int i = 0; i < MAX_RECENT_FILES; ++i) { recent_files_acts[i] = new QAction(this); @@ -78,6 +76,17 @@ void MainWindow::createActions() { } updateRecentFileActions(); + file_menu->addSeparator(); + QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); + // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); + auto dbc_names = dbc()->allDBCNames(); + std::sort(dbc_names.begin(), dbc_names.end()); + for (const auto &name : dbc_names) { + load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); + } + + file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); + file_menu->addSeparator(); file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save)->setShortcuts(QKeySequence::Save); file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs)->setShortcuts(QKeySequence::SaveAs); @@ -113,18 +122,12 @@ void MainWindow::createActions() { void MainWindow::createDockWindows() { // left panel - QWidget *messages_container = new QWidget(this); - QVBoxLayout *messages_layout = new QVBoxLayout(messages_container); - dbc_combo = createDBCSelector(); - messages_layout->addWidget(dbc_combo); messages_widget = new MessagesWidget(this); - messages_layout->addWidget(messages_widget); - QDockWidget *dock = new QDockWidget(tr("MESSAGES"), this); dock->setObjectName("MessagesPanel"); dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea); dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); - dock->setWidget(messages_container); + dock->setWidget(messages_widget); addDockWidget(Qt::LeftDockWidgetArea, dock); // right panel @@ -156,23 +159,6 @@ void MainWindow::createDockWindows() { addDockWidget(Qt::RightDockWidgetArea, video_dock); } -QComboBox *MainWindow::createDBCSelector() { - QComboBox *c = new QComboBox(this); - c->setEditable(true); - c->lineEdit()->setPlaceholderText(tr("Select from an existing DBC file")); - c->setInsertPolicy(QComboBox::NoInsert); - c->completer()->setCompletionMode(QCompleter::PopupCompletion); - c->completer()->setFilterMode(Qt::MatchContains); - - auto dbc_names = dbc()->allDBCNames(); - std::sort(dbc_names.begin(), dbc_names.end()); - for (const auto &name : dbc_names) { - c->addItem(QString::fromStdString(name)); - } - c->setCurrentIndex(-1); - return c; -} - void MainWindow::createStatusBar() { progress_bar = new QProgressBar(); progress_bar->setRange(0, 100); @@ -190,8 +176,6 @@ void MainWindow::createShortcuts() { void MainWindow::DBCFileChanged() { detail_widget->undo_stack->clear(); - int index = dbc_combo->findText(QFileInfo(dbc()->name()).baseName()); - dbc_combo->setCurrentIndex(index); setWindowFilePath(QString("%1").arg(dbc()->name())); } @@ -220,6 +204,13 @@ void MainWindow::loadFile(const QString &fn) { } } +void MainWindow::openOpendbcFile() { + if (auto action = qobject_cast(sender())) { + remindSaveChanges(); + loadDBCFromOpendbc(action->text()); + } +} + void MainWindow::openRecentFile() { if (auto action = qobject_cast(sender())) { remindSaveChanges(); @@ -227,7 +218,7 @@ void MainWindow::openRecentFile() { } } -void MainWindow::loadDBCFromName(const QString &name) { +void MainWindow::loadDBCFromOpendbc(const QString &name) { if (name != dbc()->name()) { remindSaveChanges(); dbc()->open(name); @@ -252,7 +243,7 @@ void MainWindow::loadDBCFromFingerprint() { if (!fingerprint.isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; if (dbc_name != QJsonValue::Undefined) { - loadDBCFromName(dbc_name.toString()); + loadDBCFromOpendbc(dbc_name.toString()); return; } } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 4e65fa01cf..0c207528c9 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,6 +1,5 @@ #pragma once -#include #include #include #include @@ -26,7 +25,8 @@ public slots: void newFile(); void openFile(); void openRecentFile(); - void loadDBCFromName(const QString &name); + void openOpendbcFile(); + void loadDBCFromOpendbc(const QString &name); void loadDBCFromFingerprint(); void loadDBCFromClipboard(); void save(); @@ -45,7 +45,6 @@ protected: void updateRecentFileActions(); void createActions(); void createDockWindows(); - QComboBox *createDBCSelector(); void createStatusBar(); void createShortcuts(); void closeEvent(QCloseEvent *event) override; @@ -63,7 +62,6 @@ protected: QVBoxLayout *charts_layout; QProgressBar *progress_bar; QJsonDocument fingerprint_to_dbc; - QComboBox *dbc_combo; QSplitter *video_splitter;; QString current_file = ""; enum { MAX_RECENT_FILES = 15 }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 69c6d298c0..b7c3cd3401 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -10,7 +10,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); // message filter QLineEdit *filter = new QLineEdit(this); From fa4f37a0985802f83ec47b7fe0b29d1607ebe83c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 29 Jan 2023 22:02:32 +0100 Subject: [PATCH 07/75] cabana: small improvements to charts (#27140) * cabana: small improvements to charts toolbar * show column count when wide enough * call setspacing * set in same place * remove call to updateToolBar() --- tools/cabana/chartswidget.cc | 20 +++++++++++++------- tools/cabana/chartswidget.h | 3 ++- 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 9f5b4acbd1..e653860c3d 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -30,8 +30,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { title_label->setContentsMargins(0, 0, 12, 0); columns_cb = new QComboBox(this); columns_cb->addItems({"1", "2", "3", "4"}); - toolbar->addWidget(new QLabel(tr("Columns:"))); - toolbar->addWidget(columns_cb); + columns_lb_action = toolbar->addWidget(new QLabel(tr("Columns:"))); + columns_cb_action = toolbar->addWidget(columns_cb); QLabel *stretch_label = new QLabel(this); stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); @@ -46,8 +46,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { range_slider->setPageStep(60); // 1 min toolbar->addWidget(range_slider); - toolbar->addWidget(zoom_range_lb = new QLabel()); - reset_zoom_btn = toolbar->addAction(bootstrapPixmap("arrow-counterclockwise"), ""); + reset_zoom_btn = toolbar->addAction(bootstrapPixmap("zoom-out"), ""); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), ""); remove_all_btn->setToolTip(tr("Remove all charts")); @@ -55,10 +54,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(toolbar); // charts + charts_layout = new QGridLayout(); + charts_layout->setSpacing(10); + QWidget *charts_container = new QWidget(this); QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container); charts_main_layout->setContentsMargins(0, 0, 0, 0); - charts_main_layout->addLayout(charts_layout = new QGridLayout); + charts_main_layout->addLayout(charts_layout); charts_main_layout->addStretch(0); QScrollArea *charts_scroll = new QScrollArea(this); @@ -167,7 +169,6 @@ void ChartsWidget::setMaxChartRange(int value) { void ChartsWidget::updateToolBar() { range_lb->setText(QString(" %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); - zoom_range_lb->setText(is_zoomed ? tr("Zooming: %1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); title_label->setText(tr("Charts: %1").arg(charts.size())); dock_btn->setIcon(bootstrapPixmap(docking ? "arrow-up-right" : "arrow-down-left")); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); @@ -230,8 +231,13 @@ void ChartsWidget::setColumnCount(int n) { void ChartsWidget::updateLayout() { int n = column_count; for (; n > 1; --n) { - if ((n * (CHART_MIN_WIDTH + charts_layout->spacing())) < rect().width()) break; + if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break; } + + bool show_column_cb = n > 1; + columns_lb_action->setVisible(show_column_cb); + columns_cb_action->setVisible(show_column_cb); + for (int i = 0; i < charts.size(); ++i) { charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index f134136323..229b1e9cbe 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -116,7 +116,6 @@ private: ChartView *findChart(const QString &id, const Signal *sig); QLabel *title_label; - QLabel *zoom_range_lb; QLabel *range_lb; QSlider *range_slider; bool docking = true; @@ -131,6 +130,8 @@ private: std::pair display_range; std::pair zoomed_range; bool use_dark_theme = false; + QAction *columns_lb_action; + QAction *columns_cb_action; QComboBox *columns_cb; int column_count = 1; const int CHART_MIN_WIDTH = 300; From fdc4a7f84cb68c63cc5013a052b49663ffb6881c Mon Sep 17 00:00:00 2001 From: martinl Date: Sun, 29 Jan 2023 23:55:17 +0200 Subject: [PATCH 08/75] MacOS: build fixes (#27143) * MacOS: exclude common/gpio.cc * MacOS: no spi for boardd * MacOS: loggerd: no v4l_encoder.cc * MacOS: update libdbc path for cabana --- common/SConscript | 4 +++- selfdrive/boardd/boardd.cc | 1 + selfdrive/boardd/panda.cc | 4 ++++ selfdrive/boardd/panda_comms.h | 4 ++++ selfdrive/boardd/spi.cc | 2 ++ selfdrive/loggerd/SConscript | 2 ++ tools/cabana/SConscript | 3 +++ 7 files changed, 19 insertions(+), 1 deletion(-) diff --git a/common/SConscript b/common/SConscript index 8aee6f42a7..5d6170611f 100644 --- a/common/SConscript +++ b/common/SConscript @@ -10,11 +10,13 @@ common_libs = [ 'statlog.cc', 'swaglog.cc', 'util.cc', - 'gpio.cc', 'i2c.cc', 'watchdog.cc', ] +if arch != "Darwin": + common_libs.append('gpio.cc') + _common = fxn('common', common_libs, LIBS="json11") files = [ diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index bc454aa54e..5ef49d4b22 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -7,6 +7,7 @@ #include #include +#include #include #include #include diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 600a46c809..4bba070eee 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -14,7 +14,9 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { try { handle = std::make_unique(serial); } catch (std::exception &e) { +#ifndef __APPLE__ handle = std::make_unique(serial); +#endif } hw_type = get_hw_type(); @@ -46,11 +48,13 @@ std::string Panda::hw_serial() { std::vector Panda::list() { std::vector serials = PandaUsbHandle::list(); +#ifndef __APPLE__ for (auto s : PandaSpiHandle::list()) { if (std::find(serials.begin(), serials.end(), s) == serials.end()) { serials.push_back(s); } } +#endif return serials; } diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index b669d77e7f..506b96b372 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -5,7 +5,9 @@ #include #include +#ifndef __APPLE__ #include +#endif #include @@ -52,6 +54,7 @@ private: void handle_usb_issue(int err, const char func[]); }; +#ifndef __APPLE__ class PandaSpiHandle : public PandaCommsHandle { public: PandaSpiHandle(std::string serial); @@ -75,3 +78,4 @@ private: int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); }; +#endif diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index bcc446b050..c9d4b2ea0e 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -1,3 +1,4 @@ +#ifndef __APPLE__ #include #include #include @@ -339,3 +340,4 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx transfer_fail: return ret; } +#endif diff --git a/selfdrive/loggerd/SConscript b/selfdrive/loggerd/SConscript index 92706c53ec..3b961bce6e 100644 --- a/selfdrive/loggerd/SConscript +++ b/selfdrive/loggerd/SConscript @@ -13,6 +13,8 @@ if arch == "Darwin": # fix OpenCL del libs[libs.index('OpenCL')] env['FRAMEWORKS'] = ['OpenCL'] + # exclude v4l + del src[src.index('encoder/v4l_encoder.cc')] logger_lib = env.Library('logger', src) libs.insert(0, logger_lib) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index fbf3c03d36..0c9ad14973 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -24,6 +24,9 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream 'commands.cc', 'messageswidget.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +if arch == "Darwin": + cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana') + if GetOption('test'): cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) From 7a485d4308ff263cd3432edaa27d118d264b25b5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 30 Jan 2023 11:19:50 +0800 Subject: [PATCH 09/75] cabana: refactor and improve signal view (#26997) * refactor and improve signal view * cleanup undostack after save * set clean * fix logswidget::refresh * fix bugs in historylog * historylog:dont reset display_type on msg changed * inline displaySignals * historylog:add stretch to header * remove sizePolicy * always show toolbar * add icon to tabwidget * create new chart on top * fix 'show plot' btn state sync issue * rename removeSeries to removeItem * historylog::fix displayRange * MessageListModeL: improve setFilterString * set as current index after expanded * disable update during setmessage * ChartWidget: fix issue in updateState * skip align charts if there only one chart * fix updateLayout * cleanup historylog * updateState before end reset model * add validator * improve sigmodel * expand new signal * add comment * reserve vector * cleanup condition * single click on row to expand signal * improve layout for canfd(64 bytes) * cleanup * return false on default * show the latest signal value next to the signal name * update sig value after setmessage.to make the value updated in pause mode. * better size policy * +1 for grid size * better palette * set autofillbg --- tools/cabana/binaryview.cc | 30 +- tools/cabana/binaryview.h | 6 +- tools/cabana/chartswidget.cc | 10 +- tools/cabana/chartswidget.h | 2 +- tools/cabana/commands.cc | 11 + tools/cabana/commands.h | 6 + tools/cabana/dbcmanager.cc | 3 +- tools/cabana/dbcmanager.h | 4 +- tools/cabana/detailwidget.cc | 174 +++-------- tools/cabana/detailwidget.h | 18 +- tools/cabana/historylog.cc | 25 +- tools/cabana/historylog.h | 5 +- tools/cabana/mainwin.cc | 22 +- tools/cabana/mainwin.h | 1 + tools/cabana/signaledit.cc | 581 ++++++++++++++++++++++++----------- tools/cabana/signaledit.h | 106 +++++-- 16 files changed, 605 insertions(+), 399 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 010fe0fc88..4d7b3148c6 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -4,8 +4,10 @@ #include #include #include +#include #include +#include "tools/cabana/commands.h" #include "tools/cabana/streams/abstractstream.h" // BinaryView @@ -30,12 +32,15 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setFrameShape(QFrame::NoFrame); setShowGrid(false); setMouseTracking(true); - setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh); } QSize BinaryView::minimumSizeHint() const { - return {horizontalHeader()->minimumSectionSize() * 9 + VERTICAL_HEADER_WIDTH + 2, 0}; + return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH, + CELL_HEIGHT * std::min(model->rowCount(), 10)}; } void BinaryView::highlight(const Signal *sig) { @@ -124,13 +129,20 @@ void BinaryView::leaveEvent(QEvent *event) { } void BinaryView::setMessage(const QString &message_id) { - model->setMessage(message_id); + model->msg_id = message_id; + verticalScrollBar()->setValue(0); + refresh(); +} + +void BinaryView::refresh() { + if (model->msg_id.isEmpty()) return; + clearSelection(); anchor_index = QModelIndex(); resize_sig = nullptr; hovered_sig = nullptr; highlightPosition(QCursor::pos()); - updateState(); + model->refresh(); } QSet BinaryView::getOverlappingSignals() const { @@ -155,9 +167,8 @@ std::tuple BinaryView::getSelection(QModelIndex index) { // BinaryViewModel -void BinaryViewModel::setMessage(const QString &message_id) { +void BinaryViewModel::refresh() { beginResetModel(); - msg_id = message_id; items.clear(); if ((dbc_msg = dbc()->msg(msg_id))) { row_count = dbc_msg->size; @@ -184,6 +195,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { items.resize(row_count * column_count); } endResetModel(); + updateState(); } void BinaryViewModel::updateState() { @@ -200,7 +212,7 @@ void BinaryViewModel::updateState() { } char hex[3] = {'\0'}; for (int i = 0; i < binary.size(); ++i) { - for (int j = 0; j < column_count - 1; ++j) { + for (int j = 0; j < 8; ++j) { items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; } hex[0] = toHex(binary[i] >> 4); @@ -214,7 +226,7 @@ void BinaryViewModel::updateState() { } } - for (int i = 0; i < row_count * column_count; ++i) { + for (int i = 0; i < items.size(); ++i) { if (i >= prev_items.size() || prev_items[i].val != items[i].val || prev_items[i].bg_color != items[i].bg_color) { auto idx = index(i / column_count, i % column_count); emit dataChanged(idx, idx); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 55de71572e..f697ea28cb 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -21,7 +21,7 @@ public: class BinaryViewModel : public QAbstractTableModel { public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} - void setMessage(const QString &message_id); + void refresh(); void updateState(); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } @@ -39,12 +39,11 @@ public: QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base); bool is_msb = false; bool is_lsb = false; - QString val = "0"; + QString val = "-"; QList sigs; }; std::vector items; -private: QString msg_id; const DBCMsg *dbc_msg = nullptr; int row_count = 0; @@ -69,6 +68,7 @@ signals: void resizeSignal(const Signal *sig, int from, int size); private: + void refresh(); std::tuple getSelection(QModelIndex index); void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override; void mousePressEvent(QMouseEvent *event) override; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e653860c3d..580cce5521 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -374,7 +374,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) { void ChartView::removeSeries(const QString &msg_id, const Signal *sig) { auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); if (it != sigs.end()) { - it = removeSeries(it); + it = removeItem(it); } } @@ -382,7 +382,7 @@ bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const { return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } -QList::iterator ChartView::removeSeries(const QList::iterator &it) { +QList::iterator ChartView::removeItem(const QList::iterator &it) { chart()->removeSeries(it->series); it->series->deleteLater(); QString msg_id = it->msg_id; @@ -407,7 +407,7 @@ void ChartView::signalUpdated(const Signal *sig) { void ChartView::signalRemoved(const Signal *sig) { for (auto it = sigs.begin(); it != sigs.end(); /**/) { - it = (it->sig == sig) ? removeSeries(it) : ++it; + it = (it->sig == sig) ? removeItem(it) : ++it; } } @@ -418,7 +418,7 @@ void ChartView::msgUpdated(uint32_t address) { void ChartView::msgRemoved(uint32_t address) { for (auto it = sigs.begin(); it != sigs.end(); /**/) { - it = (it->address == address) ? removeSeries(it) : ++it; + it = (it->address == address) ? removeItem(it) : ++it; } } @@ -450,7 +450,7 @@ void ChartView::manageSeries() { bool exists = std::any_of(series_list.cbegin(), series_list.cend(), [&](auto &s) { return s[0] == it->msg_id && s[2] == it->sig->name.c_str(); }); - it = exists ? ++it : removeSeries(it); + it = exists ? ++it : removeItem(it); } } } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 229b1e9cbe..d5572756c1 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -57,7 +57,7 @@ private slots: void manageSeries(); private: - QList::iterator removeSeries(const QList::iterator &it); + QList::iterator removeItem(const QList::iterator &it); void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index b3f5cb1c66..e4bf999062 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -1,3 +1,5 @@ +#include + #include "tools/cabana/commands.h" // EditMsgCommand @@ -73,3 +75,12 @@ EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name.c_str(), old_signal); } void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name.c_str(), new_signal); } + +namespace UndoStack { + +QUndoStack *instance() { + static QUndoStack *undo_stack = new QUndoStack(qApp); + return undo_stack; +} + +} // namespace UndoStack diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index e46223d630..c07a00b760 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include "tools/cabana/dbcmanager.h" @@ -60,3 +61,8 @@ private: Signal old_signal = {}; Signal new_signal = {}; }; + +namespace UndoStack { + QUndoStack *instance(); + inline void push(QUndoCommand *cmd) { instance()->push(cmd); } +}; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 01bdff17a1..83f5fdb74a 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -68,7 +68,7 @@ void DBCManager::addSignal(const QString &id, const Signal &sig) { if (auto m = const_cast(msg(id))) { auto &s = m->sigs[sig.name.c_str()]; s = sig; - emit signalAdded(&s); + emit signalAdded(parseId(id).second, &s); } } @@ -110,6 +110,7 @@ DBCManager *dbc() { std::vector DBCMsg::getSignals() const { std::vector ret; + ret.reserve(sigs.size()); for (auto &[_, sig] : sigs) ret.push_back(&sig); std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); return ret; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 5db6737be8..03bd16f2a5 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -8,7 +8,9 @@ struct DBCMsg { QString name; uint32_t size; + // signal must be saved as value in map to make undo stack work properly. std::map sigs; + // return vector, sort by start_bits std::vector getSignals() const; }; @@ -39,7 +41,7 @@ public: } signals: - void signalAdded(const Signal *sig); + void signalAdded(uint32_t address, const Signal *sig); void signalRemoved(const Signal *sig); void signalUpdated(const Signal *sig); void msgUpdated(uint32_t address); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index ef8a8f6290..5e127966c1 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -4,8 +4,7 @@ #include #include #include -#include -#include +#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/commands.h" @@ -15,7 +14,6 @@ // DetailWidget DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { - undo_stack = new QUndoStack(this); QWidget *main_widget = new QWidget(this); QVBoxLayout *main_layout = new QVBoxLayout(main_widget); main_layout->setContentsMargins(0, 0, 0, 0); @@ -29,7 +27,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart main_layout->addWidget(tabbar); // message title - toolbar = new QToolBar(this); + QToolBar *toolbar = new QToolBar(this); toolbar->setIconSize({16, 16}); toolbar->addWidget(new QLabel("time:")); time_label = new QLabel(this); @@ -54,41 +52,35 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart main_layout->addWidget(warning_widget); // msg widget - QWidget *msg_widget = new QWidget(this); - QVBoxLayout *msg_layout = new QVBoxLayout(msg_widget); - msg_layout->setContentsMargins(0, 0, 0, 0); - // binary view - binary_view = new BinaryView(this); - msg_layout->addWidget(binary_view); - // signals - signals_layout = new QVBoxLayout(); - signals_layout->setSpacing(0); - msg_layout->addLayout(signals_layout); - msg_layout->addStretch(0); - - scroll = new QScrollArea(this); - scroll->setFrameShape(QFrame::NoFrame); - scroll->setWidget(msg_widget); - scroll->setWidgetResizable(true); - scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + splitter = new QSplitter(Qt::Vertical, this); + splitter->setAutoFillBackground(true); + splitter->addWidget(binary_view = new BinaryView(this)); + splitter->addWidget(signal_view = new SignalView(charts, this)); + binary_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); + signal_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); + splitter->setStretchFactor(0, 0); + splitter->setStretchFactor(1, 1); tab_widget = new QTabWidget(this); tab_widget->setTabPosition(QTabWidget::South); - tab_widget->addTab(scroll, bootstrapPixmap("file-earmark-ruled"), "&Msg"); - history_log = new LogsWidget(this); - tab_widget->addTab(history_log, bootstrapPixmap("stopwatch"), "&Logs"); + tab_widget->addTab(splitter, bootstrapPixmap("file-earmark-ruled"), "&Msg"); + tab_widget->addTab(history_log = new LogsWidget(this), bootstrapPixmap("stopwatch"), "&Logs"); main_layout->addWidget(tab_widget); stacked_layout = new QStackedLayout(this); stacked_layout->addWidget(new WelcomeWidget(this)); stacked_layout->addWidget(main_widget); - QObject::connect(binary_view, &BinaryView::signalClicked, this, &DetailWidget::showForm); - QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); - QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); + QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal); + QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); + QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); + QObject::connect(binary_view, &BinaryView::signalClicked, signal_view, &SignalView::expandSignal); + QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart); + QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight); QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); }); QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::refresh); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { if (index != -1 && tabbar->tabText(index) != msg_id) { @@ -96,14 +88,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart } }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); - QObject::connect(charts, &ChartsWidget::seriesChanged, this, &DetailWidget::updateChartState); - QObject::connect(history_log, &LogsWidget::openChart, [this](const QString &id, const Signal *sig) { - this->charts->showChart(id, sig, true, false); - }); - QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() { - if (undo_stack->count() > 0) - dbcMsgChanged(); - }); + QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState); } void DetailWidget::showTabBarContextMenu(const QPoint &pt) { @@ -128,41 +113,27 @@ void DetailWidget::setMessage(const QString &message_id) { index = tabbar->addTab(message_id); tabbar->setTabToolTip(index, msgName(message_id)); } - tabbar->setCurrentIndex(index); - dbcMsgChanged(); - scroll->verticalScrollBar()->setValue(0); - stacked_layout->setCurrentIndex(1); -} - -void DetailWidget::dbcMsgChanged(int show_form_idx) { - if (msg_id.isEmpty()) return; setUpdatesEnabled(false); + signal_view->setMessage(msg_id); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); - int i = 0; + stacked_layout->setCurrentIndex(1); + tabbar->setCurrentIndex(index); + refresh(); + splitter->setSizes({1, 2}); + + setUpdatesEnabled(true); +} + +void DetailWidget::refresh() { + if (msg_id.isEmpty()) return; + QStringList warnings; const DBCMsg *msg = dbc()->msg(msg_id); if (msg) { - for (auto sig : msg->getSignals()) { - SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; - if (!form) { - form = new SignalEdit(i, this); - QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); - QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); - QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); - QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); - QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); - QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart); - signals_layout->addWidget(form); - signal_list.push_back(form); - } - form->setSignal(msg_id, sig); - form->setChartOpened(charts->hasSignal(msg_id, sig)); - ++i; - } if (msg->size != can->lastMessage(msg_id).dat.size()) { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } @@ -172,10 +143,6 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { } else { warnings.push_back(tr("Drag-Select in binary view to create new signal.")); } - for (/**/; i < signal_list.size(); ++i) - signal_list[i]->hide(); - - toolbar->setVisible(!msg_id.isEmpty()); remove_msg_act->setEnabled(msg != nullptr); name_label->setText(msgName(msg_id)); @@ -184,10 +151,9 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { warning_icon->setPixmap(bootstrapPixmap(msg ? "exclamation-triangle" : "info-circle")); } warning_widget->setVisible(!warnings.isEmpty()); - setUpdatesEnabled(true); } -void DetailWidget::updateState(const QHash * msgs) { +void DetailWidget::updateState(const QHash *msgs) { time_label->setText(QString::number(can->currentSec(), 'f', 3)); if (msg_id.isEmpty() || (msgs && !msgs->contains(msg_id))) return; @@ -198,86 +164,18 @@ void DetailWidget::updateState(const QHash * msgs) { history_log->updateState(); } -void DetailWidget::showForm(const Signal *sig) { - setUpdatesEnabled(false); - for (auto f : signal_list) { - f->updateForm(f->sig == sig && !f->form->isVisible()); - if (f->sig == sig && f->form->isVisible()) { - QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); }); - } - } - setUpdatesEnabled(true); -} - -void DetailWidget::updateChartState() { - for (auto f : signal_list) - f->setChartOpened(charts->hasSignal(f->msg_id, f->sig)); -} - void DetailWidget::editMsg() { QString id = msg_id; auto msg = dbc()->msg(id); int size = msg ? msg->size : can->lastMessage(id).dat.size(); EditMessageDialog dlg(id, msgName(id), size, this); if (dlg.exec()) { - undo_stack->push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); } } void DetailWidget::removeMsg() { - undo_stack->push(new RemoveMsgCommand(msg_id)); -} - -void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { - auto msg = dbc()->msg(msg_id); - if (!msg) { - for (int i = 1; /**/; ++i) { - QString name = QString("NEW_MSG_%1").arg(i); - auto it = std::find_if(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; }); - if (it == dbc()->messages().end()) { - undo_stack->push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); - msg = dbc()->msg(msg_id); - break; - } - } - } - Signal sig = {.is_little_endian = little_endian, .factor = 1}; - for (int i = 1; /**/; ++i) { - sig.name = "NEW_SIGNAL_" + std::to_string(i); - if (msg->sigs.count(sig.name.c_str()) == 0) break; - } - updateSigSizeParamsFromRange(sig, start_bit, size); - undo_stack->push(new AddSigCommand(msg_id, sig)); -} - -void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) { - Signal s = *sig; - updateSigSizeParamsFromRange(s, start_bit, size); - saveSignal(sig, s); -} - -void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { - auto msg = dbc()->msg(msg_id); - if (new_sig.name != sig->name) { - auto it = msg->sigs.find(new_sig.name.c_str()); - if (it != msg->sigs.end()) { - QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str()); - QMessageBox::warning(this, tr("Failed to save signal"), warning_str); - return; - } - } - auto [start, end] = getSignalRange(&new_sig); - if (start < 0 || end >= msg->size * 8) { - QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size); - QMessageBox::warning(this, tr("Failed to save signal"), warning_str); - return; - } - - undo_stack->push(new EditSignalCommand(msg_id, sig, new_sig)); -} - -void DetailWidget::removeSignal(const Signal *sig) { - undo_stack->push(new RemoveSigCommand(msg_id, sig)); + UndoStack::push(new RemoveMsgCommand(msg_id)); } // EditMessageDialog diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index c59a6fca50..3a3f3adf0e 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,10 +1,9 @@ #pragma once +#include #include -#include #include #include -#include #include "tools/cabana/binaryview.h" #include "tools/cabana/chartswidget.h" @@ -30,18 +29,11 @@ class DetailWidget : public QWidget { public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); - void dbcMsgChanged(int show_form_idx = -1); + void refresh(); QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } - QUndoStack *undo_stack = nullptr; private: - void showForm(const Signal *sig); - void updateChartState(); void showTabBarContextMenu(const QPoint &pt); - void addSignal(int start_bit, int size, bool little_endian); - void resizeSignal(const Signal *sig, int from, int to); - void saveSignal(const Signal *sig, const Signal &new_sig); - void removeSignal(const Signal *sig); void editMsg(); void removeMsg(); void updateState(const QHash * msgs = nullptr); @@ -49,15 +41,13 @@ private: QString msg_id; QLabel *name_label, *time_label, *warning_icon, *warning_label; QWidget *warning_widget; - QVBoxLayout *signals_layout; QTabBar *tabbar; QTabWidget *tab_widget; - QToolBar *toolbar; QAction *remove_msg_act; LogsWidget *history_log; BinaryView *binary_view; - QScrollArea *scroll; + SignalView *signal_view; ChartsWidget *charts; + QSplitter *splitter; QStackedLayout *stacked_layout; - QList signal_list; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 44f3a63b95..830390f4a8 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -4,6 +4,8 @@ #include #include +#include "tools/cabana/commands.h" + // HistoryLogModel QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { @@ -22,17 +24,16 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { void HistoryLogModel::setMessage(const QString &message_id) { msg_id = message_id; - sigs.clear(); - if (auto dbc_msg = dbc()->msg(msg_id)) { - sigs = dbc_msg->getSignals(); - } - filter_cmp = nullptr; - refresh(); } void HistoryLogModel::refresh() { beginResetModel(); + sigs.clear(); + if (auto dbc_msg = dbc()->msg(msg_id)) { + sigs = dbc_msg->getSignals(); + } last_fetch_time = 0; + has_more_data = true; messages.clear(); hex_colors.clear(); updateState(); @@ -74,7 +75,6 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function filter_sig_idx = sig_idx; filter_value = value.toDouble(); filter_cmp = value.isEmpty() ? nullptr : cmp; - refresh(); } void HistoryLogModel::updateState() { @@ -232,11 +232,21 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter); QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &LogsWidget::refresh); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &LogsWidget::refresh); QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged); } void LogsWidget::setMessage(const QString &message_id) { model->setMessage(message_id); + refresh(); +} + +void LogsWidget::refresh() { + if (model->msg_id.isEmpty()) return; + + model->setFilter(0, "", nullptr); + model->refresh(); bool has_signal = model->sigs.size(); if (has_signal) { signals_cb->clear(); @@ -260,4 +270,5 @@ void LogsWidget::setFilter() { case 3: cmp = std::less{}; break; } model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); + model->refresh(); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index c1a2c13769..bc2e0e3914 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -75,13 +75,12 @@ public: void updateState() {if (dynamic_mode->isChecked()) model->updateState(); } void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); } -signals: - void openChart(const QString &msg_id, const Signal *sig); - private slots: void setFilter(); private: + void refresh(); + QTableView *logs; HistoryLogModel *model; QCheckBox *dynamic_mode; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d875d079fa..3c2d46cbf2 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -14,6 +14,8 @@ #include #include +#include "tools/cabana/commands.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; @@ -59,7 +61,7 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); - QObject::connect(detail_widget->undo_stack, &QUndoStack::cleanChanged, [this](bool clean) { setWindowModified(!clean); }); + QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); } void MainWindow::createActions() { @@ -98,16 +100,16 @@ void MainWindow::createActions() { file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit); QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); - auto undo_act = detail_widget->undo_stack->createUndoAction(this, tr("&Undo")); + auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo")); undo_act->setShortcuts(QKeySequence::Undo); edit_menu->addAction(undo_act); - auto redo_act = detail_widget->undo_stack->createRedoAction(this, tr("&Rndo")); + auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Rndo")); redo_act->setShortcuts(QKeySequence::Redo); edit_menu->addAction(redo_act); edit_menu->addSeparator(); QMenu *commands_menu = edit_menu->addMenu(tr("Command &List")); - auto undo_view = new QUndoView(detail_widget->undo_stack); + auto undo_view = new QUndoView(UndoStack::instance()); undo_view->setWindowTitle(tr("Command List")); QWidgetAction *commands_act = new QWidgetAction(this); commands_act->setDefaultWidget(undo_view); @@ -174,8 +176,12 @@ void MainWindow::createShortcuts() { // TODO: add more shortcuts here. } +void MainWindow::undoStackCleanChanged(bool clean) { + setWindowModified(!clean); +} + void MainWindow::DBCFileChanged() { - detail_widget->undo_stack->clear(); + UndoStack::instance()->clear(); setWindowFilePath(QString("%1").arg(dbc()->name())); } @@ -262,7 +268,7 @@ void MainWindow::saveFile(const QString &fn) { QFile file(fn); if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); - detail_widget->undo_stack->setClean(); + UndoStack::instance()->setClean(); setCurrentFile(fn); statusBar()->showMessage(tr("File saved"), 2000); } @@ -309,7 +315,7 @@ void MainWindow::updateRecentFileActions() { void MainWindow::remindSaveChanges() { bool discard_changes = false; - while (!detail_widget->undo_stack->isClean() && !discard_changes) { + while (!UndoStack::instance()->isClean() && !discard_changes) { int ret = (QMessageBox::question(this, tr("Unsaved Changes"), tr("You have unsaved changes. Press ok to save them, cancel to discard."), QMessageBox::Ok | QMessageBox::Cancel)); @@ -319,7 +325,7 @@ void MainWindow::remindSaveChanges() { discard_changes = true; } } - detail_widget->undo_stack->clear(); + UndoStack::instance()->clear(); current_file = ""; } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 0c207528c9..ba36d676e0 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -52,6 +52,7 @@ protected: void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); void findSimilarBits(); + void undoStackCleanChanged(bool clean); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 52ce74ae08..ceb7b7ba3f 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,174 +1,194 @@ #include "tools/cabana/signaledit.h" -#include -#include #include #include +#include +#include +#include +#include #include +#include "tools/cabana/commands.h" + #include "selfdrive/ui/qt/util.h" -// SignalForm +// SignalModel -SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { - auto double_validator = new QDoubleValidator(this); - double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system - - QVBoxLayout *main_layout = new QVBoxLayout(this); - QFormLayout *form_layout = new QFormLayout(); - main_layout->addLayout(form_layout); - - name = new QLineEdit(); - name->setValidator(new NameValidator(name)); - form_layout->addRow(tr("Name"), name); - - QHBoxLayout *hl = new QHBoxLayout(this); - size = new QSpinBox(); - size->setMinimum(1); - hl->addWidget(size); - endianness = new QComboBox(); - endianness->addItems({"Little Endianness", "Big Endianness"}); - hl->addWidget(endianness); - sign = new QComboBox(); - sign->addItems({"Signed", "Unsigned"}); - hl->addWidget(sign); - form_layout->addRow(tr("Size"), hl); - - offset = new QLineEdit(); - offset->setValidator(double_validator); - form_layout->addRow(tr("Offset"), offset); - factor = new QLineEdit(); - factor->setValidator(double_validator); - form_layout->addRow(tr("Factor"), factor); - - expand_btn = new QToolButton(this); - expand_btn->setText(tr("more...")); - main_layout->addWidget(expand_btn, 0, Qt::AlignRight); - - // TODO: parse the following parameters in opendbc - QWidget *extra_container = new QWidget(this); - QFormLayout *extra_layout = new QFormLayout(extra_container); - unit = new QLineEdit(); - extra_layout->addRow(tr("Unit"), unit); - comment = new QLineEdit(); - extra_layout->addRow(tr("Comment"), comment); - min_val = new QLineEdit(); - min_val->setValidator(double_validator); - extra_layout->addRow(tr("Minimum value"), min_val); - max_val = new QLineEdit(); - max_val->setValidator(double_validator); - extra_layout->addRow(tr("Maximum value"), max_val); - val_desc = new QLineEdit(); - extra_layout->addRow(tr("Value descriptions"), val_desc); - - main_layout->addWidget(extra_container); - extra_container->setVisible(false); - - QObject::connect(name, &QLineEdit::editingFinished, this, &SignalForm::textBoxEditingFinished); - QObject::connect(factor, &QLineEdit::editingFinished, this, &SignalForm::textBoxEditingFinished); - QObject::connect(offset, &QLineEdit::editingFinished, this, &SignalForm::textBoxEditingFinished); - QObject::connect(size, &QSpinBox::editingFinished, this, &SignalForm::changed); - QObject::connect(sign, SIGNAL(activated(int)), SIGNAL(changed())); - QObject::connect(endianness, SIGNAL(activated(int)), SIGNAL(changed())); - QObject::connect(expand_btn, &QToolButton::clicked, [=]() { - extra_container->setVisible(!extra_container->isVisible()); - expand_btn->setText(extra_container->isVisible() ? tr("less...") : tr("more...")); - }); +SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) { + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh); + QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged); + QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged); + QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated); + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved); + QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); } -void SignalForm::textBoxEditingFinished() { - QLineEdit *edit = qobject_cast(QObject::sender()); - if (edit && edit->isModified()) { - edit->setModified(false); - emit changed(); +void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) { + Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name.c_str(), .type = Item::Sig}; + parent_item->children.insert(pos, item); + QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum", "Maximum", "Description"}; + for (int i = 0; i < std::size(titles); ++i) { + item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}); } } -// SignalEdit - -SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - main_layout->setSpacing(0); - - bg_color = QColor(getColor(form_idx)); - - // title bar - auto title_bar = new QWidget(this); - title_bar->setFixedHeight(32); - QHBoxLayout *title_layout = new QHBoxLayout(title_bar); - title_layout->setContentsMargins(0, 0, 0, 0); - title_bar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}"); - color_label = new QLabel(this); - color_label->setFixedWidth(25); - color_label->setContentsMargins(5, 0, 0, 0); - title_layout->addWidget(color_label); - icon = new QLabel(this); - title_layout->addWidget(icon); - title = new ElidedLabel(this); - title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - title_layout->addWidget(title); - - plot_btn = new QToolButton(this); - plot_btn->setIcon(bootstrapPixmap("graph-up")); - plot_btn->setCheckable(true); - plot_btn->setAutoRaise(true); - title_layout->addWidget(plot_btn); - auto remove_btn = new QToolButton(this); - remove_btn->setAutoRaise(true); - remove_btn->setIcon(bootstrapPixmap("x")); - remove_btn->setToolTip(tr("Remove signal")); - title_layout->addWidget(remove_btn); - main_layout->addWidget(title_bar); - - // signal form - form = new SignalForm(this); - form->setVisible(false); - main_layout->addWidget(form); - - // bottom line - QFrame *hline = new QFrame(); - hline->setFrameShape(QFrame::HLine); - hline->setFrameShadow(QFrame::Sunken); - main_layout->addWidget(hline); - - QObject::connect(title, &ElidedLabel::clicked, [this]() { emit showFormClicked(sig); }); - QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { - emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); - }); - QObject::connect(remove_btn, &QToolButton::clicked, [this]() { emit remove(sig); }); - QObject::connect(form, &SignalForm::changed, this, &SignalEdit::saveSignal); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); +void SignalModel::setMessage(const QString &id) { + msg_id = id; + filter_str = ""; + refresh(); + updateState(nullptr); } -void SignalEdit::setSignal(const QString &message_id, const Signal *signal) { - sig = signal; - updateForm(msg_id == message_id && form->isVisible()); - msg_id = message_id; - color_label->setText(QString::number(form_idx + 1)); - color_label->setStyleSheet(QString("color:black; background-color:%2").arg(bg_color.name())); - title->setText(sig->name.c_str()); - show(); +void SignalModel::setFilter(const QString &txt) { + filter_str = txt; + refresh(); } -void SignalEdit::saveSignal() { - Signal s = *sig; - s.name = form->name->text().toStdString(); - s.size = form->size->text().toInt(); - s.offset = form->offset->text().toDouble(); - s.factor = form->factor->text().toDouble(); - s.is_signed = form->sign->currentIndex() == 0; - bool little_endian = form->endianness->currentIndex() == 0; - if (little_endian != s.is_little_endian) { +void SignalModel::refresh() { + beginResetModel(); + root.reset(new SignalModel::Item); + if (auto msg = dbc()->msg(msg_id)) { + for (auto &s : msg->getSignals()) { + if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) { + insertItem(root.get(), root->children.size(), s); + } + } + } + endResetModel(); +} + +void SignalModel::updateState(const QHash *msgs) { + if (!msgs || (msgs->contains(msg_id))) { + auto &dat = can->lastMessage(msg_id).dat; + int row = 0; + for (auto item : root->children) { + double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig); + item->sig_val = QString::number(value); + emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); + ++row; + } + } +} + +int SignalModel::rowCount(const QModelIndex &parent) const { + if (parent.column() > 0) return 0; + + auto parent_item = getItem(parent); + int row_count = parent_item->children.size(); + if (parent_item->type == Item::Sig && !parent_item->extra_expanded) { + row_count -= (Item::Desc - Item::ExtraInfo); + } + return row_count; +} + +Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { + if (!index.isValid()) return Qt::NoItemFlags; + + auto item = getItem(index); + Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled; + if (index.column() == 1 && item->type != Item::Sig && item->type != Item::ExtraInfo) { + flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable; + } + return flags; +} + +int SignalModel::signalRow(const Signal *sig) const { + auto &children = root->children; + for (int i = 0; i < children.size(); ++i) { + if (children[i]->sig == sig) return i; + } + return -1; +} + +QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const { + if (!hasIndex(row, column, parent)) return {}; + return createIndex(row, column, getItem(parent)->children[row]); +} + +QModelIndex SignalModel::parent(const QModelIndex &index) const { + if (!index.isValid()) return {}; + Item *parent_item = getItem(index)->parent; + return parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); +} + +QVariant SignalModel::data(const QModelIndex &index, int role) const { + if (index.isValid()) { + const Item *item = getItem(index); + if (role == Qt::DisplayRole || role == Qt::EditRole) { + if (index.column() == 0) { + return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title; + } else { + switch (item->type) { + case Item::Sig: return item->sig_val; + case Item::Name: return QString::fromStdString(item->sig->name); + case Item::Size: return item->sig->size; + case Item::Offset: return QString::number(item->sig->offset, 'f', 6); + case Item::Factor: return QString::number(item->sig->factor, 'f', 6); + default: break; + } + } + } else if (role == Qt::CheckStateRole && index.column() == 1) { + if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked; + if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked; + } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) { + return bootstrapPixmap(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); + } + } + return {}; +} + +bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int role) { + if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; + + Item *item = getItem(index); + Signal s = *item->sig; + switch (item->type) { + case Item::Name: s.name = value.toString().toStdString(); break; + case Item::Size: s.size = value.toInt(); break; + case Item::Endian: s.is_little_endian = value.toBool(); break; + case Item::Signed: s.is_signed = value.toBool(); break; + case Item::Offset: s.offset = value.toDouble(); break; + case Item::Factor: s.factor = value.toDouble(); break; + default: return false; + } + bool ret = saveSignal(item->sig, s); + emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); + return ret; +} + +void SignalModel::showExtraInfo(const QModelIndex &index) { + auto item = getItem(index); + if (item->type == Item::ExtraInfo) { + if (!item->parent->extra_expanded) { + item->parent->extra_expanded = true; + beginInsertRows(index.parent(), 7, 13); + endInsertRows(); + } else { + item->parent->extra_expanded = false; + beginRemoveRows(index.parent(), 7, 13); + endRemoveRows(); + } + } +} + +bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { + auto msg = dbc()->msg(msg_id); + if (s.name != origin_s->name && msg->sigs.count(s.name.c_str()) != 0) { + QString text = tr("There is already a signal with the same name '%1'").arg(s.name.c_str()); + QMessageBox::warning(nullptr, tr("Failed to save signal"), text); + return false; + } + + if (s.is_little_endian != origin_s->is_little_endian) { int start = std::floor(s.start_bit / 8); - if (little_endian) { + if (s.is_little_endian) { int end = std::floor((s.start_bit - s.size + 1) / 8); s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit); } else { int end = std::floor((s.start_bit + s.size - 1) / 8); s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit); } - s.is_little_endian = little_endian; } if (s.is_little_endian) { s.lsb = s.start_bit; @@ -177,43 +197,254 @@ void SignalEdit::saveSignal() { s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); s.msb = s.start_bit; } - if (s != *sig) { - emit save(this->sig, s); - } + + UndoStack::push(new EditSignalCommand(msg_id, origin_s, s)); + return true; } -void SignalEdit::setChartOpened(bool opened) { - plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened chart")); - plot_btn->setChecked(opened); -} - -void SignalEdit::updateForm(bool visible) { - if (visible && sig) { - if (form->name->text() != sig->name.c_str()) { - form->name->setText(sig->name.c_str()); +void SignalModel::addSignal(int start_bit, int size, bool little_endian) { + auto msg = dbc()->msg(msg_id); + for (int i = 1; !msg; ++i) { + QString name = QString("NEW_MSG_%1").arg(i); + if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { + UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); + msg = dbc()->msg(msg_id); } - form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1); - form->sign->setCurrentIndex(sig->is_signed ? 0 : 1); - form->factor->setText(QString::number(sig->factor)); - form->offset->setText(QString::number(sig->offset)); - form->size->setValue(sig->size); } - form->setVisible(visible); - icon->setText(visible ? "▼ " : "> "); + + Signal sig = {.is_little_endian = little_endian, .factor = 1}; + for (int i = 1; /**/; ++i) { + sig.name = "NEW_SIGNAL_" + std::to_string(i); + if (msg->sigs.count(sig.name.c_str()) == 0) break; + } + updateSigSizeParamsFromRange(sig, start_bit, size); + UndoStack::push(new AddSigCommand(msg_id, sig)); } -void SignalEdit::signalHovered(const Signal *s) { - auto text_color = sig == s ? "white" : "black"; - auto _bg_color = sig == s ? bg_color.darker(125) : bg_color; // 4/5x brightness - color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(text_color).arg(_bg_color.name())); +void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) { + Signal s = *sig; + updateSigSizeParamsFromRange(s, start_bit, size); + saveSignal(sig, s); } -void SignalEdit::enterEvent(QEvent *event) { - emit highlight(sig); - QWidget::enterEvent(event); +void SignalModel::removeSignal(const Signal *sig) { + UndoStack::push(new RemoveSigCommand(msg_id, sig)); } -void SignalEdit::leaveEvent(QEvent *event) { - emit highlight(nullptr); - QWidget::leaveEvent(event); +void SignalModel::handleMsgChanged(uint32_t address) { + if (address == DBCManager::parseId(msg_id).second) { + refresh(); + } +} + +void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { + if (address == DBCManager::parseId(msg_id).second) { + int i = 0; + for (; i < root->children.size(); ++i) { + if (sig->start_bit < root->children[i]->sig->start_bit) break; + } + beginInsertRows({}, i, i); + insertItem(root.get(), i, sig); + endInsertRows(); + } +} + +void SignalModel::handleSignalUpdated(const Signal *sig) { + if (int row = signalRow(sig); row != -1) { + emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); + } +} + +void SignalModel::handleSignalRemoved(const Signal *sig) { + if (int row = signalRow(sig); row != -1) { + beginRemoveRows({}, row, row); + delete root->children.takeAt(row); + endRemoveRows(); + } +} + +// SignalItemDelegate + +SignalItemDelegate::SignalItemDelegate(QObject *parent) { + name_validator = new NameValidator(this); + double_validator = new QDoubleValidator(this); + double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system +} + +void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (SignalModel::Item *)index.internalPointer(); + if (item && !index.parent().isValid() && index.column() == 0) { + painter->save(); + painter->setRenderHint(QPainter::Antialiasing); + if (option.state & QStyle::State_Selected) { + painter->fillRect(option.rect, option.palette.highlight()); + } + + // color label + auto bg_color = QColor(getColor(item->row())); + QRect rc{option.rect.left() + 3, option.rect.top(), 22, option.rect.height()}; + painter->setPen(Qt::NoPen); + painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); + painter->drawRoundedRect(rc.adjusted(0, 2, 0, -2), 5, 5); + painter->setPen(item->highlight ? Qt::white : Qt::black); + painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1)); + + // signal name + QFont font; + font.setBold(true); + painter->setFont(font); + painter->setPen((option.state & QStyle::State_Selected ? option.palette.highlightedText() : option.palette.text()).color()); + painter->drawText(option.rect.adjusted(rc.width() + 9, 0, 0, 0), option.displayAlignment, index.data(Qt::DisplayRole).toString()); + painter->restore(); + } else { + QStyledItemDelegate::paint(painter, option, index); + } +} + +QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (SignalModel::Item *)index.internalPointer(); + if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || item->type == SignalModel::Item::Factor) { + QLineEdit *e = new QLineEdit(parent); + e->setFrame(false); + e->setValidator(index.row() == 0 ? name_validator : double_validator); + return e; + } else if (item->type == SignalModel::Item::Size) { + QSpinBox *spin = new QSpinBox(parent); + spin->setFrame(false); + spin->setRange(1, 64); + return spin; + } + return QStyledItemDelegate::createEditor(parent, option, index); +} + +// SignalView + +SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { + // title bar + QWidget *title_bar = new QWidget(this); + title_bar->setAutoFillBackground(true); + QHBoxLayout *hl = new QHBoxLayout(title_bar); + hl->addWidget(signal_count_lb = new QLabel()); + filter_edit = new QLineEdit(this); + filter_edit->setClearButtonEnabled(true); + filter_edit->setPlaceholderText(tr("filter signals by name")); + hl->addWidget(filter_edit); + hl->addStretch(1); + auto collapse_btn = new QToolButton(); + collapse_btn->setIcon(bootstrapPixmap("dash-square")); + collapse_btn->setIconSize({12, 12}); + collapse_btn->setAutoRaise(true); + collapse_btn->setToolTip(tr("Collapse All")); + hl->addWidget(collapse_btn); + + // tree view + tree = new QTreeView(this); + tree->setModel(model = new SignalModel(this)); + tree->setItemDelegate(new SignalItemDelegate(this)); + tree->setFrameShape(QFrame::NoFrame); + tree->setHeaderHidden(true); + tree->setMouseTracking(true); + tree->setExpandsOnDoubleClick(false); + tree->header()->setSectionResizeMode(QHeaderView::Stretch); + tree->setMinimumHeight(300); + tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); + main_layout->addWidget(title_bar); + main_layout->addWidget(tree); + + QObject::connect(filter_edit, &QLineEdit::textEdited, model, &SignalModel::setFilter); + QObject::connect(collapse_btn, &QPushButton::clicked, tree, &QTreeView::collapseAll); + QObject::connect(tree, &QAbstractItemView::clicked, this, &SignalView::rowClicked); + QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); }); + QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); }); + QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); + QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); + QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); }); +} + +void SignalView::setMessage(const QString &id) { + msg_id = id; + filter_edit->clear(); + model->setMessage(id); +} + +void SignalView::rowsChanged() { + auto create_btn = [](const QString &id, const QString &tooltip) { + auto btn = new QToolButton(); + btn->setIcon(bootstrapPixmap(id)); + btn->setToolTip(tooltip); + btn->setAutoRaise(true); + return btn; + }; + + signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); + + for (int i = 0; i < model->rowCount(); ++i) { + auto index = model->index(i, 1); + if (!tree->indexWidget(index)) { + QWidget *w = new QWidget(this); + QHBoxLayout *h = new QHBoxLayout(w); + h->setContentsMargins(0, 2, 0, 2); + h->addStretch(1); + + auto remove_btn = create_btn("x", tr("Remove signal")); + auto plot_btn = create_btn("graph-up", ""); + plot_btn->setCheckable(true); + h->addWidget(plot_btn); + h->addWidget(remove_btn); + + tree->setIndexWidget(index, w); + auto sig = model->getItem(index)->sig; + QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); }); + QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) { + emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); + }); + } + } + updateChartState(); +} + +void SignalView::rowClicked(const QModelIndex &index) { + auto item = model->getItem(index); + if (item->type == SignalModel::Item::Sig) { + auto sig_index = model->index(index.row(), 0, index.parent()); + tree->setExpanded(sig_index, !tree->isExpanded(sig_index)); + } else if (item->type == SignalModel::Item::ExtraInfo) { + model->showExtraInfo(index); + } +} + +void SignalView::expandSignal(const Signal *sig) { + if (int row = model->signalRow(sig); row != -1) { + auto idx = model->index(row, 0); + bool expand = !tree->isExpanded(idx); + tree->setExpanded(idx, expand); + tree->scrollTo(idx, QAbstractItemView::PositionAtTop); + if (expand) tree->setCurrentIndex(idx); + } +} + +void SignalView::updateChartState() { + int i = 0; + for (auto item : model->root->children) { + auto plot_btn = tree->indexWidget(model->index(i, 1))->findChildren()[0]; + bool chart_opened = charts->hasSignal(msg_id, item->sig); + plot_btn->setChecked(chart_opened); + plot_btn->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot")); + ++i; + } +} + +void SignalView::signalHovered(const Signal *sig) { + auto &children = model->root->children; + for (int i = 0; i < children.size(); ++i) { + bool highlight = children[i]->sig == sig; + if (std::exchange(children[i]->highlight, highlight) != highlight) { + emit model->dataChanged(model->index(i, 0), model->index(i, 0)); + } + } } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 90df3fd3f4..ae88a5b13a 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -1,59 +1,97 @@ #pragma once -#include +#include #include #include -#include -#include +#include +#include -#include "selfdrive/ui/qt/widgets/controls.h" +#include "tools/cabana/chartswidget.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -class SignalForm : public QWidget { +class SignalModel : public QAbstractItemModel { Q_OBJECT public: - SignalForm(QWidget *parent); - void textBoxEditingFinished(); + struct Item { + enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, ExtraInfo, Unit, Comment, Min, Max, Desc }; + ~Item() { qDeleteAll(children); } + inline int row() { return parent->children.indexOf(this); } - QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; - QSpinBox *size; - QComboBox *sign, *endianness; - QToolButton *expand_btn; + Type type = Type::Root; + Item *parent = nullptr; + QList children; -signals: - void changed(); + const Signal *sig = nullptr; + QString title; + bool highlight = false; + bool extra_expanded = false; + QString sig_val = "-"; + }; + + SignalModel(QObject *parent); + int rowCount(const QModelIndex &parent = QModelIndex()) const override; + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 2; } + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; + QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override; + QModelIndex parent(const QModelIndex &index) const override; + Qt::ItemFlags flags(const QModelIndex &index) const override; + bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override; + void setMessage(const QString &id); + void setFilter(const QString &txt); + void addSignal(int start_bit, int size, bool little_endian); + bool saveSignal(const Signal *origin_s, Signal &s); + void resizeSignal(const Signal *sig, int start_bit, int size); + void removeSignal(const Signal *sig); + inline Item *getItem(const QModelIndex &index) const { return index.isValid() ? (Item *)index.internalPointer() : root.get(); } + int signalRow(const Signal *sig) const; + void showExtraInfo(const QModelIndex &index); + +private: + void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig); + void handleSignalAdded(uint32_t address, const Signal *sig); + void handleSignalUpdated(const Signal *sig); + void handleSignalRemoved(const Signal *sig); + void handleMsgChanged(uint32_t address); + void refresh(); + void updateState(const QHash *msgs); + + QString msg_id; + QString filter_str; + std::unique_ptr root; + friend class SignalView; }; -class SignalEdit : public QWidget { +class SignalItemDelegate : public QStyledItemDelegate { +public: + SignalItemDelegate(QObject *parent); + void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QValidator *name_validator, *double_validator; +}; + +class SignalView : public QWidget { Q_OBJECT public: - SignalEdit(int index, QWidget *parent = nullptr); - void setSignal(const QString &msg_id, const Signal *sig); - void setChartOpened(bool opened); + SignalView(ChartsWidget *charts, QWidget *parent); + void setMessage(const QString &id); void signalHovered(const Signal *sig); - void updateForm(bool show); - const Signal *sig = nullptr; - SignalForm *form = nullptr; - QString msg_id; + void updateChartState(); + void expandSignal(const Signal *sig); + void rowClicked(const QModelIndex &index); + SignalModel *model = nullptr; signals: void highlight(const Signal *sig); void showChart(const QString &name, const Signal *sig, bool show, bool merge); - void remove(const Signal *sig); - void save(const Signal *sig, const Signal &new_sig); - void showFormClicked(const Signal *sig); -protected: - void enterEvent(QEvent *event) override; - void leaveEvent(QEvent *event) override; - void saveSignal(); +private: + void rowsChanged(); - ElidedLabel *title; - QLabel *color_label; - QLabel *icon; - int form_idx = 0; - QColor bg_color; - QToolButton *plot_btn; + QString msg_id; + QTreeView *tree; + QLineEdit *filter_edit; + ChartsWidget *charts; + QLabel *signal_count_lb; }; From 9822f1b0b46c5d63290e3ef8b3f103d7aba13bd9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 30 Jan 2023 11:20:52 +0800 Subject: [PATCH 10/75] cabana: fixed the column selector is always hidden if settings.chart_column_count is 1 (#27146) fix column selector --- tools/cabana/chartswidget.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 580cce5521..8dde735a57 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -229,7 +229,7 @@ void ChartsWidget::setColumnCount(int n) { } void ChartsWidget::updateLayout() { - int n = column_count; + int n = columns_cb->count(); for (; n > 1; --n) { if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break; } @@ -238,6 +238,7 @@ void ChartsWidget::updateLayout() { columns_lb_action->setVisible(show_column_cb); columns_cb_action->setVisible(show_column_cb); + n = std::min(column_count, n); for (int i = 0; i < charts.size(); ++i) { charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n); } From 078f06dbaff2d1af57f1294095cfbd9c6e357ce1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 31 Jan 2023 02:56:03 +0800 Subject: [PATCH 11/75] cabana: draw message bytes at the same width (#27150) --- tools/cabana/util.cc | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 726cbbe2a1..023e893e11 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -65,11 +65,6 @@ MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegat } void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - QList colors = index.data(Qt::UserRole).toList(); - if (colors.empty()) { - QStyledItemDelegate::paint(painter, option, index); - return; - } QStyleOptionViewItemV4 opt = option; initStyleOption(&opt, index); @@ -87,6 +82,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & int m = space.width() / 2; const QMargins margins(m, m, m, m); + QList colors = index.data(Qt::UserRole).toList(); int i = 0; for (auto &byte : opt.text.split(" ")) { if (i < colors.size()) { From afa85e0256a482f046fcb89495a06ef67b5d673f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 31 Jan 2023 02:57:16 +0800 Subject: [PATCH 12/75] cabana: remove the margins of the legend item (#27152) --- tools/cabana/chartswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 8dde735a57..378cc52bbb 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -305,6 +305,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { axis_y = new QValueAxis(this); chart->addAxis(axis_x, Qt::AlignBottom); chart->addAxis(axis_y, Qt::AlignLeft); + chart->legend()->layout()->setContentsMargins(0, 0, 40, 0); chart->legend()->setShowToolTips(true); chart->layout()->setContentsMargins(0, 0, 0, 0); chart->setMargins({20, 11, 11, 11}); From 3815afbde74b69ce1057ae0162364f19f5baee0a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 31 Jan 2023 02:57:35 +0800 Subject: [PATCH 13/75] cabana: small improvements to MessageListModel::setFilterString (#27153) --- tools/cabana/messageswidget.cc | 31 +++++++++++++------------------ 1 file changed, 13 insertions(+), 18 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index b7c3cd3401..0526ff141f 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -84,27 +84,22 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } void MessageListModel::setFilterString(const QString &string) { + auto contains = [](const QString &id, const QString &txt) { + auto cs = Qt::CaseInsensitive; + if (id.contains(txt, cs) || msgName(id).contains(txt, cs)) return true; + // Search by signal name + if (const auto msg = dbc()->msg(id)) { + for (auto &signal : msg->getSignals()) { + if (QString::fromStdString(signal->name).contains(txt, cs)) return true; + } + } + return false; + }; + filter_str = string; msgs.clear(); for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { - bool found = false; - - // Search by message id or name - if (it.key().contains(filter_str, Qt::CaseInsensitive) || msgName(it.key()).contains(filter_str, Qt::CaseInsensitive)) { - found = true; - } - - // Search by signal name - const DBCMsg *msg = dbc()->msg(it.key()); - if (msg != nullptr) { - for (auto &signal: msg->getSignals()) { - if (QString::fromStdString(signal->name).contains(filter_str, Qt::CaseInsensitive)) { - found = true; - } - } - } - - if (found) { + if (filter_str.isEmpty() || contains(it.key(), filter_str)) { msgs.push_back(it.key()); } } From fba4827a7b9c6441cf85799770503229a361667f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 31 Jan 2023 05:56:34 +0800 Subject: [PATCH 14/75] cabana: restrict the rubber band in plot area. (#27154) --- tools/cabana/chartswidget.cc | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 378cc52bbb..2edc89d857 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -656,7 +656,16 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { } else { QToolTip::hideText(); } + QChartView::mouseMoveEvent(ev); + if (is_zooming) { + QRect rubber_rect = rubber->geometry(); + rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left())); + rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right())); + if (rubber_rect != rubber->geometry()) { + rubber->setGeometry(rubber_rect); + } + } } void ChartView::dragMoveEvent(QDragMoveEvent *event) { From e2f5b164bd3dcffc5a11ef552f83296c34991949 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 30 Jan 2023 17:34:07 -0700 Subject: [PATCH 15/75] Ubloxd: glonass parsing tests (#27125) * add glonass kaitai parsing * add kaita generated files * remove glonass from build * add string non immediate type * fix kaitai bug * cleanUp * add patch file * fix scons order * make lookup const * remove comments * rename * add to release files * remove printf * add signs * add glonass parsing test * finish up glonass kaitai tests * move cereal back to master * ignore test_runner * sign is not two complement * address comments --------- Co-authored-by: Kurt Nistelberger --- .github/workflows/selfdrive_tests.yaml | 1 + release/files_common | 5 +- selfdrive/locationd/.gitignore | 1 + selfdrive/locationd/SConscript | 6 +- selfdrive/locationd/generated/glonass.cpp | 176 ++++++++- selfdrive/locationd/generated/glonass.h | 191 ++++++++-- selfdrive/locationd/glonass.ksy | 119 ++++-- selfdrive/locationd/glonass_fix.patch | 2 +- .../locationd/test/test_glonass_kaitai.cc | 360 ++++++++++++++++++ .../locationd/test/test_glonass_runner.cc | 2 + 10 files changed, 796 insertions(+), 67 deletions(-) create mode 100644 selfdrive/locationd/test/test_glonass_kaitai.cc create mode 100644 selfdrive/locationd/test/test_glonass_runner.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a4f7c68573..d5be221303 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -219,6 +219,7 @@ jobs: $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ + ./selfdrive/locationd/test/test_glonass_runner && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST system/hardware/tici && \ diff --git a/release/files_common b/release/files_common index 547bb58144..5b310d5c80 100644 --- a/release/files_common +++ b/release/files_common @@ -225,10 +225,7 @@ selfdrive/locationd/SConscript selfdrive/locationd/ubloxd.cc selfdrive/locationd/ublox_msg.cc selfdrive/locationd/ublox_msg.h -selfdrive/locationd/generated/ubx.cpp -selfdrive/locationd/generated/ubx.h -selfdrive/locationd/generated/gps.cpp -selfdrive/locationd/generated/gps.h +selfdrive/locationd/generated/* selfdrive/locationd/laikad.py selfdrive/locationd/locationd.h diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore index 5268902785..86a228a6ff 100644 --- a/selfdrive/locationd/.gitignore +++ b/selfdrive/locationd/.gitignore @@ -3,3 +3,4 @@ ubloxd_test params_learner paramsd locationd +test/test_glonass_runner diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 7024196efd..61a0ed7f42 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -13,7 +13,8 @@ if GetOption('kaitai'): patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') env.Depends(patch, glonass) -env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs) +glonass_obj = env.Object('generated/glonass.cpp') +env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] @@ -25,3 +26,6 @@ lenv.Depends(locationd, libkf) if File("liblocationd.cc").exists(): liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) lenv.Depends(liblocationd, libkf) + +if GetOption('test'): + env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp index 149134fbb5..cd0f96ab68 100644 --- a/selfdrive/locationd/generated/glonass.cpp +++ b/selfdrive/locationd/generated/glonass.cpp @@ -31,6 +31,10 @@ void glonass_t::_read() { m_data = new string_3_t(m__io, this, m__root); break; } + case 5: { + m_data = new string_5_t(m__io, this, m__root); + break; + } case 2: { m_data = new string_2_t(m__io, this, m__root); break; @@ -60,6 +64,8 @@ void glonass_t::_clean_up() { glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; + f_tau_n = false; + f_delta_tau_n = false; try { _read(); @@ -70,8 +76,10 @@ glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, } void glonass_t::string_4_t::_read() { - m_tau_n = m__io->read_bits_int_be(22); - m_delta_tau_n = m__io->read_bits_int_be(5); + m_tau_n_sign = m__io->read_bits_int_be(1); + m_tau_n_value = m__io->read_bits_int_be(21); + m_delta_tau_n_sign = m__io->read_bits_int_be(1); + m_delta_tau_n_value = m__io->read_bits_int_be(4); m_e_n = m__io->read_bits_int_be(5); m_not_used_1 = m__io->read_bits_int_be(14); m_p4 = m__io->read_bits_int_be(1); @@ -89,6 +97,22 @@ glonass_t::string_4_t::~string_4_t() { void glonass_t::string_4_t::_clean_up() { } +int32_t glonass_t::string_4_t::tau_n() { + if (f_tau_n) + return m_tau_n; + m_tau_n = ((tau_n_sign()) ? ((tau_n_value() * -1)) : (tau_n_value())); + f_tau_n = true; + return m_tau_n; +} + +int32_t glonass_t::string_4_t::delta_tau_n() { + if (f_delta_tau_n) + return m_delta_tau_n; + m_delta_tau_n = ((delta_tau_n_sign()) ? ((delta_tau_n_value() * -1)) : (delta_tau_n_value())); + f_delta_tau_n = true; + return m_delta_tau_n; +} + glonass_t::string_non_immediate_t::string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; @@ -113,9 +137,40 @@ glonass_t::string_non_immediate_t::~string_non_immediate_t() { void glonass_t::string_non_immediate_t::_clean_up() { } +glonass_t::string_5_t::string_5_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_5_t::_read() { + m_n_a = m__io->read_bits_int_be(11); + m_tau_c = m__io->read_bits_int_be(32); + m_not_used = m__io->read_bits_int_be(1); + m_n_4 = m__io->read_bits_int_be(5); + m_tau_gps = m__io->read_bits_int_be(22); + m_l_n = m__io->read_bits_int_be(1); +} + +glonass_t::string_5_t::~string_5_t() { + _clean_up(); +} + +void glonass_t::string_5_t::_clean_up() { +} + glonass_t::string_1_t::string_1_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; + f_x_vel = false; + f_x_accel = false; + f_x = false; try { _read(); @@ -129,9 +184,12 @@ void glonass_t::string_1_t::_read() { m_not_used = m__io->read_bits_int_be(2); m_p1 = m__io->read_bits_int_be(2); m_t_k = m__io->read_bits_int_be(12); - m_x_vel = m__io->read_bits_int_be(24); - m_x_speedup = m__io->read_bits_int_be(5); - m_x = m__io->read_bits_int_be(27); + m_x_vel_sign = m__io->read_bits_int_be(1); + m_x_vel_value = m__io->read_bits_int_be(23); + m_x_accel_sign = m__io->read_bits_int_be(1); + m_x_accel_value = m__io->read_bits_int_be(4); + m_x_sign = m__io->read_bits_int_be(1); + m_x_value = m__io->read_bits_int_be(26); } glonass_t::string_1_t::~string_1_t() { @@ -141,9 +199,36 @@ glonass_t::string_1_t::~string_1_t() { void glonass_t::string_1_t::_clean_up() { } +int32_t glonass_t::string_1_t::x_vel() { + if (f_x_vel) + return m_x_vel; + m_x_vel = ((x_vel_sign()) ? ((x_vel_value() * -1)) : (x_vel_value())); + f_x_vel = true; + return m_x_vel; +} + +int32_t glonass_t::string_1_t::x_accel() { + if (f_x_accel) + return m_x_accel; + m_x_accel = ((x_accel_sign()) ? ((x_accel_value() * -1)) : (x_accel_value())); + f_x_accel = true; + return m_x_accel; +} + +int32_t glonass_t::string_1_t::x() { + if (f_x) + return m_x; + m_x = ((x_sign()) ? ((x_value() * -1)) : (x_value())); + f_x = true; + return m_x; +} + glonass_t::string_2_t::string_2_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; + f_y_vel = false; + f_y_accel = false; + f_y = false; try { _read(); @@ -158,9 +243,12 @@ void glonass_t::string_2_t::_read() { m_p2 = m__io->read_bits_int_be(1); m_t_b = m__io->read_bits_int_be(7); m_not_used = m__io->read_bits_int_be(5); - m_y_vel = m__io->read_bits_int_be(24); - m_y_speedup = m__io->read_bits_int_be(5); - m_y = m__io->read_bits_int_be(27); + m_y_vel_sign = m__io->read_bits_int_be(1); + m_y_vel_value = m__io->read_bits_int_be(23); + m_y_accel_sign = m__io->read_bits_int_be(1); + m_y_accel_value = m__io->read_bits_int_be(4); + m_y_sign = m__io->read_bits_int_be(1); + m_y_value = m__io->read_bits_int_be(26); } glonass_t::string_2_t::~string_2_t() { @@ -170,9 +258,37 @@ glonass_t::string_2_t::~string_2_t() { void glonass_t::string_2_t::_clean_up() { } +int32_t glonass_t::string_2_t::y_vel() { + if (f_y_vel) + return m_y_vel; + m_y_vel = ((y_vel_sign()) ? ((y_vel_value() * -1)) : (y_vel_value())); + f_y_vel = true; + return m_y_vel; +} + +int32_t glonass_t::string_2_t::y_accel() { + if (f_y_accel) + return m_y_accel; + m_y_accel = ((y_accel_sign()) ? ((y_accel_value() * -1)) : (y_accel_value())); + f_y_accel = true; + return m_y_accel; +} + +int32_t glonass_t::string_2_t::y() { + if (f_y) + return m_y; + m_y = ((y_sign()) ? ((y_value() * -1)) : (y_value())); + f_y = true; + return m_y; +} + glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; + f_gamma_n = false; + f_z_vel = false; + f_z_accel = false; + f_z = false; try { _read(); @@ -184,13 +300,17 @@ glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, void glonass_t::string_3_t::_read() { m_p3 = m__io->read_bits_int_be(1); - m_gamma_n = m__io->read_bits_int_be(11); + m_gamma_n_sign = m__io->read_bits_int_be(1); + m_gamma_n_value = m__io->read_bits_int_be(10); m_not_used = m__io->read_bits_int_be(1); m_p = m__io->read_bits_int_be(2); m_l_n = m__io->read_bits_int_be(1); - m_z_vel = m__io->read_bits_int_be(24); - m_z_speedup = m__io->read_bits_int_be(5); - m_z = m__io->read_bits_int_be(27); + m_z_vel_sign = m__io->read_bits_int_be(1); + m_z_vel_value = m__io->read_bits_int_be(23); + m_z_accel_sign = m__io->read_bits_int_be(1); + m_z_accel_value = m__io->read_bits_int_be(4); + m_z_sign = m__io->read_bits_int_be(1); + m_z_value = m__io->read_bits_int_be(26); } glonass_t::string_3_t::~string_3_t() { @@ -199,3 +319,35 @@ glonass_t::string_3_t::~string_3_t() { void glonass_t::string_3_t::_clean_up() { } + +int32_t glonass_t::string_3_t::gamma_n() { + if (f_gamma_n) + return m_gamma_n; + m_gamma_n = ((gamma_n_sign()) ? ((gamma_n_value() * -1)) : (gamma_n_value())); + f_gamma_n = true; + return m_gamma_n; +} + +int32_t glonass_t::string_3_t::z_vel() { + if (f_z_vel) + return m_z_vel; + m_z_vel = ((z_vel_sign()) ? ((z_vel_value() * -1)) : (z_vel_value())); + f_z_vel = true; + return m_z_vel; +} + +int32_t glonass_t::string_3_t::z_accel() { + if (f_z_accel) + return m_z_accel; + m_z_accel = ((z_accel_sign()) ? ((z_accel_value() * -1)) : (z_accel_value())); + f_z_accel = true; + return m_z_accel; +} + +int32_t glonass_t::string_3_t::z() { + if (f_z) + return m_z; + m_z = ((z_sign()) ? ((z_value() * -1)) : (z_value())); + f_z = true; + return m_z; +} diff --git a/selfdrive/locationd/generated/glonass.h b/selfdrive/locationd/generated/glonass.h index 48bdabfe96..19867ba22b 100644 --- a/selfdrive/locationd/generated/glonass.h +++ b/selfdrive/locationd/generated/glonass.h @@ -15,6 +15,7 @@ class glonass_t : public kaitai::kstruct { public: class string_4_t; class string_non_immediate_t; + class string_5_t; class string_1_t; class string_2_t; class string_3_t; @@ -42,8 +43,24 @@ public: ~string_4_t(); private: - uint64_t m_tau_n; - uint64_t m_delta_tau_n; + bool f_tau_n; + int32_t m_tau_n; + + public: + int32_t tau_n(); + + private: + bool f_delta_tau_n; + int32_t m_delta_tau_n; + + public: + int32_t delta_tau_n(); + + private: + bool m_tau_n_sign; + uint64_t m_tau_n_value; + bool m_delta_tau_n_sign; + uint64_t m_delta_tau_n_value; uint64_t m_e_n; uint64_t m_not_used_1; bool m_p4; @@ -56,8 +73,10 @@ public: glonass_t* m__parent; public: - uint64_t tau_n() const { return m_tau_n; } - uint64_t delta_tau_n() const { return m_delta_tau_n; } + bool tau_n_sign() const { return m_tau_n_sign; } + uint64_t tau_n_value() const { return m_tau_n_value; } + bool delta_tau_n_sign() const { return m_delta_tau_n_sign; } + uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; } uint64_t e_n() const { return m_e_n; } uint64_t not_used_1() const { return m_not_used_1; } bool p4() const { return m_p4; } @@ -96,6 +115,40 @@ public: glonass_t* _parent() const { return m__parent; } }; + class string_5_t : public kaitai::kstruct { + + public: + + string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_5_t(); + + private: + uint64_t m_n_a; + uint64_t m_tau_c; + bool m_not_used; + uint64_t m_n_4; + uint64_t m_tau_gps; + bool m_l_n; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t n_a() const { return m_n_a; } + uint64_t tau_c() const { return m_tau_c; } + bool not_used() const { return m_not_used; } + uint64_t n_4() const { return m_n_4; } + uint64_t tau_gps() const { return m_tau_gps; } + bool l_n() const { return m_l_n; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + class string_1_t : public kaitai::kstruct { public: @@ -109,13 +162,37 @@ public: public: ~string_1_t(); + private: + bool f_x_vel; + int32_t m_x_vel; + + public: + int32_t x_vel(); + + private: + bool f_x_accel; + int32_t m_x_accel; + + public: + int32_t x_accel(); + + private: + bool f_x; + int32_t m_x; + + public: + int32_t x(); + private: uint64_t m_not_used; uint64_t m_p1; uint64_t m_t_k; - uint64_t m_x_vel; - uint64_t m_x_speedup; - uint64_t m_x; + bool m_x_vel_sign; + uint64_t m_x_vel_value; + bool m_x_accel_sign; + uint64_t m_x_accel_value; + bool m_x_sign; + uint64_t m_x_value; glonass_t* m__root; glonass_t* m__parent; @@ -123,9 +200,12 @@ public: uint64_t not_used() const { return m_not_used; } uint64_t p1() const { return m_p1; } uint64_t t_k() const { return m_t_k; } - uint64_t x_vel() const { return m_x_vel; } - uint64_t x_speedup() const { return m_x_speedup; } - uint64_t x() const { return m_x; } + bool x_vel_sign() const { return m_x_vel_sign; } + uint64_t x_vel_value() const { return m_x_vel_value; } + bool x_accel_sign() const { return m_x_accel_sign; } + uint64_t x_accel_value() const { return m_x_accel_value; } + bool x_sign() const { return m_x_sign; } + uint64_t x_value() const { return m_x_value; } glonass_t* _root() const { return m__root; } glonass_t* _parent() const { return m__parent; } }; @@ -143,14 +223,38 @@ public: public: ~string_2_t(); + private: + bool f_y_vel; + int32_t m_y_vel; + + public: + int32_t y_vel(); + + private: + bool f_y_accel; + int32_t m_y_accel; + + public: + int32_t y_accel(); + + private: + bool f_y; + int32_t m_y; + + public: + int32_t y(); + private: uint64_t m_b_n; bool m_p2; uint64_t m_t_b; uint64_t m_not_used; - uint64_t m_y_vel; - uint64_t m_y_speedup; - uint64_t m_y; + bool m_y_vel_sign; + uint64_t m_y_vel_value; + bool m_y_accel_sign; + uint64_t m_y_accel_value; + bool m_y_sign; + uint64_t m_y_value; glonass_t* m__root; glonass_t* m__parent; @@ -159,9 +263,12 @@ public: bool p2() const { return m_p2; } uint64_t t_b() const { return m_t_b; } uint64_t not_used() const { return m_not_used; } - uint64_t y_vel() const { return m_y_vel; } - uint64_t y_speedup() const { return m_y_speedup; } - uint64_t y() const { return m_y; } + bool y_vel_sign() const { return m_y_vel_sign; } + uint64_t y_vel_value() const { return m_y_vel_value; } + bool y_accel_sign() const { return m_y_accel_sign; } + uint64_t y_accel_value() const { return m_y_accel_value; } + bool y_sign() const { return m_y_sign; } + uint64_t y_value() const { return m_y_value; } glonass_t* _root() const { return m__root; } glonass_t* _parent() const { return m__parent; } }; @@ -179,27 +286,63 @@ public: public: ~string_3_t(); + private: + bool f_gamma_n; + int32_t m_gamma_n; + + public: + int32_t gamma_n(); + + private: + bool f_z_vel; + int32_t m_z_vel; + + public: + int32_t z_vel(); + + private: + bool f_z_accel; + int32_t m_z_accel; + + public: + int32_t z_accel(); + + private: + bool f_z; + int32_t m_z; + + public: + int32_t z(); + private: bool m_p3; - uint64_t m_gamma_n; + bool m_gamma_n_sign; + uint64_t m_gamma_n_value; bool m_not_used; uint64_t m_p; bool m_l_n; - uint64_t m_z_vel; - uint64_t m_z_speedup; - uint64_t m_z; + bool m_z_vel_sign; + uint64_t m_z_vel_value; + bool m_z_accel_sign; + uint64_t m_z_accel_value; + bool m_z_sign; + uint64_t m_z_value; glonass_t* m__root; glonass_t* m__parent; public: bool p3() const { return m_p3; } - uint64_t gamma_n() const { return m_gamma_n; } + bool gamma_n_sign() const { return m_gamma_n_sign; } + uint64_t gamma_n_value() const { return m_gamma_n_value; } bool not_used() const { return m_not_used; } uint64_t p() const { return m_p; } bool l_n() const { return m_l_n; } - uint64_t z_vel() const { return m_z_vel; } - uint64_t z_speedup() const { return m_z_speedup; } - uint64_t z() const { return m_z; } + bool z_vel_sign() const { return m_z_vel_sign; } + uint64_t z_vel_value() const { return m_z_vel_value; } + bool z_accel_sign() const { return m_z_accel_sign; } + uint64_t z_accel_value() const { return m_z_accel_value; } + bool z_sign() const { return m_z_sign; } + uint64_t z_value() const { return m_z_value; } glonass_t* _root() const { return m__root; } glonass_t* _parent() const { return m__parent; } }; diff --git a/selfdrive/locationd/glonass.ksy b/selfdrive/locationd/glonass.ksy index 95ca78c16f..be99f6e497 100644 --- a/selfdrive/locationd/glonass.ksy +++ b/selfdrive/locationd/glonass.ksy @@ -1,4 +1,6 @@ # http://gauss.gge.unb.ca/GLONASS.ICD.pdf +# some variables are misprinted but good in the old doc +# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf meta: id: glonass endian: be @@ -16,6 +18,7 @@ seq: 2: string_2 3: string_3 4: string_4 + 5: string_5 _: string_non_immediate - id: hamming_code type: b8 @@ -37,12 +40,25 @@ types: type: b2 - id: t_k type: b12 - - id: x_vel - type: b24 - - id: x_speedup - type: b5 - - id: x - type: b27 + - id: x_vel_sign + type: b1 + - id: x_vel_value + type: b23 + - id: x_accel_sign + type: b1 + - id: x_accel_value + type: b4 + - id: x_sign + type: b1 + - id: x_value + type: b26 + instances: + x_vel: + value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value' + x_accel: + value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value' + x: + value: 'x_sign ? (x_value * (-1)) : x_value' string_2: seq: - id: b_n @@ -53,36 +69,70 @@ types: type: b7 - id: not_used type: b5 - - id: y_vel - type: b24 - - id: y_speedup - type: b5 - - id: y - type: b27 + - id: y_vel_sign + type: b1 + - id: y_vel_value + type: b23 + - id: y_accel_sign + type: b1 + - id: y_accel_value + type: b4 + - id: y_sign + type: b1 + - id: y_value + type: b26 + instances: + y_vel: + value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value' + y_accel: + value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value' + y: + value: 'y_sign ? (y_value * (-1)) : y_value' string_3: seq: - id: p3 type: b1 - - id: gamma_n - type: b11 + - id: gamma_n_sign + type: b1 + - id: gamma_n_value + type: b10 - id: not_used type: b1 - id: p type: b2 - id: l_n type: b1 - - id: z_vel - type: b24 - - id: z_speedup - type: b5 - - id: z - type: b27 + - id: z_vel_sign + type: b1 + - id: z_vel_value + type: b23 + - id: z_accel_sign + type: b1 + - id: z_accel_value + type: b4 + - id: z_sign + type: b1 + - id: z_value + type: b26 + instances: + gamma_n: + value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value' + z_vel: + value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value' + z_accel: + value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value' + z: + value: 'z_sign ? (z_value * (-1)) : z_value' string_4: seq: - - id: tau_n - type: b22 - - id: delta_tau_n - type: b5 + - id: tau_n_sign + type: b1 + - id: tau_n_value + type: b21 + - id: delta_tau_n_sign + type: b1 + - id: delta_tau_n_value + type: b4 - id: e_n type: b5 - id: not_used_1 @@ -99,9 +149,28 @@ types: type: b5 - id: m type: b2 + instances: + tau_n: + value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value' + delta_tau_n: + value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value' + string_5: + seq: + - id: n_a + type: b11 + - id: tau_c + type: b32 + - id: not_used + type: b1 + - id: n_4 + type: b5 + - id: tau_gps + type: b22 + - id: l_n + type: b1 string_non_immediate: seq: - id: data_1 type: b64 - id: data_2 - type: b8 \ No newline at end of file + type: b8 diff --git a/selfdrive/locationd/glonass_fix.patch b/selfdrive/locationd/glonass_fix.patch index 2f99e93637..fa34a8ef15 100644 --- a/selfdrive/locationd/glonass_fix.patch +++ b/selfdrive/locationd/glonass_fix.patch @@ -1,5 +1,5 @@ diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp -index 6a48fe62c..149134fbb 100644 +index 5b17bc327..b5c6aa610 100644 --- a/selfdrive/locationd/generated/glonass.cpp +++ b/selfdrive/locationd/generated/glonass.cpp @@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass diff --git a/selfdrive/locationd/test/test_glonass_kaitai.cc b/selfdrive/locationd/test/test_glonass_kaitai.cc new file mode 100644 index 0000000000..22f5202a3d --- /dev/null +++ b/selfdrive/locationd/test/test_glonass_kaitai.cc @@ -0,0 +1,360 @@ +#include +#include +#include +#include +#include +#include + +#include "catch2/catch.hpp" +#include "selfdrive/locationd/generated/glonass.h" + +typedef std::vector> string_data; + +#define IDLE_CHIP_IDX 0 +#define STRING_NUMBER_IDX 1 +// string data 1-5 +#define HC_IDX 0 +#define PAD1_IDX 1 +#define SUPERFRAME_IDX 2 +#define PAD2_IDX 3 +#define FRAME_IDX 4 + +// Indexes for string number 1 +#define ST1_NU_IDX 2 +#define ST1_P1_IDX 3 +#define ST1_T_K_IDX 4 +#define ST1_X_VEL_S_IDX 5 +#define ST1_X_VEL_V_IDX 6 +#define ST1_X_ACCEL_S_IDX 7 +#define ST1_X_ACCEL_V_IDX 8 +#define ST1_X_S_IDX 9 +#define ST1_X_V_IDX 10 +#define ST1_HC_OFF 11 + +// Indexes for string number 2 +#define ST2_BN_IDX 2 +#define ST2_P2_IDX 3 +#define ST2_TB_IDX 4 +#define ST2_NU_IDX 5 +#define ST2_Y_VEL_S_IDX 6 +#define ST2_Y_VEL_V_IDX 7 +#define ST2_Y_ACCEL_S_IDX 8 +#define ST2_Y_ACCEL_V_IDX 9 +#define ST2_Y_S_IDX 10 +#define ST2_Y_V_IDX 11 +#define ST2_HC_OFF 12 + +// Indexes for string number 3 +#define ST3_P3_IDX 2 +#define ST3_GAMMA_N_S_IDX 3 +#define ST3_GAMMA_N_V_IDX 4 +#define ST3_NU_1_IDX 5 +#define ST3_P_IDX 6 +#define ST3_L_N_IDX 7 +#define ST3_Z_VEL_S_IDX 8 +#define ST3_Z_VEL_V_IDX 9 +#define ST3_Z_ACCEL_S_IDX 10 +#define ST3_Z_ACCEL_V_IDX 11 +#define ST3_Z_S_IDX 12 +#define ST3_Z_V_IDX 13 +#define ST3_HC_OFF 14 + +// Indexes for string number 4 +#define ST4_TAU_N_S_IDX 2 +#define ST4_TAU_N_V_IDX 3 +#define ST4_DELTA_TAU_N_S_IDX 4 +#define ST4_DELTA_TAU_N_V_IDX 5 +#define ST4_E_N_IDX 6 +#define ST4_NU_1_IDX 7 +#define ST4_P4_IDX 8 +#define ST4_F_T_IDX 9 +#define ST4_NU_2_IDX 10 +#define ST4_N_T_IDX 11 +#define ST4_N_IDX 12 +#define ST4_M_IDX 13 +#define ST4_HC_OFF 14 + +// Indexes for string number 5 +#define ST5_N_A_IDX 2 +#define ST5_TAU_C_IDX 3 +#define ST5_NU_IDX 4 +#define ST5_N_4_IDX 5 +#define ST5_TAU_GPS_IDX 6 +#define ST5_L_N_IDX 7 +#define ST5_HC_OFF 8 + +// Indexes for non immediate +#define ST6_DATA_1_IDX 2 +#define ST6_DATA_2_IDX 3 +#define ST6_HC_OFF 4 + + +std::string generate_inp_data(string_data& data) { + std::string inp_data = ""; + for (auto& [b, v] : data) { + std::string tmp = std::bitset<64>(v).to_string(); + inp_data += tmp.substr(64-b, b); + } + assert(inp_data.size() == 128); + + std::string string_data; + string_data.reserve(16); + for (int i = 0; i < 128; i+=8) { + std::string substr = inp_data.substr(i, 8); + string_data.push_back( (uint8_t)std::stoi(substr.c_str(), 0, 2)); + } + + return string_data; +} + +string_data generate_string_data(uint8_t string_number) { + + srand((unsigned)time(0)); + string_data data; // + data.push_back({1, 0}); // idle chip + data.push_back({4, string_number}); // string number + + if (string_number == 1) { + data.push_back({2, 3}); // not_used + data.push_back({2, 1}); // p1 + data.push_back({12, 113}); // t_k + data.push_back({1, rand() & 1}); // x_vel_sign + data.push_back({23, 7122}); // x_vel_value + data.push_back({1, rand() & 1}); // x_accel_sign + data.push_back({4, 3}); // x_accel_value + data.push_back({1, rand() & 1}); // x_sign + data.push_back({26, 33554431}); // x_value + } else if (string_number == 2) { + data.push_back({3, 3}); // b_n + data.push_back({1, 1}); // p2 + data.push_back({7, 123}); // t_b + data.push_back({5, 31}); // not_used + data.push_back({1, rand() & 1}); // y_vel_sign + data.push_back({23, 7422}); // y_vel_value + data.push_back({1, rand() & 1}); // y_accel_sign + data.push_back({4, 3}); // y_accel_value + data.push_back({1, rand() & 1}); // y_sign + data.push_back({26, 67108863}); // y_value + } else if (string_number == 3) { + data.push_back({1, 0}); // p3 + data.push_back({1, 1}); // gamma_n_sign + data.push_back({10, 123}); // gamma_n_value + data.push_back({1, 0}); // not_used + data.push_back({2, 2}); // p + data.push_back({1, 1}); // l_n + data.push_back({1, rand() & 1}); // z_vel_sign + data.push_back({23, 1337}); // z_vel_value + data.push_back({1, rand() & 1}); // z_accel_sign + data.push_back({4, 9}); // z_accel_value + data.push_back({1, rand() & 1}); // z_sign + data.push_back({26, 100023}); // z_value + } else if (string_number == 4) { + data.push_back({1, rand() & 1}); // tau_n_sign + data.push_back({21, 197152}); // tau_n_value + data.push_back({1, rand() & 1}); // delta_tau_n_sign + data.push_back({4, 4}); // delta_tau_n_value + data.push_back({5, 0}); // e_n + data.push_back({14, 2}); // not_used_1 + data.push_back({1, 1}); // p4 + data.push_back({4, 9}); // f_t + data.push_back({3, 3}); // not_used_2 + data.push_back({11, 2047}); // n_t + data.push_back({5, 2}); // n + data.push_back({2, 1}); // m + } else if (string_number == 5) { + data.push_back({11, 2047}); // n_a + data.push_back({32, 4294767295}); // tau_c + data.push_back({1, 0}); // not_used_1 + data.push_back({5, 2}); // n_4 + data.push_back({22, 4114304}); // tau_gps + data.push_back({1, 0}); // l_n + } else { // non-immediate data is not parsed + data.push_back({64, rand()}); // data_1 + data.push_back({8, 6}); // data_2 + } + + data.push_back({8, rand() & 0xFF}); // hamming code + data.push_back({11, rand() & 0x7FF}); // pad + data.push_back({16, rand() & 0xFFFF}); // superframe + data.push_back({8, rand() & 0xFF}); // pad + data.push_back({8, rand() & 0xFF}); // frame + return data; +} + +TEST_CASE("parse_string_number_1"){ + string_data data = generate_string_data(1); + std::string inp_data = generate_inp_data(data); + + kaitai::kstream stream(inp_data); + glonass_t gl_string(&stream); + + REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); + REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); + REQUIRE(gl_string.hamming_code() == data[ST1_HC_OFF + HC_IDX].second); + REQUIRE(gl_string.pad_1() == data[ST1_HC_OFF + PAD1_IDX].second); + REQUIRE(gl_string.superframe_number() == data[ST1_HC_OFF + SUPERFRAME_IDX].second); + REQUIRE(gl_string.pad_2() == data[ST1_HC_OFF + PAD2_IDX].second); + REQUIRE(gl_string.frame_number() == data[ST1_HC_OFF + FRAME_IDX].second); + + kaitai::kstream str1(inp_data); + glonass_t str1_data(&str1); + glonass_t::string_1_t* s1 = static_cast(str1_data.data()); + + REQUIRE(s1->not_used() == data[ST1_NU_IDX].second); + REQUIRE(s1->p1() == data[ST1_P1_IDX].second); + REQUIRE(s1->t_k() == data[ST1_T_K_IDX].second); + + int mul = s1->x_vel_sign() ? (-1) : 1; + REQUIRE(s1->x_vel() == (data[ST1_X_VEL_V_IDX].second * mul)); + mul = s1->x_accel_sign() ? (-1) : 1; + REQUIRE(s1->x_accel() == (data[ST1_X_ACCEL_V_IDX].second * mul)); + mul = s1->x_sign() ? (-1) : 1; + REQUIRE(s1->x() == (data[ST1_X_V_IDX].second * mul)); +} + +TEST_CASE("parse_string_number_2"){ + string_data data = generate_string_data(2); + std::string inp_data = generate_inp_data(data); + + kaitai::kstream stream(inp_data); + glonass_t gl_string(&stream); + + REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); + REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); + REQUIRE(gl_string.hamming_code() == data[ST2_HC_OFF + HC_IDX].second); + REQUIRE(gl_string.pad_1() == data[ST2_HC_OFF + PAD1_IDX].second); + REQUIRE(gl_string.superframe_number() == data[ST2_HC_OFF + SUPERFRAME_IDX].second); + REQUIRE(gl_string.pad_2() == data[ST2_HC_OFF + PAD2_IDX].second); + REQUIRE(gl_string.frame_number() == data[ST2_HC_OFF + FRAME_IDX].second); + + kaitai::kstream str2(inp_data); + glonass_t str2_data(&str2); + glonass_t::string_2_t* s2 = static_cast(str2_data.data()); + + REQUIRE(s2->b_n() == data[ST2_BN_IDX].second); + REQUIRE(s2->not_used() == data[ST2_NU_IDX].second); + REQUIRE(s2->p2() == data[ST2_P2_IDX].second); + REQUIRE(s2->t_b() == data[ST2_TB_IDX].second); + int mul = s2->y_vel_sign() ? (-1) : 1; + REQUIRE(s2->y_vel() == (data[ST2_Y_VEL_V_IDX].second * mul)); + mul = s2->y_accel_sign() ? (-1) : 1; + REQUIRE(s2->y_accel() == (data[ST2_Y_ACCEL_V_IDX].second * mul)); + mul = s2->y_sign() ? (-1) : 1; + REQUIRE(s2->y() == (data[ST2_Y_V_IDX].second * mul)); +} + +TEST_CASE("parse_string_number_3"){ + string_data data = generate_string_data(3); + std::string inp_data = generate_inp_data(data); + + kaitai::kstream stream(inp_data); + glonass_t gl_string(&stream); + + REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); + REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); + REQUIRE(gl_string.hamming_code() == data[ST3_HC_OFF + HC_IDX].second); + REQUIRE(gl_string.pad_1() == data[ST3_HC_OFF + PAD1_IDX].second); + REQUIRE(gl_string.superframe_number() == data[ST3_HC_OFF + SUPERFRAME_IDX].second); + REQUIRE(gl_string.pad_2() == data[ST3_HC_OFF + PAD2_IDX].second); + REQUIRE(gl_string.frame_number() == data[ST3_HC_OFF + FRAME_IDX].second); + + kaitai::kstream str3(inp_data); + glonass_t str3_data(&str3); + glonass_t::string_3_t* s3 = static_cast(str3_data.data()); + + REQUIRE(s3->p3() == data[ST3_P3_IDX].second); + int mul = s3->gamma_n_sign() ? (-1) : 1; + REQUIRE(s3->gamma_n() == (data[ST3_GAMMA_N_V_IDX].second * mul)); + REQUIRE(s3->not_used() == data[ST3_NU_1_IDX].second); + REQUIRE(s3->p() == data[ST3_P_IDX].second); + REQUIRE(s3->l_n() == data[ST3_L_N_IDX].second); + mul = s3->z_vel_sign() ? (-1) : 1; + REQUIRE(s3->z_vel() == (data[ST3_Z_VEL_V_IDX].second * mul)); + mul = s3->z_accel_sign() ? (-1) : 1; + REQUIRE(s3->z_accel() == (data[ST3_Z_ACCEL_V_IDX].second * mul)); + mul = s3->z_sign() ? (-1) : 1; + REQUIRE(s3->z() == (data[ST3_Z_V_IDX].second * mul)); +} + +TEST_CASE("parse_string_number_4"){ + string_data data = generate_string_data(4); + std::string inp_data = generate_inp_data(data); + + kaitai::kstream stream(inp_data); + glonass_t gl_string(&stream); + + REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); + REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); + REQUIRE(gl_string.hamming_code() == data[ST4_HC_OFF + HC_IDX].second); + REQUIRE(gl_string.pad_1() == data[ST4_HC_OFF + PAD1_IDX].second); + REQUIRE(gl_string.superframe_number() == data[ST4_HC_OFF + SUPERFRAME_IDX].second); + REQUIRE(gl_string.pad_2() == data[ST4_HC_OFF + PAD2_IDX].second); + REQUIRE(gl_string.frame_number() == data[ST4_HC_OFF + FRAME_IDX].second); + + kaitai::kstream str4(inp_data); + glonass_t str4_data(&str4); + glonass_t::string_4_t* s4 = static_cast(str4_data.data()); + + int mul = s4->tau_n_sign() ? (-1) : 1; + REQUIRE(s4->tau_n() == (data[ST4_TAU_N_V_IDX].second * mul)); + mul = s4->delta_tau_n_sign() ? (-1) : 1; + REQUIRE(s4->delta_tau_n() == (data[ST4_DELTA_TAU_N_V_IDX].second * mul)); + REQUIRE(s4->e_n() == data[ST4_E_N_IDX].second); + REQUIRE(s4->not_used_1() == data[ST4_NU_1_IDX].second); + REQUIRE(s4->p4() == data[ST4_P4_IDX].second); + REQUIRE(s4->f_t() == data[ST4_F_T_IDX].second); + REQUIRE(s4->not_used_2() == data[ST4_NU_2_IDX].second); + REQUIRE(s4->n_t() == data[ST4_N_T_IDX].second); + REQUIRE(s4->n() == data[ST4_N_IDX].second); + REQUIRE(s4->m() == data[ST4_M_IDX].second); +} + +TEST_CASE("parse_string_number_5"){ + string_data data = generate_string_data(5); + std::string inp_data = generate_inp_data(data); + + kaitai::kstream stream(inp_data); + glonass_t gl_string(&stream); + + REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); + REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); + REQUIRE(gl_string.hamming_code() == data[ST5_HC_OFF + HC_IDX].second); + REQUIRE(gl_string.pad_1() == data[ST5_HC_OFF + PAD1_IDX].second); + REQUIRE(gl_string.superframe_number() == data[ST5_HC_OFF + SUPERFRAME_IDX].second); + REQUIRE(gl_string.pad_2() == data[ST5_HC_OFF + PAD2_IDX].second); + REQUIRE(gl_string.frame_number() == data[ST5_HC_OFF + FRAME_IDX].second); + + kaitai::kstream str5(inp_data); + glonass_t str5_data(&str5); + glonass_t::string_5_t* s5 = static_cast(str5_data.data()); + + REQUIRE(s5->n_a() == data[ST5_N_A_IDX].second); + REQUIRE(s5->tau_c() == data[ST5_TAU_C_IDX].second); + REQUIRE(s5->not_used() == data[ST5_NU_IDX].second); + REQUIRE(s5->n_4() == data[ST5_N_4_IDX].second); + REQUIRE(s5->tau_gps() == data[ST5_TAU_GPS_IDX].second); + REQUIRE(s5->l_n() == data[ST5_L_N_IDX].second); +} + +TEST_CASE("parse_string_number_NI"){ + string_data data = generate_string_data((rand() % 10) + 6); + std::string inp_data = generate_inp_data(data); + + kaitai::kstream stream(inp_data); + glonass_t gl_string(&stream); + + REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); + REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); + REQUIRE(gl_string.hamming_code() == data[ST6_HC_OFF + HC_IDX].second); + REQUIRE(gl_string.pad_1() == data[ST6_HC_OFF + PAD1_IDX].second); + REQUIRE(gl_string.superframe_number() == data[ST6_HC_OFF + SUPERFRAME_IDX].second); + REQUIRE(gl_string.pad_2() == data[ST6_HC_OFF + PAD2_IDX].second); + REQUIRE(gl_string.frame_number() == data[ST6_HC_OFF + FRAME_IDX].second); + + kaitai::kstream strni(inp_data); + glonass_t strni_data(&strni); + glonass_t::string_non_immediate_t* sni = static_cast(strni_data.data()); + + REQUIRE(sni->data_1() == data[ST6_DATA_1_IDX].second); + REQUIRE(sni->data_2() == data[ST6_DATA_2_IDX].second); +} diff --git a/selfdrive/locationd/test/test_glonass_runner.cc b/selfdrive/locationd/test/test_glonass_runner.cc new file mode 100644 index 0000000000..62bf7476a1 --- /dev/null +++ b/selfdrive/locationd/test/test_glonass_runner.cc @@ -0,0 +1,2 @@ +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" From 549e4d9636036af228d3d930d69e8dfd1f67dba6 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 30 Jan 2023 17:40:37 -0700 Subject: [PATCH 16/75] Ubloxd: move gps parsing to function (#27122) move ublox gps parsing to function Co-authored-by: Kurt Nistelberger --- selfdrive/locationd/ublox_msg.cc | 212 ++++++++++++++++--------------- selfdrive/locationd/ublox_msg.h | 2 + 2 files changed, 111 insertions(+), 103 deletions(-) diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 8bd9985170..4b31b0101e 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -147,125 +147,131 @@ kj::Array UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) { return capnp::messageToFlatArray(msg_builder); } - -kj::Array UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) { +kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg) { + // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes + // We will first need to separate the data from the padding and parity auto body = *msg->body(); + assert(body.size() == 10); - if (msg->gnss_id() == ubx_t::gnss_type_t::GNSS_TYPE_GPS) { - // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes - // We will first need to separate the data from the padding and parity - assert(body.size() == 10); + std::string subframe_data; + subframe_data.reserve(30); + for (uint32_t word : body) { + word = word >> 6; // TODO: Verify parity + subframe_data.push_back(word >> 16); + subframe_data.push_back(word >> 8); + subframe_data.push_back(word >> 0); + } - std::string subframe_data; - subframe_data.reserve(30); - for (uint32_t word : body) { - word = word >> 6; // TODO: Verify parity - subframe_data.push_back(word >> 16); - subframe_data.push_back(word >> 8); - subframe_data.push_back(word >> 0); + // Collect subframes in map and parse when we have all the parts + { + kaitai::kstream stream(subframe_data); + gps_t subframe(&stream); + int subframe_id = subframe.how()->subframe_id(); + int sv_id = msg->sv_id(); + uint64_t tow_counter = subframe.how()->tow_count(); + + bool clear_buffer = subframe_id == 1; + if (gps_sat_tow_count.count(sv_id) != 0) { + int64_t counter_diff = tow_counter - gps_sat_tow_count[sv_id]; + clear_buffer |= counter_diff != 1 && counter_diff != -100798; } + if (clear_buffer) gps_subframes[sv_id].clear(); - // Collect subframes in map and parse when we have all the parts + gps_subframes[sv_id][subframe_id] = subframe_data; + gps_sat_tow_count[sv_id] = tow_counter; + } + + if (gps_subframes[msg->sv_id()].size() == 5) { + MessageBuilder msg_builder; + auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris(); + eph.setSvId(msg->sv_id()); + + // Subframe 1 { - kaitai::kstream stream(subframe_data); + kaitai::kstream stream(gps_subframes[msg->sv_id()][1]); gps_t subframe(&stream); - int subframe_id = subframe.how()->subframe_id(); - int sv_id = msg->sv_id(); - uint64_t tow_counter = subframe.how()->tow_count(); + gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - bool clear_buffer = subframe_id == 1; - if (gps_sat_tow_count.count(sv_id) != 0) { - int64_t counter_diff = tow_counter - gps_sat_tow_count[sv_id]; - clear_buffer |= counter_diff != 1 && counter_diff != -100798; - } - if (clear_buffer) gps_subframes[sv_id].clear(); - - gps_subframes[sv_id][subframe_id] = subframe_data; - gps_sat_tow_count[sv_id] = tow_counter; + eph.setGpsWeek(subframe_1->week_no()); + eph.setTgd(subframe_1->t_gd() * pow(2, -31)); + eph.setToc(subframe_1->t_oc() * pow(2, 4)); + eph.setAf2(subframe_1->af_2() * pow(2, -55)); + eph.setAf1(subframe_1->af_1() * pow(2, -43)); + eph.setAf0(subframe_1->af_0() * pow(2, -31)); + eph.setSvHealth(subframe_1->sv_health()); } - if (gps_subframes[msg->sv_id()].size() == 5) { - MessageBuilder msg_builder; - auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris(); - eph.setSvId(msg->sv_id()); + // Subframe 2 + { + kaitai::kstream stream(gps_subframes[msg->sv_id()][2]); + gps_t subframe(&stream); + gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); - // Subframe 1 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][1]); - gps_t subframe(&stream); - gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - - eph.setGpsWeek(subframe_1->week_no()); - eph.setTgd(subframe_1->t_gd() * pow(2, -31)); - eph.setToc(subframe_1->t_oc() * pow(2, 4)); - eph.setAf2(subframe_1->af_2() * pow(2, -55)); - eph.setAf1(subframe_1->af_1() * pow(2, -43)); - eph.setAf0(subframe_1->af_0() * pow(2, -31)); - eph.setSvHealth(subframe_1->sv_health()); - } - - // Subframe 2 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][2]); - gps_t subframe(&stream); - gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); - - eph.setCrs(subframe_2->c_rs() * pow(2, -5)); - eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); - eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); - eph.setCuc(subframe_2->c_uc() * pow(2, -29)); - eph.setEcc(subframe_2->e() * pow(2, -33)); - eph.setCus(subframe_2->c_us() * pow(2, -29)); - eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0)); - eph.setToe(subframe_2->t_oe() * pow(2, 4)); - } - - // Subframe 3 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][3]); - gps_t subframe(&stream); - gps_t::subframe_3_t* subframe_3 = static_cast(subframe.body()); - - eph.setCic(subframe_3->c_ic() * pow(2, -29)); - eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi); - eph.setCis(subframe_3->c_is() * pow(2, -29)); - eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi); - eph.setCrc(subframe_3->c_rc() * pow(2, -5)); - eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi); - eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi); - eph.setIode(subframe_3->iode()); - eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi); - } - - // Subframe 4 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][4]); - gps_t subframe(&stream); - gps_t::subframe_4_t* subframe_4 = static_cast(subframe.body()); - - // This is page 18, why is the page id 56? - if (subframe_4->data_id() == 1 && subframe_4->page_id() == 56) { - auto iono = static_cast(subframe_4->body()); - double a0 = iono->a0() * pow(2, -30); - double a1 = iono->a1() * pow(2, -27); - double a2 = iono->a2() * pow(2, -24); - double a3 = iono->a3() * pow(2, -24); - eph.setIonoAlpha({a0, a1, a2, a3}); - - double b0 = iono->b0() * pow(2, 11); - double b1 = iono->b1() * pow(2, 14); - double b2 = iono->b2() * pow(2, 16); - double b3 = iono->b3() * pow(2, 16); - eph.setIonoBeta({b0, b1, b2, b3}); - } - } - - return capnp::messageToFlatArray(msg_builder); + eph.setCrs(subframe_2->c_rs() * pow(2, -5)); + eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); + eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); + eph.setCuc(subframe_2->c_uc() * pow(2, -29)); + eph.setEcc(subframe_2->e() * pow(2, -33)); + eph.setCus(subframe_2->c_us() * pow(2, -29)); + eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0)); + eph.setToe(subframe_2->t_oe() * pow(2, 4)); } + + // Subframe 3 + { + kaitai::kstream stream(gps_subframes[msg->sv_id()][3]); + gps_t subframe(&stream); + gps_t::subframe_3_t* subframe_3 = static_cast(subframe.body()); + + eph.setCic(subframe_3->c_ic() * pow(2, -29)); + eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi); + eph.setCis(subframe_3->c_is() * pow(2, -29)); + eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi); + eph.setCrc(subframe_3->c_rc() * pow(2, -5)); + eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi); + eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi); + eph.setIode(subframe_3->iode()); + eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi); + } + + // Subframe 4 + { + kaitai::kstream stream(gps_subframes[msg->sv_id()][4]); + gps_t subframe(&stream); + gps_t::subframe_4_t* subframe_4 = static_cast(subframe.body()); + + // This is page 18, why is the page id 56? + if (subframe_4->data_id() == 1 && subframe_4->page_id() == 56) { + auto iono = static_cast(subframe_4->body()); + double a0 = iono->a0() * pow(2, -30); + double a1 = iono->a1() * pow(2, -27); + double a2 = iono->a2() * pow(2, -24); + double a3 = iono->a3() * pow(2, -24); + eph.setIonoAlpha({a0, a1, a2, a3}); + + double b0 = iono->b0() * pow(2, 11); + double b1 = iono->b1() * pow(2, 14); + double b2 = iono->b2() * pow(2, 16); + double b3 = iono->b3() * pow(2, 16); + eph.setIonoBeta({b0, b1, b2, b3}); + } + } + + return capnp::messageToFlatArray(msg_builder); } return kj::Array(); } + +kj::Array UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) { + switch (msg->gnss_id()) { + case ubx_t::gnss_type_t::GNSS_TYPE_GPS: + return parse_gps_ephemeris(msg); + default: + return kj::Array(); + } +} + kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { MessageBuilder msg_builder; auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport(); diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h index 919e9963f1..736e6d5171 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/selfdrive/locationd/ublox_msg.h @@ -102,6 +102,8 @@ class UbloxMsgParser { inline bool valid(); inline bool valid_so_far(); + kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); + std::unordered_map> gps_subframes; std::unordered_map gps_sat_tow_count; From feba2f3fe566114325f8c9119540fb19cf401a4a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 30 Jan 2023 17:41:42 -0800 Subject: [PATCH 17/75] fix micd input device (#27160) * try no device * unused * move sounddevice import --- system/micd.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/system/micd.py b/system/micd.py index a56140e3b9..97ba0c262e 100755 --- a/system/micd.py +++ b/system/micd.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import sounddevice as sd import numpy as np from cereal import messaging @@ -84,11 +83,11 @@ class Mic: self.measurements = self.measurements[FFT_SAMPLES:] - def micd_thread(self, device=None): - if device is None: - device = "sysdefault" + def micd_thread(self): + # sounddevice must be imported after forking processes + import sounddevice as sd # pylint: disable=import-outside-toplevel - with sd.InputStream(device=device, channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: + with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") while True: self.update() From f3a9dac93e0d1a9058e94d60b48ae5a189841d6c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 31 Jan 2023 02:42:38 +0100 Subject: [PATCH 18/75] cabana: add --dbc command line argument (#27132) --- tools/cabana/cabana.cc | 7 +++++++ tools/cabana/mainwin.cc | 5 +++++ tools/cabana/mainwin.h | 2 +- 3 files changed, 13 insertions(+), 1 deletion(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index d9b6b5948b..e34e2d0205 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -24,6 +24,7 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.addOption({"no-vipc", "do not output video"}); + cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); cmd_parser.process(app); const QStringList args = cmd_parser.positionalArguments(); if (args.empty() && !cmd_parser.isSet("demo") && !cmd_parser.isSet("stream")) { @@ -57,6 +58,12 @@ int main(int argc, char *argv[]) { } MainWindow w; + + // Load DBC + if (cmd_parser.isSet("dbc")) { + w.loadFile(cmd_parser.value("dbc")); + } + w.show(); return app.exec(); } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 3c2d46cbf2..94cf9840f7 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -243,6 +243,11 @@ void MainWindow::loadDBCFromClipboard() { } void MainWindow::loadDBCFromFingerprint() { + // Don't overwrite already loaded DBC + if (!dbc()->name().isEmpty()) { + return; + } + remindSaveChanges(); auto fingerprint = can->carFingerprint(); video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index ba36d676e0..c26f6973c0 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -20,6 +20,7 @@ public: MainWindow(); void dockCharts(bool dock); void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } + void loadFile(const QString &fn); public slots: void newFile(); @@ -40,7 +41,6 @@ signals: protected: void remindSaveChanges(); void saveFile(const QString &fn); - void loadFile(const QString &fn); void setCurrentFile(const QString &fn); void updateRecentFileActions(); void createActions(); From ceceb1c6ccfec5a47b4a290ee6f81dc443ce79cc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 31 Jan 2023 11:23:36 +0800 Subject: [PATCH 19/75] replay: fix hang if started with a special segment and there is no INIT_DATA in events (#27107) * add events if allow or block is specified * add init_data --- tools/replay/replay.cc | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 998c93b938..5c90777bbc 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -25,6 +25,13 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s s.push_back(it.name); } } + + if (!allow_list.empty()) { + // the following events are needed for replay to work properly. + allow_list.insert(cereal::Event::Which::INIT_DATA); + allow_list.insert(cereal::Event::Which::CAR_PARAMS); + } + qDebug() << "services " << s; qDebug() << "loading route " << route; From ef9deeb6eba3823982dadd485a3676441320226b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 30 Jan 2023 22:37:54 -0800 Subject: [PATCH 20/75] Ford longitudinal control (#27161) ford long --- selfdrive/car/ford/carcontroller.py | 19 ++++++++++++++++++- selfdrive/car/ford/fordcan.py | 20 ++++++++++++++++++++ selfdrive/car/ford/values.py | 5 +++++ 3 files changed, 43 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 06da87bf34..cfff37f6d5 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,7 +2,8 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, create_lka_msg, create_lkas_ui_msg +from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ + create_lka_msg, create_lkas_ui_msg from selfdrive.car.ford.values import CANBUS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -55,6 +56,22 @@ class CarController: can_sends.append(create_lka_msg(self.packer)) can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + ### longitudinal control ### + # send acc command at 50Hz + if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + + precharge_brake = accel < -0.1 + if accel > -0.5: + gas = accel + decel = False + else: + gas = -5.0 + decel = True + + can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) + + ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 9ddde80f87..d9c37426f8 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -55,6 +55,26 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) +def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): + """ + Creates a CAN message for the Ford ACC Command. + + This command can be used to enable ACC, to set the ACC gas/brake/decel values + and to disable ACC. + + Frequency is 50Hz. + """ + + values = { + "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 + "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes + "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 + "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes + "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active + } + return packer.make_can_msg("ACCDATA", CANBUS.main, values) + + def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index b93be61448..7b075f1547 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -14,6 +14,8 @@ Ecu = car.CarParams.Ecu class CarControllerParams: # Messages: Lane_Assist_Data1, LateralMotionControl STEER_STEP = 5 + # Message: ACCDATA + ACC_CONTROL_STEP = 2 # Message: IPMA_Data LKAS_UI_STEP = 100 # Message: ACCDATA_3 @@ -29,6 +31,9 @@ class CarControllerParams: ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032]) + ACCEL_MAX = 2.0 # m/s^s max acceleration + ACCEL_MIN = -3.5 # m/s^s max deceleration + def __init__(self, CP): pass From 4c2f8edb7783f4b5797c02f1bdc2008fbaf4e0c7 Mon Sep 17 00:00:00 2001 From: Anthony Rose <20302208+Cx01N@users.noreply.github.com> Date: Tue, 31 Jan 2023 02:23:45 -0500 Subject: [PATCH 21/75] Add Hyundai Ioniq 5 Fingerprint (#27137) * added 2022 ioniq 5 fingerprint * removed extra eps field * fixed eps value * removed cornerradar * Apply suggestions from code review --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c0cf23b50d..4e3dd484c8 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1493,6 +1493,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', ], }, CAR.TUCSON_4TH_GEN: { From 09cd0b4900d8aff1c9484c8848c9b5f7ff269594 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 31 Jan 2023 01:09:36 -0800 Subject: [PATCH 22/75] GM camera ACC: reliable relay open init (#27163) Reliable relay open --- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/gm/carstate.py | 15 +++++++++++---- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b4a79d10a6..c5aae34249 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -63,7 +63,7 @@ class CarController: elif (self.frame - self.last_steer_frame) >= steer_step: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus if init_lka_counter: - self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1 + self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index de0fd2eed6..cf6d2817ec 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -18,7 +18,7 @@ class CarState(CarStateBase): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] self.loopback_lka_steering_cmd_updated = False - self.camera_lka_steering_cmd_counter = 0 + self.pt_lka_steering_cmd_counter = 0 self.buttons_counter = 0 def update(self, pt_cp, cam_cp, loopback_cp): @@ -33,7 +33,7 @@ class CarState(CarStateBase): # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 if self.CP.networkLocation == NetworkLocation.fwdCamera: - self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] + self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"], @@ -113,13 +113,11 @@ class CarState(CarStateBase): if CP.networkLocation == NetworkLocation.fwdCamera: signals += [ ("AEBCmdActive", "AEBCmd"), - ("RollingCounter", "ASCMLKASteeringCmd"), ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), ("ACCCruiseState", "ASCMActiveCruiseControlStatus"), ] checks += [ ("AEBCmd", 10), - ("ASCMLKASteeringCmd", 10), ("ASCMActiveCruiseControlStatus", 25), ] @@ -180,6 +178,15 @@ class CarState(CarStateBase): ("ECMAcceleratorPos", 80), ] + # Used to read back last counter sent to PT by camera + if CP.networkLocation == NetworkLocation.fwdCamera: + signals += [ + ("RollingCounter", "ASCMLKASteeringCmd"), + ] + checks += [ + ("ASCMLKASteeringCmd", 0), + ] + if CP.transmissionType == TransmissionType.direct: signals.append(("RegenPaddle", "EBCMRegenPaddle")) checks.append(("EBCMRegenPaddle", 50)) From f17bca00ba6919bae309f0c68bad11b0f6b18607 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 31 Jan 2023 17:17:21 +0100 Subject: [PATCH 23/75] panda.cc: fix possible heap overflow on wrong checksum (#27151) * panda.cc: fix possible heap overflow on wrong checksum * off by one --- selfdrive/boardd/panda.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 4bba070eee..647a0d9c78 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -236,6 +236,9 @@ void Panda::can_send(capnp::List::Reader can_data_list) { } bool Panda::can_receive(std::vector& out_vec) { + // Check if enough space left in buffer to store RECV_SIZE data + assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer)); + int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); if (!comms_healthy()) { return false; @@ -278,6 +281,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector Date: Tue, 31 Jan 2023 13:47:41 -0500 Subject: [PATCH 24/75] VW MQB: Add FW for 2016 SEAT Leon (#27168) --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index bdb43c542a..5f0913e880 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -942,16 +942,19 @@ FW_VERSIONS = { b'\xf1\x8704L906021EL\xf1\x897542', b'\xf1\x8704L906026BP\xf1\x891198', b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906056CR\xf1\x892797', b'\xf1\x8705E906018AS\xf1\x899596', b'\xf1\x878V0906264H \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041G \xf1\x891003', b'\xf1\x870CW300050J \xf1\x891908', b'\xf1\x870D9300042M \xf1\x895016', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200', + b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900', @@ -965,6 +968,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101', b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', ], }, From 5ce7572b46dcd2b32f11967cc559402eab2ab5ca Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 31 Jan 2023 14:00:10 -0500 Subject: [PATCH 25/75] VW MNB: Volkswagen Crafter Mk2 (#26006) * VW MNB: Volkswagen Crafter Mk2 * Crafter has a min steer speed :( * add to non_tested_cars for now * autogratitude * Revert "autogratitude" This reverts commit 8f19085bfa3424a8a75d7c95f32be8ecb010f8f4. * autogratitude * regen docs --- RELEASES.md | 1 + docs/CARS.md | 7 +++++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + selfdrive/car/volkswagen/interface.py | 5 +++++ selfdrive/car/volkswagen/values.py | 27 ++++++++++++++++++++++- 6 files changed, 40 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 1b5ef8f7a7..ddb4a036b0 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,7 @@ Version 0.9.1 (2022-12-XX) * Hyundai Tucson 2022-23 support * Kia Sorento 2022-23 support thanks to sunnyhaibin! * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607! Version 0.9.0 (2022-11-21) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 390d2bf349..3a102795c4 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 224 Supported Cars +# 229 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -135,6 +135,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| @@ -209,6 +211,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| @@ -217,6 +221,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index d1b73afcf6..bcdb00fd60 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -26,6 +26,7 @@ non_tested_cars = [ HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, + VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter ] CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index aeb2e6f280..56057dfae0 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -59,6 +59,7 @@ SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN +VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index da0ce25afa..b979a96d70 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -107,6 +107,11 @@ class CarInterface(CarInterfaceBase): ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 + elif candidate == CAR.CRAFTER_MK2: + ret.mass = 2100 + STD_CARGO_KG + ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference + ret.minSteerSpeed = 50 * CV.KPH_TO_MS + elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 5f0913e880..9f6dee2689 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -111,6 +111,7 @@ class CANBUS: class CAR: ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport + CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN" # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants @@ -122,7 +123,7 @@ class CAR: TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California - TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW VW T-Roc and variants + TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW T-Roc and variants AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only) AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants @@ -184,6 +185,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"), VWCarInfo("Volkswagen Teramont X 2021-22"), ], + CAR.CRAFTER_MK2: [ + VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), + ], CAR.GOLF_MK7: [ VWCarInfo("Volkswagen e-Golf 2014-20"), VWCarInfo("Volkswagen Golf 2015-20"), @@ -352,6 +360,23 @@ FW_VERSIONS = { b'\xf1\x875Q0907572P \xf1\x890682', ], }, + CAR.CRAFTER_MK2: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056EK\xf1\x896391', + ], + # Only current upstreamed vehicle has a manual transmission + #(Ecu.transmission, 0x7e1, None): [ + #], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572M \xf1\x890233', + ], + }, CAR.GOLF_MK7: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906016A \xf1\x897697', From df5ccda7315e7767465c61ebdee5e9cb30832bc9 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 31 Jan 2023 11:06:03 -0800 Subject: [PATCH 26/75] Ford CAN FD (#27166) * add LateralMotionControl2 message * send LatCtl2 message on CAN FD cars --- selfdrive/car/ford/carcontroller.py | 14 ++++++--- selfdrive/car/ford/fordcan.py | 44 ++++++++++++++++++++++++++++- selfdrive/car/ford/values.py | 5 +++- 3 files changed, 57 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index cfff37f6d5..00fb461223 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -3,8 +3,8 @@ from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ - create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANBUS, CarControllerParams + create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg +from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -54,7 +54,14 @@ class CarController: self.apply_curvature_last = apply_curvature can_sends.append(create_lka_msg(self.packer)) - can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + + if self.CP.carFingerprint in CANFD_CARS: + # TODO: extended mode + mode = 1 if CC.latActive else 0 + counter = self.frame // CarControllerParams.STEER_STEP + can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter)) + else: + can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) ### longitudinal control ### # send acc command at 50Hz @@ -71,7 +78,6 @@ class CarController: can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) - ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index d9c37426f8..594d50f59f 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -4,6 +4,15 @@ from selfdrive.car.ford.values import CANBUS HUDControl = car.CarControl.HUDControl +def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): + checksum = mode + counter + checksum += dat[2] + ((dat[3] & 0xE0) >> 5) # curvature + checksum += dat[6] + ((dat[7] & 0xE0) >> 5) # curvature rate + checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2) # path angle + checksum += (dat[4] & 0x3) + dat[5] # path offset + return 0xFF - (checksum & 0xFF) + + def create_lka_msg(packer): """ Creates an empty CAN message for the Ford LKA Command. @@ -16,7 +25,8 @@ def create_lka_msg(packer): return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) -def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): +def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, + curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. @@ -55,6 +65,38 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) +def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float, + curvature_rate: float, counter: int): + """ + Create a CAN message for the new Ford Lane Centering command. + + This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has + additional signals for a counter and checksum. + + Frequency is 20Hz. + """ + + values = { + "LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode, + # 3=SafeRampOut, 4-7=NotUsed [0|7] + "LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + "LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + "LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter + "LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians + "LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter + "LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2 + "HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1] + "LatCtlPath_No_Cnt": counter, # [0|15] + "LatCtlPath_No_Cs": 0, # [0|255] + } + + # calculate checksum + dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2] + values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) + + return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) + + def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): """ Creates a CAN message for the Ford ACC Command. diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 7b075f1547..4cabdb11e1 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,7 +1,7 @@ from collections import defaultdict from dataclasses import dataclass from enum import Enum -from typing import Dict, List, Union +from typing import Dict, List, Set, Union from cereal import car from selfdrive.car import AngleRateLimit, dbc_dict @@ -52,6 +52,9 @@ class CAR: MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" +CANFD_CARS: Set[str] = set() + + class RADAR: DELPHI_ESR = 'ford_fusion_2018_adas' DELPHI_MRR = 'FORD_CADS' From cf943940269ec1e400f820d869aabc45e1c472bb Mon Sep 17 00:00:00 2001 From: Sean Cox Date: Tue, 31 Jan 2023 15:02:05 -0500 Subject: [PATCH 27/75] Fix 2017 Genesis G80 car harness and shop link in docs (#27127) * Fix 2017 Genesis G80 car harness * Revert "Fix 2017 Genesis G80 car harness" This reverts commit 2d5a92b7f0972c7ab61b132dce6cfebe978781c9. * split and make G80 2017 have J harness * generate and change min enable speed * adjust min steer speed --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 5 +++-- selfdrive/car/hyundai/values.py | 5 ++++- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3a102795c4..f4ad4b75fa 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 229 Supported Cars +# 230 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -30,7 +30,8 @@ A supported vehicle is one that just works when you install a comma three. All s |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4e3dd484c8..691b52c936 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -232,7 +232,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h), + CAR.GENESIS_G80: [ + HyundaiCarInfo("Genesis G80 2017", "All", min_steer_speed=37 * CV.MPH_TO_MS, min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h), + ], CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), } From f1caecff727fe4d53edc131b30b7a31c1fb4736c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 31 Jan 2023 12:48:13 -0800 Subject: [PATCH 28/75] Genesis G80 2017: group with Hyundai Genesis (#27170) * Revert "Fix 2017 Genesis G80 car harness and shop link in docs (#27127)" This reverts commit cf943940269ec1e400f820d869aabc45e1c472bb. * The HGenesis became rebranded to G80 in 2017 (2018 model year). G80 2017 fingerprints as Hyundai Genesis, and we handle the min steer speed correctly https://en.wikipedia.org/wiki/Genesis_G80 https://en.wikipedia.org/wiki/Hyundai_Genesis * fix --- selfdrive/car/hyundai/values.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 691b52c936..1be612ad74 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -147,7 +147,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages + CAR.HYUNDAI_GENESIS: [ + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + ], CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), @@ -232,10 +235,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), - CAR.GENESIS_G80: [ - HyundaiCarInfo("Genesis G80 2017", "All", min_steer_speed=37 * CV.MPH_TO_MS, min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), - HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h), - ], + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h), CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), } From 49e955d321aff222665ac89b62d9de0b5d8395d2 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 31 Jan 2023 22:08:07 +0100 Subject: [PATCH 29/75] cabana: dynamically switch between OpenGL (#27167) * cabana: dynamically switch between OpenGL * put back todo * only switch when x axis changes --- tools/cabana/chartswidget.cc | 36 +++++++++++++++++++++++------------- 1 file changed, 23 insertions(+), 13 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 2edc89d857..923b6bbb59 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -358,11 +358,6 @@ void ChartView::setPlotAreaLeftPosition(int pos) { void ChartView::addSeries(const QString &msg_id, const Signal *sig) { QLineSeries *series = new QLineSeries(this); - // TODO: Due to a bug in CameraWidget the camera frames - // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed -#ifndef __APPLE__ - series->setUseOpenGL(true); -#endif chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); @@ -476,17 +471,32 @@ void ChartView::updatePlot(double cur, double min, double max) { if (min != axis_x->min() || max != axis_x->max()) { axis_x->setRange(min, max); updateAxisY(); - } - // Show points when zoomed in enough - for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto end = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + // Show points when zoomed in enough + for (auto &s : sigs) { + auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); + auto end = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); - int num_points = std::max(end - begin, 1); - int pixels_per_point = width() / num_points; + int num_points = std::max(end - begin, 1); + int pixels_per_point = width() / num_points; - s.series->setPointsVisible(pixels_per_point > 20); + s.series->setPointsVisible(pixels_per_point > 20); + + // TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs. +#ifndef __APPLE + // OpenGL mode lacks certain features (such as showing points), only use when drawing many points + bool use_opengl = pixels_per_point < 1; + s.series->setUseOpenGL(use_opengl); + + // Qt doesn't properly apply device pixel ratio in OpenGL mode + QApplication* application = static_cast(QApplication::instance()); + float scale = use_opengl ? application->devicePixelRatio() : 1.0; + + QPen pen = s.series->pen(); + pen.setWidth(2.0 * scale); + s.series->setPen(pen); +#endif + } } scene()->invalidate({}, QGraphicsScene::ForegroundLayer); From 0402e949270219bfbd964d38916ed52917090169 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 1 Feb 2023 05:45:57 +0800 Subject: [PATCH 30/75] cabana: render light or dark icon based on system theme (#27155) --- tools/cabana/chartswidget.cc | 14 ++++++-------- tools/cabana/detailwidget.cc | 11 +++++------ tools/cabana/signaledit.cc | 8 +++----- tools/cabana/util.cc | 17 +++++++++++++++++ tools/cabana/util.h | 4 ++++ tools/cabana/videowidget.cc | 4 +--- 6 files changed, 36 insertions(+), 22 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 923b6bbb59..47fc5dc03b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -13,8 +13,6 @@ #include #include -#include "selfdrive/ui/qt/util.h" - // ChartsWidget ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { @@ -24,7 +22,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QToolBar *toolbar = new QToolBar(tr("Charts"), this); toolbar->setIconSize({16, 16}); - QAction *new_plot_btn = toolbar->addAction(bootstrapPixmap("file-plus"), ""); + QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), ""); new_plot_btn->setToolTip(tr("New Plot")); toolbar->addWidget(title_label = new QLabel()); title_label->setContentsMargins(0, 0, 12, 0); @@ -46,9 +44,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { range_slider->setPageStep(60); // 1 min toolbar->addWidget(range_slider); - reset_zoom_btn = toolbar->addAction(bootstrapPixmap("zoom-out"), ""); + reset_zoom_btn = toolbar->addAction(utils::icon("zoom-out"), ""); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); - remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), ""); + remove_all_btn = toolbar->addAction(utils::icon("x"), ""); remove_all_btn->setToolTip(tr("Remove all charts")); dock_btn = toolbar->addAction(""); main_layout->addWidget(toolbar); @@ -170,7 +168,7 @@ void ChartsWidget::setMaxChartRange(int value) { void ChartsWidget::updateToolBar() { range_lb->setText(QString(" %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); title_label->setText(tr("Charts: %1").arg(charts.size())); - dock_btn->setIcon(bootstrapPixmap(docking ? "arrow-up-right" : "arrow-down-left")); + dock_btn->setIcon(utils::icon(docking ? "arrow-up-right" : "arrow-down-left")); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); remove_all_btn->setEnabled(!charts.isEmpty()); reset_zoom_btn->setEnabled(is_zoomed); @@ -311,7 +309,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { chart->setMargins({20, 11, 11, 11}); QToolButton *remove_btn = new QToolButton(); - remove_btn->setIcon(bootstrapPixmap("x")); + remove_btn->setIcon(utils::icon("x")); remove_btn->setAutoRaise(true); remove_btn->setToolTip(tr("Remove Chart")); close_btn_proxy = new QGraphicsProxyWidget(chart); @@ -319,7 +317,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { close_btn_proxy->setZValue(chart->zValue() + 11); QToolButton *manage_btn = new QToolButton(); - manage_btn->setIcon(bootstrapPixmap("gear")); + manage_btn->setIcon(utils::icon("gear")); manage_btn->setAutoRaise(true); manage_btn->setToolTip(tr("Manage series")); manage_btn_proxy = new QGraphicsProxyWidget(chart); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 5e127966c1..3af0fa9fc3 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -6,7 +6,6 @@ #include #include -#include "selfdrive/ui/qt/util.h" #include "tools/cabana/commands.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" @@ -38,8 +37,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart name_label->setAlignment(Qt::AlignCenter); name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); toolbar->addWidget(name_label); - toolbar->addAction(bootstrapPixmap("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); - remove_msg_act = toolbar->addAction(bootstrapPixmap("x-lg"), "", this, &DetailWidget::removeMsg); + toolbar->addAction(utils::icon("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); + remove_msg_act = toolbar->addAction(utils::icon("x-lg"), "", this, &DetailWidget::removeMsg); remove_msg_act->setToolTip(tr("Remove Message")); main_layout->addWidget(toolbar); @@ -63,8 +62,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget = new QTabWidget(this); tab_widget->setTabPosition(QTabWidget::South); - tab_widget->addTab(splitter, bootstrapPixmap("file-earmark-ruled"), "&Msg"); - tab_widget->addTab(history_log = new LogsWidget(this), bootstrapPixmap("stopwatch"), "&Logs"); + tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg"); + tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs"); main_layout->addWidget(tab_widget); stacked_layout = new QStackedLayout(this); @@ -148,7 +147,7 @@ void DetailWidget::refresh() { if (!warnings.isEmpty()) { warning_label->setText(warnings.join('\n')); - warning_icon->setPixmap(bootstrapPixmap(msg ? "exclamation-triangle" : "info-circle")); + warning_icon->setPixmap(utils::icon(msg ? "exclamation-triangle" : "info-circle")); } warning_widget->setVisible(!warnings.isEmpty()); } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index ceb7b7ba3f..7f31293c41 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -10,8 +10,6 @@ #include "tools/cabana/commands.h" -#include "selfdrive/ui/qt/util.h" - // SignalModel SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) { @@ -132,7 +130,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked; if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked; } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) { - return bootstrapPixmap(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); + return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); } } return {}; @@ -331,7 +329,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), hl->addWidget(filter_edit); hl->addStretch(1); auto collapse_btn = new QToolButton(); - collapse_btn->setIcon(bootstrapPixmap("dash-square")); + collapse_btn->setIcon(utils::icon("dash-square")); collapse_btn->setIconSize({12, 12}); collapse_btn->setAutoRaise(true); collapse_btn->setToolTip(tr("Collapse All")); @@ -375,7 +373,7 @@ void SignalView::setMessage(const QString &id) { void SignalView::rowsChanged() { auto create_btn = [](const QString &id, const QString &tooltip) { auto btn = new QToolButton(); - btn->setIcon(bootstrapPixmap(id)); + btn->setIcon(utils::icon(id)); btn->setToolTip(tooltip); btn->setAutoRaise(true); return btn; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 023e893e11..699aa7dc01 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,8 +1,11 @@ #include "tools/cabana/util.h" +#include #include #include +#include "selfdrive/ui/qt/util.h" + static QColor blend(QColor a, QColor b) { return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); } @@ -100,3 +103,17 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { input.replace(' ', '_'); return QRegExpValidator::validate(input, pos); } + +namespace utils { +QPixmap icon(const QString &id) { + static bool dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > + QApplication::style()->standardPalette().color(QPalette::Background).value(); + QPixmap pm = bootstrapPixmap(id); + if (dark_theme) { + QPainter p(&pm); + p.setCompositionMode(QPainter::CompositionMode_SourceIn); + p.fillRect(pm.rect(), Qt::lightGray); + } + return pm; +} +} // namespace utils diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 20c85af39e..a598726bb6 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -45,3 +45,7 @@ public: NameValidator(QObject *parent=nullptr); QValidator::State validate(QString &input, int &pos) const override; }; + +namespace utils { +QPixmap icon(const QString &id); +} diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 445a21c755..d8d89a708c 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -13,8 +13,6 @@ #include #include -#include "selfdrive/ui/qt/util.h" - inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } @@ -130,7 +128,7 @@ void VideoWidget::updateState() { } void VideoWidget::updatePlayBtnState() { - play_btn->setIcon(bootstrapPixmap(can->isPaused() ? "play" : "pause")); + play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause")); play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause")); } From 1ba590e04389aea21e7e54ad574dfcc91f7cd1e6 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Wed, 1 Feb 2023 10:12:31 +1100 Subject: [PATCH 31/75] Toyota: make LKAS message 5hz (#26830) * Toyota: make LKAS message 5hz * update refs --------- Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 6dbdd4b5d9..222cf70613 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -143,7 +143,7 @@ class CarController: # forcing the pcm to disengage causes a bad fault sound so play a good sound instead send_ui = True - if self.frame % 100 == 0 or send_ui: + if self.frame % 20 == 0 or send_ui: can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 51de0f0013..b598524fd7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -844c84eae269e74b246b039d2b33fd44e98a5b68 \ No newline at end of file +d795362593d935767c694c652ecb05ab80dd1914 \ No newline at end of file From ec4c553542b3e63e24bb2b08c0ed007c69356a59 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Tue, 31 Jan 2023 20:46:57 -0300 Subject: [PATCH 32/75] Toyota: add FW engine for Brazilian Corolla Hybrid (#26943) * Add miss FW engine for Toyota Corolla Hybrid Test route ` 4f50e44908cc46b8|2023-01-12--21-08-57 ` * braziliam toyota corolla hybrid 2023 is US affected by TSK? * add a new entry for south america * Revert "add a new entry for south america" This reverts commit 28454c04cc93dc241da3b004a7154e44313e85c9. * CARS.md is autogenerated! * delete CARS.md to fix merge conflict * space * i don't know if we know for sure not all international 2023's have TSK --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 3 ++- selfdrive/car/toyota/values.py | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index f4ad4b75fa..ea06176178 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 230 Supported Cars +# 231 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -184,6 +184,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index c413028a25..6c2b865982 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -125,6 +125,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.COROLLAH_TSS2: [ ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), + ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-22"), ], @@ -841,6 +842,7 @@ FW_VERSIONS = { b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', From f37d35ed63e463ea0634885e0578f605958d5121 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 31 Jan 2023 15:48:40 -0800 Subject: [PATCH 33/75] Hyundai: add FW for Genesis and Genesis G80 (#27171) * add FW for Genesis and G80 * move to top --- selfdrive/car/hyundai/values.py | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1be612ad74..1d531c2b87 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -367,6 +367,13 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.HYUNDAI_GENESIS: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS 1.1 -150210', + b'\xf1\x00DH LKAS 1.4 -140110', + b'\xf1\x00DH LKAS 1.5 -140425', + ], + }, CAR.IONIQ: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', @@ -1031,6 +1038,25 @@ FW_VERSIONS = { b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', ], }, + CAR.GENESIS_G80: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, CAR.GENESIS_G90: { (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'], (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], From 022ef679e6d67f0be82ddc19b595bc874d456138 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 31 Jan 2023 20:26:33 -0800 Subject: [PATCH 34/75] GM camera ACC: reliable relay closing (#27164) * Reliable relay open * Reliable relay close * ign in a loop * fixes * we need this * log * comment to remind me tmrw * ign fix * this makes it 2x more reliable, but messyyy * Revert "this makes it 2x more reliable, but messyyy" This reverts commit 03401dc4a705cfacbe5a7048d95dccb6fa80d57f. * revert non-related stuff * comments, spaces * a stands for indefinite article * not applicable for non-camera acc * something... * Revert "something..." This reverts commit de8a158488efd5ef257434fbc3c55aefff800cb7. * Update ref_commit --- selfdrive/car/gm/carcontroller.py | 9 +++++++-- selfdrive/car/gm/carstate.py | 4 ++++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 12 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index c5aae34249..c25de41769 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -50,9 +50,14 @@ class CarController: # Steering (Active: 50Hz, inactive: 10Hz) # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked - init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera + init_lka_counter = not self.sent_lka_steering_cmd + # Also send at 50Hz until we're in sync with camera so counters align when relay closes, preventing a fault + # openpilot can subtly drift, so this is activated throughout a drive to stay synced + out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4 + sync_steer = (init_lka_counter or out_of_sync) and self.CP.networkLocation == NetworkLocation.fwdCamera + steer_step = self.params.INACTIVE_STEER_STEP - if CC.latActive or init_lka_counter: + if CC.latActive or sync_steer: steer_step = self.params.STEER_STEP # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index cf6d2817ec..8ea8ea8874 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -19,6 +19,7 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] self.loopback_lka_steering_cmd_updated = False self.pt_lka_steering_cmd_counter = 0 + self.camera_lka_steering_cmd_counter = 0 self.buttons_counter = 0 def update(self, pt_cp, cam_cp, loopback_cp): @@ -34,6 +35,7 @@ class CarState(CarStateBase): self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 if self.CP.networkLocation == NetworkLocation.fwdCamera: self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] + self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"], @@ -113,11 +115,13 @@ class CarState(CarStateBase): if CP.networkLocation == NetworkLocation.fwdCamera: signals += [ ("AEBCmdActive", "AEBCmd"), + ("RollingCounter", "ASCMLKASteeringCmd"), ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), ("ACCCruiseState", "ASCMActiveCruiseControlStatus"), ] checks += [ ("AEBCmd", 10), + ("ASCMLKASteeringCmd", 10), ("ASCMActiveCruiseControlStatus", 25), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b598524fd7..b7cb6ceb33 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d795362593d935767c694c652ecb05ab80dd1914 \ No newline at end of file +baef183c9602b702756e2fd0781b5d289b61d19a From 519b3c8847d5c054b130667977e181cc7e54e7fa Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 1 Feb 2023 11:21:51 -0800 Subject: [PATCH 35/75] paramsd: Check if roll from the localizer is actually valid (#27105) * add roll_valid check, use localizer roll when it is valid * increase std to 1.5 * btter check * avoid numpy * update refs * update refs --- selfdrive/locationd/paramsd.py | 17 +++++++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 7e7c2b091f..7e30b1e3a7 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -14,8 +14,9 @@ from system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) +ROLL_STD_MAX = math.radians(1.5) LATERAL_ACC_SENSOR_THRESHOLD = 4.0 @@ -37,8 +38,7 @@ class ParamsLearner: self.yaw_rate_std = 0.0 self.roll = 0.0 self.steering_angle = 0.0 - - self.valid = True + self.roll_valid = False def handle_log(self, t, which, msg): if which == 'liveLocationKalman': @@ -47,8 +47,8 @@ class ParamsLearner: localizer_roll = msg.orientationNED.value[0] localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0] - roll_valid = msg.orientationNED.valid and ROLL_MIN < localizer_roll < ROLL_MAX - if roll_valid: + self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK + if self.roll_valid: roll = localizer_roll # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? roll_std = 2 * localizer_roll_std @@ -156,6 +156,7 @@ def main(sm=None, pm=None): learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg'])) angle_offset_average = params['angleOffsetAverageDeg'] angle_offset = angle_offset_average + roll = 0.0 while True: sm.update() @@ -175,6 +176,8 @@ def main(sm=None, pm=None): angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) + roll = clip(float(x[States.ROAD_ROLL]), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL]) # Account for the opposite signs of the yaw rates sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) @@ -185,12 +188,14 @@ def main(sm=None, pm=None): liveParameters.sensorValid = sensors_valid liveParameters.steerRatio = float(x[States.STEER_RATIO]) liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) - liveParameters.roll = float(x[States.ROAD_ROLL]) + liveParameters.roll = roll liveParameters.angleOffsetAverageDeg = angle_offset_average liveParameters.angleOffsetDeg = angle_offset liveParameters.valid = all(( abs(liveParameters.angleOffsetAverageDeg) < 10.0, abs(liveParameters.angleOffsetDeg) < 10.0, + abs(liveParameters.roll) < ROLL_MAX, + roll_std < ROLL_STD_MAX, 0.2 <= liveParameters.stiffnessFactor <= 5.0, min_sr <= liveParameters.steerRatio <= max_sr, )) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b7cb6ceb33..959c213a03 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -baef183c9602b702756e2fd0781b5d289b61d19a +9ef210f7e473fa46dd43337b5f09eeabebc694b7 \ No newline at end of file From 02c751f4830b87793530732b5ac820ac48978ba9 Mon Sep 17 00:00:00 2001 From: Sean Cox Date: Wed, 1 Feb 2023 16:01:08 -0500 Subject: [PATCH 36/75] Hyundai: remove HYUNDAI_GENESIS from legacy steer max blacklist (#27176) --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1d531c2b87..6bd4789552 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -35,7 +35,7 @@ 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.HYUNDAI_GENESIS, CAR.IONIQ, + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, 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_SORENTO): self.STEER_MAX = 255 From b740bdc99c213a73628081b9f07b559420072d99 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 1 Feb 2023 16:01:26 -0500 Subject: [PATCH 37/75] Hyundai: Enable radar tracks for Santa Fe 2019 (#27175) --- selfdrive/debug/hyundai_enable_radar_points.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index ac7e7102d0..07ce5ebddb 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -52,6 +52,10 @@ SUPPORTED_FW_VERSIONS = { b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + # 2019 SANTA FE + b"TM__ SCC F-CUP 1.00 1.00 99110-S1210\x19\x01%\x168 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), } if __name__ == "__main__": From ef0e8a312768e710e060e846e34c14255ffce028 Mon Sep 17 00:00:00 2001 From: Rewat S <76684800+taperec@users.noreply.github.com> Date: Thu, 2 Feb 2023 05:17:06 +0700 Subject: [PATCH 38/75] Multilang: add missing Thai translations (#27148) * Multilang: add missing Thai translations * Multilang: update Thai translations * Multilang: add missing Thai translations --- selfdrive/ui/translations/main_th.ts | 97 ++++++++++++++++++++++------ 1 file changed, 78 insertions(+), 19 deletions(-) diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 0de0ba5f9a..ce394ecb97 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -238,6 +238,14 @@ Disengage to Power Off ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง + + Reset + รีเซ็ต + + + Review + ทบทวน + DriveStats @@ -273,6 +281,17 @@ กำลังเปิดกล้อง + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + คุณกำลังใช้โหมดทดลอง + + + CHILL MODE ON + คุณกำลังใช้โหมดชิล + + InputDialog @@ -463,6 +482,17 @@ location set จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน + + ParamControl + + Enable + เปิดใช้งาน + + + Cancel + ยกเลิก + + PrimeAdWidget @@ -585,13 +615,6 @@ location set ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ - - RichTextDialog - - Ok - ตกลง - - SettingsWindow @@ -850,6 +873,10 @@ location set Select a branch เลือก Branch + + Uninstall + ถอนการติดตั้ง + SshControl @@ -974,29 +1001,57 @@ location set Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮 - Experimental openpilot Longitudinal Control ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นทดลอง และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</b> + Experimental Mode + โหมดทดลอง - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - ให้ openpilot ควบคุมการเร่ง/เบรคแบบ end-to-end โดย openpilot จะขับอย่างที่มนุษย์คิด ระบบยังอยู่ในขั้นทดลอง + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นพัฒนา และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด - openpilot longitudinal control is not currently available for this car. - ขณะนี้ยังไม่มีระบบควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. + โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในขั้นพัฒนา - Enable experimental longitudinal control to enable this. - เปิดใช้งานระบบควบคุมการเร่ง/เบรคขั้นทดลอง เพื่อเปิดใช้งานสิ่งนี้ + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + โดยปกติ openpilot จะขับใน<b>โหมดชิล</b> เปิดโหมดทดลองเพื่อใช้<b>ความสามารถในขั้นพัฒนา</b> ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้: + + + 🌮 End-to-End Longitudinal Control 🌮 + 🌮 ควบคุมเร่ง/เบรคแบบ End-to-End 🌮 + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + ให้ openpilot ควบคุมการเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึงการหยุดที่ไฟแดง และป้ายหยุดรถ เนื่องจาก openpilot จะกำหนดความเร็วในการขับด้วยตัวเอง การตั้งความเร็วจะเป็นเพียงการกำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเกิดข้อผิดพลาดขึ้นได้ + + + New Driving Visualization + การแสดงภาพการขับขี่แบบใหม่ + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. + การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย + + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่ + + + openpilot longitudinal control may come in a future update. + ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + เวอร์ชันทดลองของระบบควบคุมการเร่ง/เบรคโดย openpilot สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา + + + Enable experimental longitudinal control to allow Experimental mode. + เปิดระบบควบคุมการเร่ง/เบรคขั้นพัฒนาโดย openpilot เพื่อเปิดใช้งานโหมดทดลอง @@ -1052,5 +1107,9 @@ location set Forget Wi-Fi Network "%1"? เลิกใช้เครือข่าย Wi-Fi "%1"? + + Forget + เลิกใช้ + From 3d98cb72c08ec5d9b9ac5645ea9effecadd6bc38 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 1 Feb 2023 15:19:40 -0700 Subject: [PATCH 39/75] Ubloxd: gps add iodc check (#27162) * gps add iodc check * add test * simplify * update ref --------- Co-authored-by: Kurt Nistelberger --- .../locationd/test/test_ublox_processing.py | 38 +++++++++++++- selfdrive/locationd/ublox_msg.cc | 52 +++++++------------ selfdrive/locationd/ublox_msg.h | 1 - selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 55 insertions(+), 38 deletions(-) diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/selfdrive/locationd/test/test_ublox_processing.py index 7aa588d43e..cd4ce0de04 100755 --- a/selfdrive/locationd/test/test_ublox_processing.py +++ b/selfdrive/locationd/test/test_ublox_processing.py @@ -1,5 +1,5 @@ import unittest - +import time import numpy as np from laika import AstroDog @@ -8,7 +8,8 @@ from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ from laika.opt import calc_pos_fix from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader - +from selfdrive.test.helpers import with_processes +import cereal.messaging as messaging def get_gnss_measurements(log_reader): gnss_measurements = [] @@ -21,6 +22,12 @@ def get_gnss_measurements(log_reader): gnss_measurements.append(read_raw_ublox(report)) return gnss_measurements +def get_ublox_raw(log_reader): + ublox_raw = [] + for msg in log_reader: + if msg.which() == "ubloxRaw": + ublox_raw.append(msg) + return ublox_raw class TestUbloxProcessing(unittest.TestCase): NUM_TEST_PROCESS_MEAS = 10 @@ -30,6 +37,10 @@ class TestUbloxProcessing(unittest.TestCase): lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0)) cls.gnss_measurements = get_gnss_measurements(lr) + # test gps ephemeris continuity check (drive has ephemeris issues with cutover data) + lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14)) + cls.ublox_raw = get_ublox_raw(lr) + def test_read_ublox_raw(self): count_gps = 0 count_glonass = 0 @@ -76,6 +87,29 @@ class TestUbloxProcessing(unittest.TestCase): self.assertEqual(count_processed_measurements, 69) self.assertEqual(count_corrected_measurements, 69) + @with_processes(['ubloxd']) + def test_ublox_gps_cutover(self): + time.sleep(2) + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + ur_pm = messaging.PubMaster(['ubloxRaw']) + + def replay_segment(): + rcv_msgs = [] + for msg in self.ublox_raw: + ur_pm.send(msg.which(), msg.as_builder()) + time.sleep(0.01) + rcv_msgs += messaging.drain_sock(ugs) + + time.sleep(0.1) + rcv_msgs += messaging.drain_sock(ugs) + return rcv_msgs + + # replay twice to enforce cutover data on rewind + rcv_msgs = replay_segment() + rcv_msgs += replay_segment() + + ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs) + self.assertEqual(ephems_cnt, 15) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 4b31b0101e..127c7e56b6 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -166,26 +166,25 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m { kaitai::kstream stream(subframe_data); gps_t subframe(&stream); + int subframe_id = subframe.how()->subframe_id(); - int sv_id = msg->sv_id(); - uint64_t tow_counter = subframe.how()->tow_count(); - - bool clear_buffer = subframe_id == 1; - if (gps_sat_tow_count.count(sv_id) != 0) { - int64_t counter_diff = tow_counter - gps_sat_tow_count[sv_id]; - clear_buffer |= counter_diff != 1 && counter_diff != -100798; + if (subframe_id > 3) { + // dont parse almanac subframes + return kj::Array(); } - if (clear_buffer) gps_subframes[sv_id].clear(); - - gps_subframes[sv_id][subframe_id] = subframe_data; - gps_sat_tow_count[sv_id] = tow_counter; + gps_subframes[msg->sv_id()][subframe_id] = subframe_data; } - if (gps_subframes[msg->sv_id()].size() == 5) { + // publish if subframes 1-3 have been collected + if (gps_subframes[msg->sv_id()].size() == 3) { MessageBuilder msg_builder; auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris(); eph.setSvId(msg->sv_id()); + int iode_s2 = 0; + int iode_s3 = 0; + int iodc_lsb = 0; + // Subframe 1 { kaitai::kstream stream(gps_subframes[msg->sv_id()][1]); @@ -199,6 +198,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m eph.setAf1(subframe_1->af_1() * pow(2, -43)); eph.setAf0(subframe_1->af_0() * pow(2, -31)); eph.setSvHealth(subframe_1->sv_health()); + iodc_lsb = subframe_1->iodc_lsb(); } // Subframe 2 @@ -215,6 +215,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m eph.setCus(subframe_2->c_us() * pow(2, -29)); eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0)); eph.setToe(subframe_2->t_oe() * pow(2, 4)); + iode_s2 = subframe_2->iode(); } // Subframe 3 @@ -232,31 +233,14 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi); eph.setIode(subframe_3->iode()); eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi); + iode_s3 = subframe_3->iode(); } - // Subframe 4 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][4]); - gps_t subframe(&stream); - gps_t::subframe_4_t* subframe_4 = static_cast(subframe.body()); - - // This is page 18, why is the page id 56? - if (subframe_4->data_id() == 1 && subframe_4->page_id() == 56) { - auto iono = static_cast(subframe_4->body()); - double a0 = iono->a0() * pow(2, -30); - double a1 = iono->a1() * pow(2, -27); - double a2 = iono->a2() * pow(2, -24); - double a3 = iono->a3() * pow(2, -24); - eph.setIonoAlpha({a0, a1, a2, a3}); - - double b0 = iono->b0() * pow(2, 11); - double b1 = iono->b1() * pow(2, 14); - double b2 = iono->b2() * pow(2, 16); - double b3 = iono->b3() * pow(2, 16); - eph.setIonoBeta({b0, b1, b2, b3}); - } + gps_subframes[msg->sv_id()].clear(); + if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) { + // data set cutover, reject ephemeris + return kj::Array(); } - return capnp::messageToFlatArray(msg_builder); } return kj::Array(); diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h index 736e6d5171..f031313168 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/selfdrive/locationd/ublox_msg.h @@ -105,7 +105,6 @@ class UbloxMsgParser { kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); std::unordered_map> gps_subframes; - std::unordered_map gps_sat_tow_count; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 959c213a03..a6c8aa682d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9ef210f7e473fa46dd43337b5f09eeabebc694b7 \ No newline at end of file +e825c953316277a342284a1f10b8dab88e95fc31 \ No newline at end of file From 83af2182b457692532ecc1426304782af1f9887d Mon Sep 17 00:00:00 2001 From: mrquell <48170600+mrquell@users.noreply.github.com> Date: Wed, 1 Feb 2023 20:04:48 -0500 Subject: [PATCH 40/75] Support for Kia Niro PHEV 2020 (#27158) * Update values.py * Update values.py Added support for Kia Niro PHEV 2020 * Update values.py Added support for Kia Niro PHEV 2020 * Update values.py Changed the fingerprint to be 4 seperate IDs * Apply suggestions from code review * generate * gen docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 3 ++- selfdrive/car/hyundai/values.py | 10 +++++++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index ea06176178..9a33278d3b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 231 Supported Cars +# 232 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -107,6 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 6bd4789552..b355da6cac 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -198,7 +198,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], - CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), + CAR.KIA_NIRO_PHEV: [ + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d), + ], CAR.KIA_NIRO_HEV_2021: [ HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), @@ -1231,22 +1234,27 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', ], }, CAR.KIA_NIRO_HEV_2021: { From 0ee53532be30c740a77f20c39b672f7b0ebb755b Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 1 Feb 2023 17:33:08 -0800 Subject: [PATCH 41/75] fix pigeond device reset --- selfdrive/sensord/pigeond.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py index bb53dd1bd4..9d0a62bd3b 100755 --- a/selfdrive/sensord/pigeond.py +++ b/selfdrive/sensord/pigeond.py @@ -123,7 +123,7 @@ class TTYPigeon(): init_baudrate(self) # clear configuration - self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") + self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\xd7") # clear flash memory (almanac backup) self.send_with_ack(b"\xB5\x62\x09\x14\x04\x00\x01\x00\x00\x00\x22\xf0") From 2a6de71cc0d369314d098a91baa9984f01b05faa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 1 Feb 2023 18:38:00 -0800 Subject: [PATCH 42/75] get_present_ecus: check available pandas (#27181) * add num_pandas to get_present_ecus * always bugged me * move this to function signature --- selfdrive/car/car_helpers.py | 2 +- selfdrive/car/ecu_addrs.py | 2 +- selfdrive/car/fw_versions.py | 8 ++++++-- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 88e8c72153..e326209096 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -99,7 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas): else: cloudlog.warning("Getting VIN & FW versions") vin_rx_addr, vin = get_vin(logcan, sendcan, bus) - ecu_rx_addrs = get_present_ecus(logcan, sendcan) + ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) cached = False diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 9f6ace2b5f..e5d550fac8 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -87,5 +87,5 @@ if __name__ == "__main__": for addr, subaddr, bus in ecu_addrs: msg = f" 0x{hex(addr)}" if subaddr is not None: - msg += f" (sub-address: 0x{hex(subaddr)})" + msg += f" (sub-address: {hex(subaddr)})" print(msg) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index f4d92ab960..0db260abbd 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -146,12 +146,16 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): return True, set() -def get_present_ecus(logcan, sendcan): +def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]: queries = list() parallel_queries = list() responses = set() for brand, r in REQUESTS: + # Skip query if no panda available + if r.bus > num_pandas * 4 - 1: + continue + for brand_versions in VERSIONS[brand].values(): for ecu_type, addr, sub_addr in brand_versions: # Only query ecus in whitelist if whitelist is not empty @@ -171,7 +175,7 @@ def get_present_ecus(logcan, sendcan): queries.insert(0, parallel_queries) - ecu_responses: Set[Tuple[int, Optional[int], int]] = set() + ecu_responses = set() for query in queries: ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) return ecu_responses From 0eeb69a5d0f2009a38bf4ebdf18e0e143ff7d5f2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 1 Feb 2023 19:50:48 -0800 Subject: [PATCH 43/75] boardd: enable fingerprinting with both multiplexed modes (#27159) Co-authored-by: Shane Smiskol --- common/params.cc | 1 + selfdrive/boardd/boardd.cc | 15 ++++++--------- selfdrive/car/car_helpers.py | 5 ++++- 3 files changed, 11 insertions(+), 10 deletions(-) diff --git a/common/params.cc b/common/params.cc index 35ceecfdc3..7dd0fbcb41 100644 --- a/common/params.cc +++ b/common/params.cc @@ -111,6 +111,7 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, + {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5ef49d4b22..0473d3488c 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -106,6 +106,8 @@ void sync_time(Panda *panda, SyncTimeDir dir) { bool safety_setter_thread(std::vector pandas) { LOGD("Starting safety setter thread"); + Params p; + // there should be at least one panda connected if (pandas.size() == 0) { return false; @@ -117,25 +119,20 @@ bool safety_setter_thread(std::vector pandas) { pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); } - Params p = Params(); - - // wait for VIN to be read + // wait for FW query at OBD port to finish while (true) { if (do_exit || !check_all_connected(pandas) || !ignition) { return false; } - std::string value_vin = p.get("CarVin"); - if (value_vin.size() > 0) { - // sanity check VIN format - assert(value_vin.size() == 17); - LOGW("got CarVin %s", value_vin.c_str()); + if (p.getBool("FirmwareObdQueryDone")) { + LOGW("finished FW query at OBD port"); break; } util::sleep_for(20); } - // set to ELM327 for ECU knockouts + // set to ELM327 to finish fingerprinting and for potential ECU knockouts for (Panda *panda : pandas) { panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); } diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index e326209096..4ccce979d3 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -113,7 +113,10 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("Malformed VIN", vin=vin, error=True) vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) - Params().put("CarVin", vin) + + params = Params() + params.put("CarVin", vin) + params.put_bool("FirmwareObdQueryDone", True) finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 From e07865fe4dbe5855fd2d5a53f6770a416bbe2ee3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 1 Feb 2023 20:11:40 -0800 Subject: [PATCH 44/75] boardd: update loopback test with new param --- selfdrive/boardd/tests/test_boardd_loopback.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index e9bbcb4586..b8ebbd88a3 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase): cp.safetyConfigs = [safety_config]*num_pandas params = Params() - params.put("CarVin", b"0"*17) + params.put_bool("FirmwareObdQueryDone", True) params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) From 647e81f9bbab53439dea4b418c532c21afbbb50a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 3 Feb 2023 02:23:21 +0800 Subject: [PATCH 45/75] cabana: show series colors in tooltip (#27186) show series colors in tooltip --- tools/cabana/chartswidget.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 47fc5dc03b..b49b20f2cc 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -652,10 +652,10 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto value_pos = chart()->mapToPosition(*it); if (value_pos.x() > track_pt.x()) track_pt = value_pos; } - text_list.push_back(QString(" %1 : %2 ").arg(sigs.size() > 1 ? s.sig->name.c_str() : "Value").arg(value)); + text_list.push_back(QString("■ %2: %3").arg(s.series->color().name(), s.sig->name.c_str(), value)); } if (track_pt.x() == 0) track_pt = ev->pos(); - QString text = QString("
 Time: %1  
%2
") + QString text = QString("%1
%2") .arg(chart()->mapToValue(track_pt).x(), 0, 'f', 3) .arg(text_list.join("
")); QPoint pt((int)track_pt.x() + 20, plot_area.top() - 20); From 24f4ada36d21a8ec841b2d866b1dc142baae8eb2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 2 Feb 2023 10:25:20 -0800 Subject: [PATCH 46/75] updated: fix brief notification of update for same version (#27182) --- common/params.cc | 2 +- selfdrive/updated.py | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index 7dd0fbcb41..db5e5e700d 100644 --- a/common/params.cc +++ b/common/params.cc @@ -171,7 +171,7 @@ std::unordered_map keys = { {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UbloxAvailable", PERSISTENT}, - {"UpdateAvailable", CLEAR_ON_MANAGER_START}, + {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 9da2a05a11..2cb7d1c13b 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -423,6 +423,9 @@ def main() -> None: wait_helper = WaitTimeHelper() wait_helper.only_check_for_update = True + # invalidate old finalized update + set_consistent_flag(False) + # Run the update loop while True: wait_helper.ready_event.clear() From 6fa9b555a435cc9639193cca516b78a22189356c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 2 Feb 2023 11:38:09 -0800 Subject: [PATCH 47/75] rename carState.radarOffCan to radarUnavailable (#27187) * rename carState.radarOffCan to radarUnavailable * bump cereal --- cereal | 2 +- selfdrive/car/body/interface.py | 2 +- selfdrive/car/chrysler/interface.py | 2 +- selfdrive/car/ford/interface.py | 2 +- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/gm/interface.py | 4 ++-- selfdrive/car/gm/radar_interface.py | 2 +- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/honda/radar_interface.py | 2 +- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/radar_interface.py | 2 +- selfdrive/car/mazda/interface.py | 2 +- selfdrive/car/nissan/interface.py | 2 +- selfdrive/car/subaru/interface.py | 2 +- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/volkswagen/interface.py | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- 17 files changed, 18 insertions(+), 18 deletions(-) diff --git a/cereal b/cereal index b27131e72f..bdbac40160 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit b27131e72f987f3bd0fcd28a42f686b583709e1f +Subproject commit bdbac40160a550c88e481a3bf700a1016901bd9b diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index bc5b36e2ee..a90c4cfb87 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = SPEED_FROM_RPM ret.centerToFront = ret.wheelbase * 0.44 - ret.radarOffCan = True + ret.radarUnavailable = True ret.openpilotLongitudinalControl = True ret.steerControlType = car.CarParams.SteerControlType.angle diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index c8504d6fb1..99f1692daa 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "chrysler" ret.dashcamOnly = candidate in RAM_HD - ret.radarOffCan = DBC[candidate]['radar'] is None + ret.radarUnavailable = DBC[candidate]['radar'] is None ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7c6a8ecbe4..8ce30e5d68 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase): # These cars are dashcam only until the port is finished ret.dashcamOnly = True - ret.radarOffCan = True + ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index c25de41769..56f6ff5a31 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -114,7 +114,7 @@ class CarController: # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) - if not self.CP.radarOffCan: + if not self.CP.radarUnavailable: tt = self.frame * DT_CTRL time_and_headlights_step = 10 if self.frame % time_and_headlights_step == 0: diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 856dcbaae5..3c2a12ef86 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -63,7 +63,7 @@ class CarInterface(CarInterfaceBase): if candidate in CAMERA_ACC_CAR: ret.experimentalLongitudinalAvailable = True ret.networkLocation = NetworkLocation.fwdCamera - ret.radarOffCan = True # no radar + ret.radarUnavailable = True # no radar ret.pcmCruise = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM ret.minEnableSpeed = 5 * CV.KPH_TO_MS @@ -85,7 +85,7 @@ class CarInterface(CarInterfaceBase): else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway - ret.radarOffCan = False + ret.radarUnavailable = False ret.pcmCruise = False # stock non-adaptive cruise control is kept off # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 5cb211812d..b86a85f915 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -36,7 +36,7 @@ class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) - self.rcp = None if CP.radarOffCan else create_radar_can_parser(CP.carFingerprint) + self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint) self.trigger_msg = LAST_RADAR_MSG self.updated_messages = set() diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index da921ccda7..98243d81dd 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase): if candidate in HONDA_BOSCH: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] - ret.radarOffCan = True + ret.radarUnavailable = True if candidate not in HONDA_BOSCH_RADARLESS: # Disable the radar and let openpilot control longitudinal diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 629ab01d4c..660be4c449 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -21,7 +21,7 @@ class RadarInterface(RadarInterfaceBase): self.track_id = 0 self.radar_fault = False self.radar_wrong_config = False - self.radar_off_can = CP.radarOffCan + self.radar_off_can = CP.radarUnavailable self.radar_ts = CP.radarTimeStep self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6d6d9833df..030c3f1abc 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "hyundai" - ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None + ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 0d22611fb5..4ecca542b5 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -37,7 +37,7 @@ class RadarInterface(RadarInterfaceBase): self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1 self.track_id = 0 - self.radar_off_can = CP.radarOffCan + self.radar_off_can = CP.radarUnavailable self.rcp = get_radar_can_parser(CP) def update(self, can_strings): diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index fdd2439ff9..65444ff6e0 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] - ret.radarOffCan = True + ret.radarUnavailable = True ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 386e859089..2e769cf662 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17 ret.steerControlType = car.CarParams.SteerControlType.angle - ret.radarOffCan = True + ret.radarUnavailable = True if candidate in (CAR.ROGUE, CAR.XTRAIL): ret.mass = 1610 + STD_CARGO_KG diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 22468801ec..f94333baab 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "subaru" - ret.radarOffCan = True + ret.radarUnavailable = True ret.dashcamOnly = candidate in PREGLOBAL_CARS ret.autoResumeSng = False diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index deb0454b9c..24c995a2d0 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -76,7 +76,7 @@ class TestCarInterfaces(unittest.TestCase): # Run radar interface once radar_interface.update([]) - if not car_params.radarOffCan and radar_interface.rcp is not None and \ + if not car_params.radarUnavailable and radar_interface.rcp is not None and \ hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): radar_interface._update([radar_interface.trigger_msg]) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index b979a96d70..1e620b4f73 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "volkswagen" - ret.radarOffCan = True + ret.radarUnavailable = True use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 606dcad9c4..b531cb3430 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -204,7 +204,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm): def radar_rcv_callback(msg, CP, cfg, fsm): if msg.which() != "can": return [], False - elif CP.radarOffCan: + elif CP.radarUnavailable: return ["radarState", "liveTracks"], True radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474], From 4fd15096979675379b7f99320bb6fe187f9bcf6b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 2 Feb 2023 12:48:57 -0800 Subject: [PATCH 48/75] Ford: restore radar DBC, check radarUnavailable (#27188) --- selfdrive/car/ford/radar_interface.py | 2 +- selfdrive/car/ford/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index c942703002..ee4efb311d 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase): self.updated_messages = set() self.track_id = 0 self.radar = DBC[CP.carFingerprint]['radar'] - if self.radar is None: + if self.radar is None or CP.radarUnavailable: self.rcp = None elif self.radar == RADAR.DELPHI_ESR: self.rcp = _create_delphi_esr_radar_can_parser() diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 4cabdb11e1..3723fe1d4a 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -60,7 +60,7 @@ class RADAR: DELPHI_MRR = 'FORD_CADS' -DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", None)) +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) @dataclass From cb50244a89fde385f55b2f6ad3ecd83c9b8f5c3a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 2 Feb 2023 13:03:53 -0800 Subject: [PATCH 49/75] Bump total scons nodes --- selfdrive/manager/build.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index c8a7d41539..5b69e3dca7 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -15,7 +15,7 @@ from system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2395 +TOTAL_SCONS_NODES = 2460 MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) From 6b04ead6dd8fc89540c9d0000a2aa262c6b420e1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 3 Feb 2023 05:14:36 +0800 Subject: [PATCH 50/75] cabana: remove the hardcoded width for columns (#27185) --- tools/cabana/messageswidget.cc | 3 --- 1 file changed, 3 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 0526ff141f..9011ce0a4d 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -26,9 +26,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSortingEnabled(true); table_widget->sortByColumn(0, Qt::AscendingOrder); - table_widget->setColumnWidth(0, 250); - table_widget->setColumnWidth(1, 80); - table_widget->setColumnWidth(2, 80); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); From 628b80de3d1ac9b5556fcd4c60818d99b4b76af9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 3 Feb 2023 05:14:53 +0800 Subject: [PATCH 51/75] cabana: improve line marker (#27189) --- tools/cabana/chartswidget.cc | 42 ++++++++++++++++++++---------------- tools/cabana/chartswidget.h | 2 +- 2 files changed, 25 insertions(+), 19 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index b49b20f2cc..ca56b5810e 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -589,7 +589,7 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) { } void ChartView::leaveEvent(QEvent *event) { - track_pt = {0, 0}; + track_pts.clear(); scene()->update(); QChartView::leaveEvent(event); } @@ -639,27 +639,26 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); const auto plot_area = chart()->plotArea(); - track_pt = {0, 0}; + track_pts.clear(); if (!is_zooming && plot_area.contains(ev->pos())) { + track_pts.resize(sigs.size()); QStringList text_list; const double sec = chart()->mapToValue(ev->pos()).x(); - for (auto &s : sigs) { + for (int i = 0; i < sigs.size(); ++i) { QString value = "--"; // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); - if (it != s.vals.rend() && it->x() >= axis_x->min()) { + auto it = std::lower_bound(sigs[i].vals.rbegin(), sigs[i].vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != sigs[i].vals.rend() && it->x() >= axis_x->min()) { value = QString::number(it->y()); - auto value_pos = chart()->mapToPosition(*it); - if (value_pos.x() > track_pt.x()) track_pt = value_pos; + track_pts[i] = chart()->mapToPosition(*it); } - text_list.push_back(QString("■ %2: %3").arg(s.series->color().name(), s.sig->name.c_str(), value)); + text_list.push_back(QString("■ %2: %3").arg(sigs[i].series->color().name(), sigs[i].sig->name.c_str(), value)); } - if (track_pt.x() == 0) track_pt = ev->pos(); - QString text = QString("%1
%2") - .arg(chart()->mapToValue(track_pt).x(), 0, 'f', 3) - .arg(text_list.join("
")); - QPoint pt((int)track_pt.x() + 20, plot_area.top() - 20); - QToolTip::showText(mapToGlobal(pt), text, this, plot_area.toRect()); + auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); + auto pt = (max == track_pts.end()) ? ev->pos() : *max; + text_list.push_front(QString::number(chart()->mapToValue(pt).x(), 'f', 3)); + QPointF tooltip_pt(pt.x() + 12, plot_area.top() - 20); + QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), pt.isNull() ? "" : text_list.join("
"), this, plot_area.toRect()); scene()->update(); } else { QToolTip::hideText(); @@ -712,11 +711,18 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { qreal y2 = chart()->plotArea().bottom() + 2; painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); - if (!track_pt.isNull()) { + + auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); + if (max != track_pts.end() && !max->isNull()) { painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{track_pt.x(), y1}, QPointF{track_pt.x(), y2}); - painter->setBrush(Qt::darkGray); - painter->drawEllipse(track_pt, 5, 5); + painter->drawLine(QPointF{max->x(), y1}, QPointF{max->x(), y2}); + painter->setPen(Qt::NoPen); + for (int i = 0; i < track_pts.size(); ++i) { + if (!track_pts[i].isNull() && i < sigs.size()) { + painter->setBrush(sigs[i].series->color().darker(125)); + painter->drawEllipse(track_pts[i], 5.5, 5.5); + } + } } } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index d5572756c1..41b2ddffcc 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -73,7 +73,7 @@ private: QValueAxis *axis_x; QValueAxis *axis_y; - QPointF track_pt; + QVector track_pts; QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; QList sigs; From 9ece098098d571224ebf0a5b75e069416ca9d7f3 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 2 Feb 2023 22:15:11 +0100 Subject: [PATCH 52/75] cabana: do not round time when seeking from chartswidget (#27141) * cabana: do not round time when seeking from chartswidget * prevent zooming/seeking past end of route --- tools/cabana/chartswidget.cc | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index ca56b5810e..f0a81fe65d 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -617,14 +617,21 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { rubber->hide(); QRectF rect = rubber->geometry().normalized(); - double min = std::floor(chart()->mapToValue(rect.topLeft()).x() * 10.0) / 10.0; - double max = std::floor(chart()->mapToValue(rect.bottomRight()).x() * 10.0) / 10.0; + 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, can->routeStartTime(), can->routeStartTime() + can->totalSeconds()); + max = std::clamp(max, can->routeStartTime(), can->routeStartTime() + can->totalSeconds()); + + double min_rounded = std::floor(min * 10.0) / 10.0; + double max_rounded = std::floor(max * 10.0) / 10.0; if (rubber->width() <= 0) { // no rubber dragged, seek to mouse position can->seekTo(min); - } else if ((max - min) >= 0.5) { + } else if ((max_rounded - min_rounded) >= 0.5) { // zoom in if selected range is greater than 0.5s - emit zoomIn(min, max); + emit zoomIn(min_rounded, max_rounded); } event->accept(); } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { From e3c202b4a2d79f6843aa54ec9a1ef81e39da2731 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 2 Feb 2023 22:16:09 +0100 Subject: [PATCH 53/75] cabana: add button to suppress highlighted bytes (#27131) --- tools/cabana/historylog.cc | 8 +-- tools/cabana/historylog.h | 2 +- tools/cabana/messageswidget.cc | 69 +++++++++++++++++++++++--- tools/cabana/messageswidget.h | 10 +++- tools/cabana/streams/abstractstream.cc | 6 ++- tools/cabana/streams/abstractstream.h | 1 + tools/cabana/util.cc | 7 ++- tools/cabana/util.h | 13 ++--- 8 files changed, 93 insertions(+), 23 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 830390f4a8..ab5c6cbbe0 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -17,7 +17,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { } return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); } else if (role == Qt::UserRole && index.column() == 1 && !show_signals) { - return HexColors::toVariantList(m.colors); + return ChangeTracker::toVariantList(m.colors); } return {}; } @@ -142,7 +142,8 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events->rend(), min_time); if (update_colors && min_time > 0) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + it->colors = hex_colors.colors; } } return msgs; @@ -152,7 +153,8 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events->end(), 0); if (update_colors) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - it->colors = hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + it->colors = hex_colors.colors; } } return msgs; diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index bc2e0e3914..2458fc1c31 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -53,7 +53,7 @@ public: std::deque fetchData(uint64_t from_time, uint64_t min_time = 0); QString msg_id; - HexColors hex_colors; + ChangeTracker hex_colors; bool has_more_data = true; const int batch_size = 50; int filter_sig_idx = -1; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 9011ce0a4d..64f56ae73f 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,10 +1,12 @@ #include "tools/cabana/messageswidget.h" -#include -#include -#include -#include #include +#include +#include +#include +#include +#include +#include #include "tools/cabana/dbcmanager.h" @@ -28,9 +30,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget->sortByColumn(0, Qt::AscendingOrder); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); - main_layout->addWidget(table_widget); + // suppress + QHBoxLayout *suppress_layout = new QHBoxLayout(); + suppress_add = new QPushButton("Suppress Highlighted"); + suppress_clear = new QPushButton(); + suppress_layout->addWidget(suppress_add); + suppress_layout->addWidget(suppress_clear); + main_layout->addLayout(suppress_layout); + // signals/slots QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); @@ -46,6 +55,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { } } }); + QObject::connect(suppress_add, &QPushButton::clicked, [=]() { + model->suppress(); + updateSuppressedButtons(); + }); + QObject::connect(suppress_clear, &QPushButton::clicked, [=]() { + model->clearSuppress(); + updateSuppressedButtons(); + }); + + updateSuppressedButtons(); } void MessagesWidget::selectMessage(const QString &msg_id) { @@ -54,6 +73,17 @@ void MessagesWidget::selectMessage(const QString &msg_id) { } } +void MessagesWidget::updateSuppressedButtons() { + if (model->suppressed_bytes.empty()) { + suppress_clear->setEnabled(false); + suppress_clear->setText("Clear Suppressed"); + } else { + suppress_clear->setEnabled(true); + suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size())); + } +} + + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -75,7 +105,16 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { case 4: return toHex(can_data.dat); } } else if (role == Qt::UserRole && index.column() == 4) { - return HexColors::toVariantList(can_data.colors); + QList colors; + for (int i = 0; i < can_data.dat.size(); i++){ + if (suppressed_bytes.contains({id, i})) { + colors.append(QColor(255, 255, 255, 0)); + } else { + colors.append(can_data.colors[i]); + } + } + return colors; + } return {}; } @@ -157,3 +196,21 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { sortMessages(); } } + +void MessageListModel::suppress() { + const double cur_ts = can->currentSec(); + + for (auto &id : msgs) { + auto &can_data = can->lastMessage(id); + for (int i = 0; i < can_data.dat.size(); i++) { + const double dt = cur_ts - can_data.last_change_t[i]; + if (dt < 2.0) { + suppressed_bytes.insert({id, i}); + } + } + } +} + +void MessageListModel::clearSuppress() { + suppressed_bytes.clear(); +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 69fdd26170..1927faa646 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -2,8 +2,9 @@ #include #include -#include +#include #include +#include #include "tools/cabana/streams/abstractstream.h" @@ -20,7 +21,10 @@ public: void setFilterString(const QString &string); void msgsReceived(const QHash *new_msgs = nullptr); void sortMessages(); + void suppress(); + void clearSuppress(); QStringList msgs; + QSet> suppressed_bytes; private: QString filter_str; @@ -36,6 +40,7 @@ public: void selectMessage(const QString &message_id); QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); } bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); } + void updateSuppressedButtons(); signals: void msgSelectionChanged(const QString &message_id); @@ -44,4 +49,7 @@ protected: QTableView *table_widget; QString current_msg_id; MessageListModel *model; + QPushButton *suppress_add; + QPushButton *suppress_clear; + }; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index b188c41826..308e5556c6 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -19,7 +19,7 @@ void AbstractStream::process(QHash *messages) { bool AbstractStream::updateEvent(const Event *event) { static std::unique_ptr new_msgs = std::make_unique>(); - static QHash hex_colors; + static QHash change_trackers; static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { @@ -42,7 +42,9 @@ bool AbstractStream::updateEvent(const Event *event) { if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = data.count / delta; } - data.colors = hex_colors[id].compute(data.dat, data.ts, data.freq); + change_trackers[id].compute(data.dat, data.ts, data.freq); + data.colors = change_trackers[id].colors; + data.last_change_t = change_trackers[id].last_change_t; } double ts = millis_since_boot(); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 9a0187da5e..e16e11a14b 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -17,6 +17,7 @@ struct CanData { uint32_t freq = 0; QByteArray dat; QVector colors; + QVector last_change_t; }; class AbstractStream : public QObject { diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 699aa7dc01..f9d19dfda3 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -10,7 +10,7 @@ static QColor blend(QColor a, QColor b) { return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); } -const QVector &HexColors::compute(const QByteArray &dat, double ts, uint32_t freq) { +void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { if (prev_dat.size() != dat.size()) { colors.resize(dat.size()); last_change_t.resize(dat.size()); @@ -45,16 +45,15 @@ const QVector &HexColors::compute(const QByteArray &dat, double ts, uint } prev_dat = dat; - return colors; } -void HexColors::clear() { +void ChangeTracker::clear() { prev_dat.clear(); last_change_t.clear(); colors.clear(); } -QList HexColors::toVariantList(const QVector &colors) { +QList ChangeTracker::toVariantList(const QVector &colors) { QList ret; ret.reserve(colors.size()); for (auto &c : colors) ret.append(c); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index a598726bb6..b76652f4b0 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -7,19 +7,20 @@ #include #include -class HexColors { +class ChangeTracker { public: - const QVector &compute(const QByteArray &dat, double ts, uint32_t freq); - static QList toVariantList(const QVector &colors); - void clear(); + void compute(const QByteArray &dat, double ts, uint32_t freq); + static QList toVariantList(const QVector &colors); + void clear(); + + QVector last_change_t; + QVector colors; private: const int periodic_threshold = 10; const int start_alpha = 128; const float fade_time = 2.0; QByteArray prev_dat; - QVector last_change_t; - QVector colors; }; class MessageBytesDelegate : public QStyledItemDelegate { From 53396076dfaa857da735d9943fc7e33cefdadf69 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 3 Feb 2023 05:16:32 +0800 Subject: [PATCH 54/75] cabana: add capability for switching between line and scatter plots (#27169) * add capability for switching between line and scatter plots * Update tools/cabana/chartswidget.cc Co-authored-by: Willem Melching * setUserOpengl in createSeries * update series title * set marker size by pixels_per_point * sync menu state * cleanup * set default series type in settings dlg * remove qdebug --------- Co-authored-by: Willem Melching --- tools/cabana/chartswidget.cc | 84 +++++++++++++++++++++++++++++------- tools/cabana/chartswidget.h | 8 +++- tools/cabana/settings.cc | 8 ++++ tools/cabana/settings.h | 2 + 4 files changed, 86 insertions(+), 16 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f0a81fe65d..e49d28db44 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -7,6 +7,7 @@ #include #include #include +#include #include #include #include @@ -178,6 +179,7 @@ void ChartsWidget::settingChanged() { range_slider->setRange(1, settings.max_cached_minutes * 60); for (auto c : charts) { c->setFixedHeight(settings.chart_height); + c->setSeriesType(settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter); } } @@ -297,6 +299,8 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { // ChartView ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { + series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter; + QChart *chart = new QChart(); chart->setBackgroundRoundness(0); axis_x = new QValueAxis(this); @@ -317,9 +321,20 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { close_btn_proxy->setZValue(chart->zValue() + 11); QToolButton *manage_btn = new QToolButton(); + manage_btn->setToolButtonStyle(Qt::ToolButtonIconOnly); manage_btn->setIcon(utils::icon("gear")); manage_btn->setAutoRaise(true); - manage_btn->setToolTip(tr("Manage series")); + QMenu *menu = new QMenu(this); + line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); }); + line_series_action->setCheckable(true); + line_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeLine); + scatter_series_action = menu->addAction(tr("Scatter"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeScatter); }); + scatter_series_action->setCheckable(true); + scatter_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeScatter); + menu->addSeparator(); + menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); + manage_btn->setMenu(menu); + manage_btn->setPopupMode(QToolButton::InstantPopup); manage_btn_proxy = new QGraphicsProxyWidget(chart); manage_btn_proxy->setWidget(manage_btn); manage_btn_proxy->setZValue(chart->zValue() + 11); @@ -334,7 +349,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); - QObject::connect(manage_btn, &QToolButton::clicked, this, &ChartView::manageSeries); } qreal ChartView::getYAsixLabelWidth() const { @@ -354,8 +368,7 @@ void ChartView::setPlotAreaLeftPosition(int pos) { } void ChartView::addSeries(const QString &msg_id, const Signal *sig) { - QLineSeries *series = new QLineSeries(this); - + QXYSeries *series = createSeries(series_type); chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); @@ -478,22 +491,26 @@ void ChartView::updatePlot(double cur, double min, double max) { int num_points = std::max(end - begin, 1); int pixels_per_point = width() / num_points; - s.series->setPointsVisible(pixels_per_point > 20); + if (series_type == QAbstractSeries::SeriesTypeScatter) { + ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 1, 8)); + } else { + s.series->setPointsVisible(pixels_per_point > 20); - // TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs. + // TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs. #ifndef __APPLE - // OpenGL mode lacks certain features (such as showing points), only use when drawing many points - bool use_opengl = pixels_per_point < 1; - s.series->setUseOpenGL(use_opengl); + // OpenGL mode lacks certain features (such as showing points), only use when drawing many points + bool use_opengl = pixels_per_point < 1; + s.series->setUseOpenGL(use_opengl); - // Qt doesn't properly apply device pixel ratio in OpenGL mode - QApplication* application = static_cast(QApplication::instance()); - float scale = use_opengl ? application->devicePixelRatio() : 1.0; + // Qt doesn't properly apply device pixel ratio in OpenGL mode + QApplication *application = static_cast(QApplication::instance()); + float scale = use_opengl ? application->devicePixelRatio() : 1.0; - QPen pen = s.series->pen(); - pen.setWidth(2.0 * scale); - s.series->setPen(pen); + QPen pen = s.series->pen(); + pen.setWidth(2.0 * scale); + s.series->setPen(pen); #endif + } } } @@ -733,6 +750,43 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } +QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type) { + QXYSeries *series = nullptr; + if (type == QAbstractSeries::SeriesTypeLine) { + series = new QLineSeries(this); + } else { + series = new QScatterSeries(this); + } + // TODO: Due to a bug in CameraWidget the camera frames + // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed +#ifndef __APPLE__ + series->setUseOpenGL(true); +#endif + return series; +} + +void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { + if (type != series_type) { + series_type = type; + line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine); + scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter); + + for (auto &s : sigs) { + chart()->removeSeries(s.series); + s.series->deleteLater(); + } + for (auto &s : sigs) { + auto series = createSeries(series_type); + chart()->addSeries(series); + series->attachAxis(axis_x); + series->attachAxis(axis_y); + series->replace(s.vals); + s.series = series; + } + updateTitle(); + } +} + // SeriesSelector SeriesSelector::SeriesSelector(QWidget *parent) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 41b2ddffcc..9b2afd45a9 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -10,6 +10,7 @@ #include #include #include +#include #include #include "tools/cabana/dbcmanager.h" @@ -30,13 +31,14 @@ public: void updatePlot(double cur, double min, double max); void setPlotAreaLeftPosition(int pos); qreal getYAsixLabelWidth() const; + void setSeriesType(QAbstractSeries::SeriesType type); struct SigItem { QString msg_id; uint8_t source = 0; uint32_t address = 0; const Signal *sig = nullptr; - QLineSeries *series = nullptr; + QXYSeries *series = nullptr; QVector vals; uint64_t last_value_mono_time = 0; }; @@ -70,6 +72,7 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; void applyNiceNumbers(qreal min, qreal max); qreal niceNumber(qreal x, bool ceiling); + QXYSeries *createSeries(QAbstractSeries::SeriesType type); QValueAxis *axis_x; QValueAxis *axis_y; @@ -79,6 +82,9 @@ private: QList sigs; double cur_sec = 0; const QString mime_type = "application/x-cabanachartview"; + QAbstractSeries::SeriesType series_type = QAbstractSeries::SeriesTypeLine; + QAction *line_series_action; + QAction *scatter_series_action; }; class ChartsWidget : public QWidget { diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 78969c76c3..22c7a941ab 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -25,6 +25,7 @@ void Settings::save() { s.setValue("video_splitter_state", video_splitter_state); s.setValue("recent_files", recent_files); s.setValue("message_header_state", message_header_state); + s.setValue("chart_series_type", chart_series_type); } void Settings::load() { @@ -40,6 +41,7 @@ void Settings::load() { video_splitter_state = s.value("video_splitter_state").toByteArray(); recent_files = s.value("recent_files").toStringList(); message_header_state = s.value("message_header_state").toByteArray(); + chart_series_type = s.value("chart_series_type", 0).toInt(); } // SettingsDlg @@ -60,6 +62,11 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_minutes->setValue(settings.max_cached_minutes); form_layout->addRow(tr("Max Cached Minutes"), cached_minutes); + chart_series_type = new QComboBox(this); + chart_series_type->addItems({tr("Line"), tr("Scatter")}); + chart_series_type->setCurrentIndex(settings.chart_series_type); + form_layout->addRow(tr("Chart Default Series Type"), chart_series_type); + chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); @@ -77,6 +84,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { void SettingsDlg::save() { settings.fps = fps->value(); settings.max_cached_minutes = cached_minutes->value(); + settings.chart_series_type = chart_series_type->currentIndex(); settings.chart_height = chart_height->value(); settings.save(); accept(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 56c6a992ae..7abad81c29 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -18,6 +18,7 @@ public: int chart_height = 200; int chart_column_count = 1; int chart_range = 3 * 60; // e minutes + int chart_series_type = 0; QString last_dir; QByteArray geometry; QByteArray video_splitter_state; @@ -38,6 +39,7 @@ public: QSpinBox *fps; QSpinBox *cached_minutes; QSpinBox *chart_height; + QComboBox *chart_series_type; }; extern Settings settings; From 444df54a70c8d0fb31c1a2474053c862e4efb61b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 2 Feb 2023 13:46:44 -0800 Subject: [PATCH 55/75] Chrysler: disable radar parsing (#27190) * Chrysler: disable radar parsing * update refs --- selfdrive/car/chrysler/interface.py | 4 ++-- selfdrive/car/chrysler/radar_interface.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 99f1692daa..da086105e3 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags +from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags from selfdrive.car.interfaces import CarInterfaceBase @@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "chrysler" ret.dashcamOnly = candidate in RAM_HD - ret.radarUnavailable = DBC[candidate]['radar'] is None + ret.radarUnavailable = True # DBC[candidate]['radar'] is None ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index 348e3c3632..0ab8c10b44 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -45,12 +45,13 @@ def _address_to_track(address): class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) + self.CP = CP self.rcp = _create_radar_can_parser(CP.carFingerprint) self.updated_messages = set() self.trigger_msg = LAST_MSG def update(self, can_strings): - if self.rcp is None: + if self.rcp is None or self.CP.radarUnavailable: return super().update(None) vls = self.rcp.update_strings(can_strings) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a6c8aa682d..c49ed64c65 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e825c953316277a342284a1f10b8dab88e95fc31 \ No newline at end of file +78f00e30719a6af9644b2cbd0c76d2e652e95ccd \ No newline at end of file From 20fb2b9bb3f06187665928eda6e740db29b45e5b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 2 Feb 2023 14:28:45 -0800 Subject: [PATCH 56/75] ui: tap experimental mode icon to toggle (#27064) * ui: tap experimental mode icon to toggle After experimental mode has been enabled for the first time (confirmed), it can be toggled by tapping the engage-ability/experimental mode icon in the upper right. Closes #27002 * replace with QPushButton * fixes * cleanup --- selfdrive/ui/qt/onroad.cc | 72 ++++++++++++++++++++++++++++++++------- selfdrive/ui/qt/onroad.h | 29 ++++++++++++---- 2 files changed, 81 insertions(+), 20 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 1b4b880fbf..7a4b4240c3 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -175,11 +175,62 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } +ExperimentalButton::ExperimentalButton(QWidget *parent) : QPushButton(parent) { + setVisible(false); + setFixedSize(btn_size, btn_size); + setCheckable(true); + + params = Params(); + engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); + experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size}); + + QObject::connect(this, &QPushButton::toggled, [=](bool checked) { + params.putBool("ExperimentalMode", checked); + }); +} + +void ExperimentalButton::updateState(const UIState &s) { + const SubMaster &sm = *(s.sm); + + // button is "visible" if engageable or enabled + const auto cs = sm["controlsState"].getControlsState(); + setVisible(cs.getEngageable() || cs.getEnabled()); + + // button is "checked" if experimental mode is enabled + setChecked(sm["controlsState"].getControlsState().getExperimentalMode()); + + // disable button when experimental mode is not available, or has not been confirmed for the first time + const auto cp = sm["carParams"].getCarParams(); + const bool experimental_mode_available = cp.getExperimentalLongitudinalAvailable() ? params.getBool("ExperimentalLongitudinalEnabled") : cp.getOpenpilotLongitudinalControl(); + setEnabled(params.getBool("ExperimentalModeConfirmed") && experimental_mode_available); +} + +void ExperimentalButton::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + + QPoint center(btn_size / 2, btn_size / 2); + QPixmap img = isChecked() ? experimental_img : engage_img; + + p.setOpacity(1.0); + p.setPen(Qt::NoPen); + p.setBrush(QColor(0, 0, 0, 166)); + p.drawEllipse(center, btn_size / 2, btn_size / 2); + p.setOpacity(isDown() ? 0.8 : 1.0); + p.drawPixmap((btn_size - img_size) / 2, (btn_size - img_size) / 2, img); +} + + AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); - engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); - experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size - 5, img_size - 5}); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setMargin(bdr_s); + main_layout->setSpacing(0); + + experimental_btn = new ExperimentalButton(this); + main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight); + dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } @@ -227,9 +278,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); - // update engageability and DM icons at 2Hz + // update engageability/experimental mode button + experimental_btn->updateState(s); + + // update DM icons at 2Hz if (sm.frame % (UI_FREQ / 2) == 0) { - setProperty("engageable", cs.getEngageable() || cs.getEnabled()); setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } @@ -382,16 +435,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { configFont(p, "Inter", 66, "Regular"); drawText(p, rect().center().x(), 290, speedUnit, 200); - // engage-ability icon - if (engageable) { - SubMaster &sm = *(uiState()->sm); - drawIcon(p, rect().right() - radius / 2 - bdr_s * 2, radius / 2 + int(bdr_s * 1.5), - sm["controlsState"].getControlsState().getExperimentalMode() ? experimental_img : engage_img, blackColor(166), 1.0); - } - // dm icon if (!hideDM) { - int dm_icon_x = rightHandDM ? rect().right() - radius / 2 - (bdr_s * 2) : radius / 2 + (bdr_s * 2); + int dm_icon_x = rightHandDM ? rect().right() - btn_size / 2 - (bdr_s * 2) : btn_size / 2 + (bdr_s * 2); drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2, dm_img, blackColor(70), dmActive ? 1.0 : 0.2); } @@ -414,7 +460,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB p.setOpacity(1.0); // bg dictates opacity of ellipse p.setPen(Qt::NoPen); p.setBrush(bg); - p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius); + p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); p.setOpacity(opacity); p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 3dbb05b674..73c2e03795 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -1,11 +1,16 @@ #pragma once +#include #include #include #include "common/util.h" -#include "selfdrive/ui/qt/widgets/cameraview.h" #include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/widgets/cameraview.h" + + +const int btn_size = 192; +const int img_size = (btn_size / 4) * 3; // ***** onroad widgets ***** @@ -24,6 +29,21 @@ private: Alert alert = {}; }; +class ExperimentalButton : public QPushButton { + Q_OBJECT + +public: + explicit ExperimentalButton(QWidget *parent = 0); + void updateState(const UIState &s); + +private: + void paintEvent(QPaintEvent *event) override; + + Params params; + QPixmap engage_img; + QPixmap experimental_img; +}; + // container window for the NVG UI class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT @@ -36,7 +56,6 @@ class AnnotatedCameraWidget : public CameraWidget { Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit); Q_PROPERTY(bool is_metric MEMBER is_metric); - Q_PROPERTY(bool engageable MEMBER engageable); Q_PROPERTY(bool dmActive MEMBER dmActive); Q_PROPERTY(bool hideDM MEMBER hideDM); Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); @@ -50,18 +69,14 @@ private: void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity); void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); - QPixmap engage_img; - QPixmap experimental_img; + ExperimentalButton *experimental_btn; QPixmap dm_img; - const int radius = 192; - const int img_size = (radius / 2) * 1.5; float speed; QString speedUnit; float setSpeed; float speedLimit; bool is_cruise_set = false; bool is_metric = false; - bool engageable = false; bool dmActive = false; bool hideDM = false; bool rightHandDM = false; From 2ecdb2857e863cb29831f6a9bd4ca3359dce63af Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 2 Feb 2023 15:30:52 -0800 Subject: [PATCH 57/75] loggerd: rotate if segment length is >20% longer than expected (#27193) * loggerd: rotate if segment length is >20% expected * add that back * comment --------- Co-authored-by: Comma Device --- selfdrive/loggerd/loggerd.cc | 24 +++++++++++++++++------- 1 file changed, 17 insertions(+), 7 deletions(-) diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index 9beb3c3bf1..e09cdfaa9e 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -24,15 +24,25 @@ void logger_rotate(LoggerdState *s) { } void rotate_if_needed(LoggerdState *s) { - if (s->ready_to_rotate == s->max_waiting) { - logger_rotate(s); + // all encoders ready, trigger rotation + bool all_ready = s->ready_to_rotate == s->max_waiting; + + // fallback logic to prevent extremely long segments in the case of camera, encoder, etc. malfunctions + bool timed_out = false; + double tms = millis_since_boot(); + double seg_length_secs = (tms - s->last_rotate_tms) / 1000.; + if ((seg_length_secs > SEGMENT_LENGTH) && !LOGGERD_TEST) { + // TODO: might be nice to put these reasons in the sentinel + if ((tms - s->last_camera_seen_tms) > NO_CAMERA_PATIENCE) { + timed_out = true; + LOGE("no camera packets seen. auto rotating"); + } else if (seg_length_secs > SEGMENT_LENGTH*1.2) { + timed_out = true; + LOGE("segment too long. auto rotating"); + } } - double tms = millis_since_boot(); - if ((tms - s->last_rotate_tms) > SEGMENT_LENGTH * 1000 && - (tms - s->last_camera_seen_tms) > NO_CAMERA_PATIENCE && - !LOGGERD_TEST) { - LOGW("no camera packet seen. auto rotating"); + if (all_ready || timed_out) { logger_rotate(s); } } From b3b35b23fab832781bcf4f34d218ecc0b07c67fb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 2 Feb 2023 17:12:13 -0800 Subject: [PATCH 58/75] controlsd: don't show steer saturated if recently overriding (#27191) * controlsd: don't show steer saturated if recently overriding * 2s * update refs --- selfdrive/controls/controlsd.py | 46 +++++++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 27 insertions(+), 21 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 21d8fe2d66..fff6bcf576 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -173,6 +173,7 @@ class Controls: self.cruise_mismatch_counter = 0 self.can_rcv_timeout_counter = 0 self.last_blinker_frame = 0 + self.last_steering_pressed_frame = 0 self.distance_traveled = 0 self.last_functional_fan_frame = 0 self.events_prev = [] @@ -623,29 +624,34 @@ class Controls: lac_log.output = actuators.steer lac_log.saturated = abs(actuators.steer) >= 0.9 + if CS.steeringPressed: + self.last_steering_pressed_frame = self.sm.frame + recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0 + # Send a "steering required alert" if saturation count has reached the limit - if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: - undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 - turning = abs(lac_log.desiredLateralAccel) > 1.0 - good_speed = CS.vEgo > 5 - max_torque = abs(self.last_actuators.steer) > 0.99 - if undershooting and turning and good_speed and max_torque: - self.events.add(EventName.steerSaturated) - elif lac_log.active and lac_log.saturated: - dpath_points = lat_plan.dPathPoints - if len(dpath_points): - # Check if we deviated from the path - # TODO use desired vs actual curvature - if self.CP.steerControlType == car.CarParams.SteerControlType.angle: - steering_value = actuators.steeringAngleDeg - else: - steering_value = actuators.steer + if lac_log.active and not recent_steer_pressed: + if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: + undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 + turning = abs(lac_log.desiredLateralAccel) > 1.0 + good_speed = CS.vEgo > 5 + max_torque = abs(self.last_actuators.steer) > 0.99 + if undershooting and turning and good_speed and max_torque: + lac_log.active and self.events.add(EventName.steerSaturated) + elif lac_log.saturated: + dpath_points = lat_plan.dPathPoints + if len(dpath_points): + # Check if we deviated from the path + # TODO use desired vs actual curvature + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + steering_value = actuators.steeringAngleDeg + else: + steering_value = actuators.steer - left_deviation = steering_value > 0 and dpath_points[0] < -0.20 - right_deviation = steering_value < 0 and dpath_points[0] > 0.20 + left_deviation = steering_value > 0 and dpath_points[0] < -0.20 + right_deviation = steering_value < 0 and dpath_points[0] > 0.20 - if left_deviation or right_deviation: - self.events.add(EventName.steerSaturated) + if left_deviation or right_deviation: + self.events.add(EventName.steerSaturated) # Ensure no NaNs/Infs for p in ACTUATOR_FIELDS: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c49ed64c65..c787f4be2d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -78f00e30719a6af9644b2cbd0c76d2e652e95ccd \ No newline at end of file +21b29c8a9eb9acd63e91cbda55657afb266a07f9 \ No newline at end of file From 4e27a7f22a94ee5d8afc0476a6781f7e19b6fcf0 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 2 Feb 2023 20:29:45 -0700 Subject: [PATCH 59/75] Glonass support, ubloxd add ephemeris parsing (#27119) * add glonass kaitai parsing * add kaita generated files * remove glonass from build * add string non immediate type * fix kaitai bug * cleanUp * add patch file * fix scons order * make lookup const * remove comments * rename * add to release files * add signs * final ublox parsing * bump cereal * update ref --------- Co-authored-by: Kurt Nistelberger --- selfdrive/locationd/ublox_msg.cc | 152 ++++++++++++++++++++++- selfdrive/locationd/ublox_msg.h | 12 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 162 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 127c7e56b6..3ff768ba06 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -65,6 +65,21 @@ inline bool UbloxMsgParser::valid_so_far() { return true; } +inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { + // convert time to year (conversion from A3.1.3) + int J = 0; + if (1 <= Nt && Nt <= 366) { + J = 1; + } else if (367 <= Nt && Nt <= 731) { + J = 2; + } else if (732 <= Nt && Nt <= 1096) { + J = 3; + } else if (1097 <= Nt && Nt <= 1461) { + J = 4; + } + uint16_t year = 1996 + 4*(N4 -1) + (J - 1); + return year; +} bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { int needed = needed_bytes(); @@ -103,9 +118,9 @@ std::pair> UbloxMsgParser::gen_msg() { switch (ubx_message.msg_type()) { case 0x0107: return {"gpsLocationExternal", gen_nav_pvt(static_cast(body))}; - case 0x0213: + case 0x0213: // UBX-RXM-SFRB (Broadcast Navigation Data Subframe) return {"ubloxGnss", gen_rxm_sfrbx(static_cast(body))}; - case 0x0215: + case 0x0215: // UBX-RXM-RAW (Multi-GNSS Raw Measurement Data) return {"ubloxGnss", gen_rxm_rawx(static_cast(body))}; case 0x0a09: return {"ubloxGnss", gen_mon_hw(static_cast(body))}; @@ -246,11 +261,144 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m return kj::Array(); } +kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { + if (msg->sv_id() == 255) { + // data can be decoded before identifying the SV number, in this case 255 + // is returned, which means "unknown" (ublox p32) + return kj::Array(); + } + + auto body = *msg->body(); + assert(body.size() == 4); + { + std::string string_data; + string_data.reserve(16); + for (uint32_t word : body) { + for (int i = 3; i >= 0; i--) + string_data.push_back(word >> 8*i); + } + + kaitai::kstream stream(string_data); + glonass_t gl_string(&stream); + + int string_number = gl_string.string_number(); + if (string_number > 5 || gl_string.idle_chip()) { + // dont parse non immediate data, idle_chip == 0 + return kj::Array(); + } + + // immediate data is the same within one superframe + if (glonass_superframes[msg->sv_id()] != gl_string.superframe_number()) { + glonass_strings[msg->sv_id()].clear(); + glonass_superframes[msg->sv_id()] = gl_string.superframe_number(); + } + glonass_strings[msg->sv_id()][string_number] = string_data; + } + + // publish if strings 1-5 have been collected + if (glonass_strings[msg->sv_id()].size() != 5) { + return kj::Array(); + } + + MessageBuilder msg_builder; + auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris(); + eph.setSvId(msg->sv_id()); + uint16_t current_day = 0; + + // string number 1 + { + kaitai::kstream stream(glonass_strings[msg->sv_id()][1]); + glonass_t gl_stream(&stream); + glonass_t::string_1_t* data = static_cast(gl_stream.data()); + + eph.setP1(data->p1()); + eph.setTk(data->t_k()); + eph.setXVel(data->x_vel() * pow(2, -20)); + eph.setXAccel(data->x_accel() * pow(2, -30)); + eph.setX(data->x() * pow(2, -11)); + } + + // string number 2 + { + kaitai::kstream stream(glonass_strings[msg->sv_id()][2]); + glonass_t gl_stream(&stream); + glonass_t::string_2_t* data = static_cast(gl_stream.data()); + + eph.setSvHealth(data->b_n()>>2); // MSB indicates health + eph.setP2(data->p2()); + eph.setTb(data->t_b()); + eph.setYVel(data->y_vel() * pow(2, -20)); + eph.setYAccel(data->y_accel() * pow(2, -30)); + eph.setY(data->y() * pow(2, -11)); + } + + // string number 3 + { + kaitai::kstream stream(glonass_strings[msg->sv_id()][3]); + glonass_t gl_stream(&stream); + glonass_t::string_3_t* data = static_cast(gl_stream.data()); + + eph.setP3(data->p3()); + eph.setGammaN(data->gamma_n() * pow(2, -40)); + eph.setSvHealth(eph.getSvHealth() | data->l_n()); + eph.setZVel(data->z_vel() * pow(2, -20)); + eph.setZAccel(data->z_accel() * pow(2, -30)); + eph.setZ(data->z() * pow(2, -11)); + } + + // string number 4 + { + kaitai::kstream stream(glonass_strings[msg->sv_id()][4]); + glonass_t gl_stream(&stream); + glonass_t::string_4_t* data = static_cast(gl_stream.data()); + + current_day = data->n_t(); + eph.setTauN(data->tau_n() * pow(2, -30)); + eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30)); + eph.setAge(data->e_n()); + eph.setP4(data->p4()); + eph.setSvURA(glonass_URA_lookup.at(data->f_t())); + if (msg->sv_id() != data->n()) { + LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n()) + } + eph.setSvType(data->m()); + } + + // string number 5 + { + kaitai::kstream stream(glonass_strings[msg->sv_id()][5]); + glonass_t gl_stream(&stream); + glonass_t::string_5_t* data = static_cast(gl_stream.data()); + + // string5 parsing is only needed to get the year, this can be removed and + // the year can be fetched later in laika (note rollovers and leap year) + uint8_t n_4 = data->n_4(); + uint16_t year = get_glonass_year(n_4, current_day); + + uint16_t last_leap_year = 1996 + 4*(n_4-1); + uint16_t days_till_this_year = (year - last_leap_year)*365; + if (days_till_this_year != 0) { + days_till_this_year++; + } + + eph.setYear(year); + eph.setDayInYear(current_day - days_till_this_year); + eph.setHour((eph.getTk()>>7) & 0x1F); + eph.setMinute((eph.getTk()>>1) & 0x3F); + eph.setSecond((eph.getTk() & 0x1) * 30); + } + + glonass_strings[msg->sv_id()].clear(); + return capnp::messageToFlatArray(msg_builder); +} + kj::Array UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) { switch (msg->gnss_id()) { case ubx_t::gnss_type_t::GNSS_TYPE_GPS: return parse_gps_ephemeris(msg); + case ubx_t::gnss_type_t::GNSS_TYPE_GLONASS: + return parse_glonass_ephemeris(msg); default: return kj::Array(); } diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h index f031313168..6988f20b74 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/selfdrive/locationd/ublox_msg.h @@ -10,6 +10,7 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" #include "selfdrive/locationd/generated/gps.h" +#include "selfdrive/locationd/generated/glonass.h" #include "selfdrive/locationd/generated/ubx.h" using namespace std::string_literals; @@ -101,13 +102,22 @@ class UbloxMsgParser { inline bool valid_cheksum(); inline bool valid(); inline bool valid_so_far(); + inline uint16_t get_glonass_year(uint8_t N4, uint16_t Nt); kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); + kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); std::unordered_map> gps_subframes; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; -}; + // user range accuracy in meters + const std::unordered_map glonass_URA_lookup = + {{ 0, 1}, { 1, 2}, { 2, 2.5}, { 3, 4}, { 4, 5}, {5, 7}, + { 6, 10}, { 7, 12}, { 8, 14}, { 9, 16}, {10, 32}, + {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; + std::unordered_map> glonass_strings; + std::unordered_map glonass_superframes; +}; diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c787f4be2d..68675e7007 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -21b29c8a9eb9acd63e91cbda55657afb266a07f9 \ No newline at end of file +2beed04e654cdf84fac5842869f38c8cd55e9867 \ No newline at end of file From 04a7808590ac55a5e3dea6080b6a24aae78d9277 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 2 Feb 2023 21:16:28 -0700 Subject: [PATCH 60/75] glonass support laikad (#27173) * add glonass kaitai parsing * add kaita generated files * remove glonass from build * add string non immediate type * fix kaitai bug * cleanUp * add patch file * fix scons order * make lookup const * remove comments * add to release files * init * add laika * remove printf * laikad add glonass ephem parsing * add signs * final ublox parsing * rev gps * bump subs * address comments * disable internet for laikad --------- Co-authored-by: Kurt Nistelberger --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 20 +++++++++++++++----- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/laika_repo b/laika_repo index 2e5c7b8a85..b30afe44d2 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 2e5c7b8a85cbaebda7fa715fe53d5e6ecbd62b0a +Subproject commit b30afe44d283072b6ee0ea17f290cca5d002baf7 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index b8d86c63fd..e85cd0ad42 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -17,7 +17,7 @@ from 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 Ephemeris, EphemerisType, convert_ublox_ephem, parse_qcom_ephem +from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom @@ -139,17 +139,22 @@ class Laikad: if self.use_qcom: return gnss_msg.which() == 'drSvPoly' else: - return gnss_msg.which() == 'ephemeris' + return gnss_msg.which() in ('ephemeris', 'glonassEphemeris') def read_ephemeris(self, gnss_msg): - # TODO this only works on GLONASS if self.use_qcom: # TODO this is not robust to gps week rollover if self.gps_week is None: return ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) else: - ephem = convert_ublox_ephem(gnss_msg.ephemeris) + if gnss_msg.which() == 'ephemeris': + ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris) + elif gnss_msg.which() == 'glonassEphemeris': + ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris) + else: + cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") + return self.astro_dog.add_navs({ephem.prn: [ephem]}) self.cache_ephemeris(t=ephem.epoch) @@ -410,8 +415,13 @@ def main(sm=None, pm=None, qc=None): if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) + # disable until set as main gps source, to better analyze startup time + use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ + replay = "REPLAY" in os.environ - use_internet = "LAIKAD_NO_INTERNET" not in os.environ + if replay or "CI" in os.environ: + use_internet = True + laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: From 41304db1e661fa6593d777f0f17dfd60e6f909c8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 3 Feb 2023 12:39:16 +0800 Subject: [PATCH 61/75] cabana: syc the last messages after seeking (#27149) * fix wrong last message time * update last messages after seekto * cleanup * remove src,address from CanData * merge master merge master --- tools/cabana/historylog.cc | 6 +-- tools/cabana/messageswidget.cc | 7 +-- tools/cabana/streams/abstractstream.cc | 64 +++++++++++++++++++------- tools/cabana/streams/abstractstream.h | 10 ++-- tools/cabana/streams/replaystream.cc | 6 --- tools/cabana/streams/replaystream.h | 2 +- tools/replay/replay.cc | 2 +- 7 files changed, 62 insertions(+), 35 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index ab5c6cbbe0..95bd94e76b 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -79,7 +79,7 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function void HistoryLogModel::updateState() { if (!msg_id.isEmpty()) { - uint64_t current_time = (can->currentSec() + can->routeStartTime()) * 1e9; + uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1; auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); if ((has_more_data = !new_msgs.empty())) { beginInsertRows({}, 0, new_msgs.size() - 1); @@ -109,7 +109,7 @@ std::deque HistoryLogModel::fetchData(InputIt first, I for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { - if (src == c.getSrc() && address == c.getAddress()) { + if (address == c.getAddress() && src == c.getSrc()) { const auto dat = c.getDat(); for (int i = 0; i < sigs.size(); ++i) { values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i])); @@ -140,7 +140,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti if (dynamic_mode) { auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; }); auto msgs = fetchData(first, events->rend(), min_time); - if (update_colors && min_time > 0) { + if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); it->colors = hex_colors.colors; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 64f56ae73f..9d0fc23e4d 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -106,11 +106,12 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } else if (role == Qt::UserRole && index.column() == 4) { QList colors; + colors.reserve(can_data.dat.size()); for (int i = 0; i < can_data.dat.size(); i++){ if (suppressed_bytes.contains({id, i})) { colors.append(QColor(255, 255, 255, 0)); } else { - colors.append(can_data.colors[i]); + colors.append(i < can_data.colors.size() ? can_data.colors[i] : QColor(255, 255, 255, 0)); } } return colors; @@ -152,8 +153,8 @@ void MessageListModel::sortMessages() { }); } else if (sort_column == 1) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - auto ll = std::tuple{can->lastMessage(l).src, can->lastMessage(l).address, l}; - auto rr = std::tuple{can->lastMessage(r).src, can->lastMessage(r).address, r}; + auto ll = DBCManager::parseId(l); + auto rr = DBCManager::parseId(r); return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } else if (sort_column == 2) { diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 308e5556c6..8a77e0eb39 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -4,7 +4,9 @@ AbstractStream *can = nullptr; AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { can = this; + new_msgs = std::make_unique>(); QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection); + QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); } void AbstractStream::process(QHash *messages) { @@ -18,30 +20,17 @@ void AbstractStream::process(QHash *messages) { } bool AbstractStream::updateEvent(const Event *event) { - static std::unique_ptr new_msgs = std::make_unique>(); - static QHash change_trackers; static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { - double current_sec = currentSec(); - if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) { - new_msgs->clear(); - counters.clear(); - counters_begin_sec = current_sec; - } - - auto can_events = event->event.getCan(); - for (const auto &c : can_events) { + double current_sec = event->mono_time / 1e9 - routeStartTime(); + for (const auto &c : event->event.getCan()) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); CanData &data = (*new_msgs)[id]; data.ts = current_sec; - data.src = c.getSrc(); - data.address = c.getAddress(); data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); data.count = ++counters[id]; - if (double delta = (current_sec - counters_begin_sec); delta > 0) { - data.freq = data.count / delta; - } + data.freq = data.count / std::max(1.0, current_sec); change_trackers[id].compute(data.dat, data.ts, data.freq); data.colors = change_trackers[id].colors; data.last_change_t = change_trackers[id].last_change_t; @@ -60,3 +49,46 @@ bool AbstractStream::updateEvent(const Event *event) { } return true; } + +const CanData &AbstractStream::lastMessage(const QString &id) { + static CanData empty_data; + auto it = can_msgs.find(id); + return it != can_msgs.end() ? it.value() : empty_data; +} + +void AbstractStream::updateLastMsgsTo(double sec) { + QHash, CanData> last_msgs; // Much faster than QHash + last_msgs.reserve(can_msgs.size()); + double route_start_time = routeStartTime(); + uint64_t last_ts = (sec + route_start_time) * 1e9; + auto last = std::upper_bound(events()->rbegin(), events()->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; }); + for (auto it = last; it != events()->rend(); ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*it)->event.getCan()) { + auto &m = last_msgs[{c.getSrc(), c.getAddress()}]; + if (++m.count == 1) { + m.ts = ((*it)->mono_time / 1e9) - route_start_time; + m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); + m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); + m.last_change_t = QVector(m.dat.size(), m.ts); + } else { + m.freq = m.count / std::max(1.0, m.ts); + } + } + } + } + + // it is thread safe to update data here. + // updateEvent will not be called before replayStream::seekedTo return. + new_msgs->clear(); + change_trackers.clear(); + counters.clear(); + can_msgs.clear(); + for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) { + QString msg_id = QString("%1:%2").arg(it.key().first).arg(it.key().second, 1, 16); + can_msgs[msg_id] = it.value(); + counters[msg_id] = it.value().count; + } + emit updated(); + emit msgsReceived(&can_msgs); +} diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e16e11a14b..0dbb3d96a6 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -11,8 +11,6 @@ struct CanData { double ts = 0.; - uint8_t src = 0; - uint32_t address = 0; uint32_t count = 0; uint32_t freq = 0; QByteArray dat; @@ -34,7 +32,7 @@ public: virtual double routeStartTime() const { return 0; } virtual double currentSec() const = 0; virtual QDateTime currentDateTime() const { return {}; } - virtual const CanData &lastMessage(const QString &id) { return can_msgs[id]; } + virtual const CanData &lastMessage(const QString &id); virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual const Route *route() const { return nullptr; } virtual const std::vector *events() const = 0; @@ -54,16 +52,18 @@ signals: void received(QHash *); public: - QMap can_msgs; + QHash can_msgs; protected: void process(QHash *); bool updateEvent(const Event *event); + void updateLastMsgsTo(double sec); bool is_live_streaming = false; - std::atomic counters_begin_sec = 0; std::atomic processing = false; QHash counters; + std::unique_ptr> new_msgs; + QHash change_trackers; }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index fd58f7a409..72c4a13048 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -42,12 +42,6 @@ bool ReplayStream::eventFilter(const Event *event) { return true; } -void ReplayStream::seekTo(double ts) { - replay->seekTo(std::max(double(0), ts), false); - counters_begin_sec = 0; - emit updated(); -} - void ReplayStream::pause(bool pause) { replay->pause(pause); emit(pause ? paused() : resume()); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 1688915212..a9a74e33b5 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -12,7 +12,7 @@ public: ~ReplayStream(); bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); - void seekTo(double ts) override; + void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }; inline QString routeName() const override { return replay->route()->name(); } inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 5c90777bbc..178b116a87 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -114,9 +114,9 @@ void Replay::seekTo(double seconds, bool relative) { rInfo("seeking to %d s, segment %d", (int)seconds, seg); current_segment_ = seg; cur_mono_time_ = route_start_ts_ + seconds * 1e9; + emit seekedTo(seconds); return isSegmentMerged(seg); }); - emit seekedTo(seconds); queueSegment(); } From b1e744987f88641577139061a6444b6357f5773a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 2 Feb 2023 22:00:49 -0800 Subject: [PATCH 62/75] Ford: add Lincoln Aviator 2021 to Ford Explorer platform (#27095) * add Lincoln Aviator 2021 to Ford Explorer platform Based on the Ford Explorer, the Aviator has very similar firmware versions. Add these to the Explorer platform and create a new CarInfo for the Aviator. f0709d2bc6ca451f|2022-12-10--12-36-59--0 VIN: 5LM5J7XC8MGL09541 * Ford: new gear shifter signal to support Aviator * probably don't need these * don't need to pass None here, it defaults to None * will rename in DBC * bump opendbc * bump process replay ref --- opendbc | 2 +- selfdrive/car/ford/carstate.py | 6 +++--- selfdrive/car/ford/values.py | 8 +++++++- selfdrive/car/interfaces.py | 18 +++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 21 insertions(+), 15 deletions(-) diff --git a/opendbc b/opendbc index d585a9bf29..0b7439f551 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit d585a9bf2908b2c83bf02b567b9e1f5bfc587a01 +Subproject commit 0b7439f551168f202fb033b7e3e177048687e726 diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 215900fef6..f97225e9f2 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -14,7 +14,7 @@ class CarState(CarStateBase): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) if CP.transmissionType == TransmissionType.automatic: - self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"] + self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] def update(self, cp, cp_cam): ret = car.CarState.new_message() @@ -51,7 +51,7 @@ class CarState(CarStateBase): # gear if self.CP.transmissionType == TransmissionType.automatic: - gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None) + gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]) ret.gearShifter = self.parse_gear_shifter(gear) elif self.CP.transmissionType == TransmissionType.manual: ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0 @@ -171,7 +171,7 @@ class CarState(CarStateBase): if CP.transmissionType == TransmissionType.automatic: signals += [ - ("TrnGear_D_RqDrv", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position + ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position ] checks += [ ("Gear_Shift_by_Wire_FD1", 10), diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 3723fe1d4a..526b74b16c 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -75,7 +75,10 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FordCarInfo("Ford Escape 2020-21"), FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), ], - CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"), + CAR.EXPLORER_MK6: [ + FordCarInfo("Ford Explorer 2020-22"), + FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), + ], CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"), } @@ -165,13 +168,16 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ + b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 7192f5252c..e75067da7e 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -401,15 +401,15 @@ class CarStateBase(ABC): return GearShifter.unknown d: Dict[str, car.CarState.GearShifter] = { - 'P': GearShifter.park, 'PARK': GearShifter.park, - 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, - 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, - 'E': GearShifter.eco, 'ECO': GearShifter.eco, - 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, - 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, - 'S': GearShifter.sport, 'SPORT': GearShifter.sport, - 'L': GearShifter.low, 'LOW': GearShifter.low, - 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, + 'P': GearShifter.park, 'PARK': GearShifter.park, + 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, + 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, + 'E': GearShifter.eco, 'ECO': GearShifter.eco, + 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, + 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, + 'S': GearShifter.sport, 'SPORT': GearShifter.sport, + 'L': GearShifter.low, 'LOW': GearShifter.low, + 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, } return d.get(gear.upper(), GearShifter.unknown) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 68675e7007..2c66c7075c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2beed04e654cdf84fac5842869f38c8cd55e9867 \ No newline at end of file +7c2a98f4a94b6dded6a90d8913ab85a63069c186 \ No newline at end of file From 1816b499c4c55461797d41b8418faeb58d5f7292 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 3 Feb 2023 01:58:29 -0500 Subject: [PATCH 63/75] HKG: Car Port for Kia K5 Hybrid 2020 (#26947) * HKG: Car Port for Kia K5 Hybrid 2020 * Add test route (Experimental Mode) * No abs * remove extra trans * move up --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/carcontroller.py | 3 ++- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/values.py | 28 +++++++++++++++++++---- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 8 files changed, 33 insertions(+), 8 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index ddb4a036b0..9103fbc4b5 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,6 +6,7 @@ Version 0.9.1 (2022-12-XX) * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! * Genesis GV60 2023 support thanks to sunnyhaibin! * Hyundai Tucson 2022-23 support +* Kia K5 Hybrid 2020 support thanks to sunnyhaibin! * Kia Sorento 2022-23 support thanks to sunnyhaibin! * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607! diff --git a/docs/CARS.md b/docs/CARS.md index 9a33278d3b..45873c4924 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 232 Supported Cars +# 233 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -100,6 +100,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| +|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index b81c5e3f7d..6f043fddbb 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -181,7 +181,8 @@ class CarController: if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022): + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, + CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) # 5 Hz ACC options diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index c2ffffbf22..858f3d0876 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -21,7 +21,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 030c3f1abc..c708e2b78e 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -166,7 +166,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - elif candidate == CAR.KIA_K5_2021: + elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020): ret.mass = 3228. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b355da6cac..1a0c12d2e0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -96,6 +96,7 @@ class CAR: # Kia KIA_FORTE = "KIA FORTE E 2018 & GT 2021" KIA_K5_2021 = "KIA K5 2021" + KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" @@ -192,6 +193,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { # Kia CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), + CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), @@ -1148,6 +1150,23 @@ FW_VERSIONS = { b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', ], }, + CAR.KIA_K5_HEV_2020: { + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', + ], + (Ecu.engine, 0x7E0, None): [ + b'\xf1\x87391162JLA0', + ], + (Ecu.transmission, 0x7E1, None): [ + b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', + ], + }, CAR.KONA_EV: { (Ecu.abs, 0x7D1, None): [ b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', @@ -1608,7 +1627,7 @@ FW_VERSIONS = { } CHECKSUM = { - "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022], + "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020], "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } @@ -1616,10 +1635,10 @@ FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, - "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020}, } CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN} @@ -1630,7 +1649,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020} # these cars use a different gas signal EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -1655,6 +1674,7 @@ DBC = { CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index bcdb00fd60..ce38eeb0de 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -123,6 +123,7 @@ routes = [ CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), + CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 56057dfae0..1ac43efc39 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -37,6 +37,7 @@ HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 +KIA K5 HYBRID 2020: KIA K5 2021 KIA STINGER 2022: KIA STINGER GT2 2018 GENESIS G90 2017: GENESIS G70 2018 GENESIS G80 2017: GENESIS G70 2018 From bd67d0088783d52262f6796060a53a31e393333b Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 3 Feb 2023 02:08:38 -0500 Subject: [PATCH 64/75] Hyundai: Add FW Versions for 2020 Ioniq Plug-in Hybrid (#27196) * Hyundai: Add FW Versions for 2020 Ioniq Plug-in Hybrid * Aha! * Another one * Update selfdrive/car/hyundai/values.py * missing a radar --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1a0c12d2e0..9c1efa812d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -416,17 +416,18 @@ FW_VERSIONS = { }, CAR.IONIQ_PHEV: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\000AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\000AE MDPS C 1.00 1.01 56310/G2510 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', ], (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\000AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', ], @@ -439,6 +440,7 @@ FW_VERSIONS = { b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', ], }, CAR.IONIQ_EV_2020: { From 603e03116e4ef8dac20f0b957c38369f6cad9c7f Mon Sep 17 00:00:00 2001 From: jayvin100 <34394301+jayvin100@users.noreply.github.com> Date: Fri, 3 Feb 2023 15:16:43 +0800 Subject: [PATCH 65/75] Add support for Malaysian Civic 2022 (#27126) Co-authored-by: Shane Smiskol --- selfdrive/car/honda/values.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 07eed0cfc2..3d1c006aaa 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1440,6 +1440,7 @@ FW_VERSIONS = { (Ecu.eps, 0x18DA30F1, None): [ b'39990-T39-A130\x00\x00', b'39990-T43-J020\x00\x00', + b'39990-T24-T120\x00\x00', ], (Ecu.gateway, 0x18DAEFF1, None): [ b'38897-T20-A020\x00\x00', @@ -1447,11 +1448,13 @@ FW_VERSIONS = { b'38897-T21-A010\x00\x00', b'38897-T20-A210\x00\x00', b'38897-T20-A310\x00\x00', + b'38897-T24-Z120\x00\x00', ], (Ecu.srs, 0x18DA53F1, None): [ b'77959-T20-A970\x00\x00', b'77959-T47-A940\x00\x00', b'77959-T47-A950\x00\x00', + b'77959-T20-M820\x00\x00', ], (Ecu.combinationMeter, 0x18DA60F1, None): [ b'78108-T21-A220\x00\x00', @@ -1459,22 +1462,26 @@ FW_VERSIONS = { b'78108-T23-A110\x00\x00', b'78108-T21-A230\x00\x00', b'78108-T22-A020\x00\x00', + b'78108-T21-MB10\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-T20-A070\x00\x00', b'36161-T20-A080\x00\x00', b'36161-T20-A060\x00\x00', b'36161-T47-A070\x00\x00', + b'36161-T24-T070\x00\x00', ], (Ecu.vsa, 0x18DA28F1, None): [ b'57114-T20-AB40\x00\x00', b'57114-T43-JB30\x00\x00', + b'57114-T24-TB30\x00\x00', ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-65D-A020\x00\x00', b'28101-65D-A120\x00\x00', b'28101-65H-A020\x00\x00', b'28101-65H-A120\x00\x00', + b'28101-65J-N010\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-64L-A540\x00\x00', @@ -1482,6 +1489,7 @@ FW_VERSIONS = { b'37805-64S-A720\x00\x00', b'37805-64A-A540\x00\x00', b'37805-64A-A620\x00\x00', + b'37805-64D-P510\x00\x00', ], }, } From a8b43a44c56600d5a003ef1314873a509c165363 Mon Sep 17 00:00:00 2001 From: Jacob Pfeifer Date: Fri, 3 Feb 2023 02:25:51 -0500 Subject: [PATCH 66/75] 2020 Hyundai Santa Fe fingerprint update (#27135) * add new transmission fwVersion for 2020 hyundai santa fe * use shorter trans, add missing fw * duplicate --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 9c1efa812d..4c8e924c49 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -686,7 +686,7 @@ FW_VERSIONS = { (Ecu.abs, 0x7d1, None): [ b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', - b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650', + b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', @@ -708,6 +708,7 @@ FW_VERSIONS = { b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', From ef95f921d1e3a5f8566ed4820b8ae8ca9b03609e Mon Sep 17 00:00:00 2001 From: Iamz Date: Fri, 3 Feb 2023 14:35:22 +0700 Subject: [PATCH 67/75] Added new fingerprint for Toyota Corolla Cross GR Sport (#26693) Co-authored-by: Shane Smiskol --- 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 6c2b865982..490c94db75 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -848,6 +848,7 @@ FW_VERSIONS = { b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -860,6 +861,7 @@ FW_VERSIONS = { b'8965B12361\x00\x00\x00\x00\x00\x00', b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', + b'8965B16101\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', b'\x018965B12350\x00\x00\x00\x00\x00\x00', @@ -907,6 +909,7 @@ FW_VERSIONS = { b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00", b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', From 1ace481fa85287cbfb1799bea9d2fd325eaf1ce7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 4 Feb 2023 02:50:39 +0800 Subject: [PATCH 68/75] cabana: elide long signal names (#27202) elide long signal names --- tools/cabana/signaledit.cc | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 7f31293c41..b871ffa21a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -292,7 +292,10 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op font.setBold(true); painter->setFont(font); painter->setPen((option.state & QStyle::State_Selected ? option.palette.highlightedText() : option.palette.text()).color()); - painter->drawText(option.rect.adjusted(rc.width() + 9, 0, 0, 0), option.displayAlignment, index.data(Qt::DisplayRole).toString()); + QString text = index.data(Qt::DisplayRole).toString(); + QRect text_rect = option.rect.adjusted(rc.width() + 9, 0, 0, 0); + text = painter->fontMetrics().elidedText(text, Qt::ElideRight, text_rect.width()); + painter->drawText(text_rect, option.displayAlignment, text); painter->restore(); } else { QStyledItemDelegate::paint(painter, option, index); From bd66f77a3b5f59c1b0f72a4a655f0ca883b35f11 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 4 Feb 2023 03:40:35 +0800 Subject: [PATCH 69/75] cabana: fix chart buttons occasionally did not respond to click. (#27198) * fix btn not responding on click * change icon from gear to list(menu) --- tools/cabana/chartswidget.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e49d28db44..1b8ce657a6 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -322,7 +322,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QToolButton *manage_btn = new QToolButton(); manage_btn->setToolButtonStyle(Qt::ToolButtonIconOnly); - manage_btn->setIcon(utils::icon("gear")); + manage_btn->setIcon(utils::icon("list")); manage_btn->setAutoRaise(true); QMenu *menu = new QMenu(this); line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); }); @@ -613,7 +613,7 @@ void ChartView::leaveEvent(QEvent *event) { void ChartView::mousePressEvent(QMouseEvent *event) { if (event->button() == Qt::LeftButton && !chart()->plotArea().contains(event->pos()) && - !manage_btn_proxy->widget()->underMouse() && !close_btn_proxy->widget()->underMouse()) { + !manage_btn_proxy->geometry().contains(event->pos()) && !close_btn_proxy->geometry().contains(event->pos())) { QMimeData *mimeData = new QMimeData; mimeData->setData(mime_type, QByteArray::number((qulonglong)this)); QDrag *drag = new QDrag(this); From 858f185fd28444b5ca72038b5e284a5699704917 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 3 Feb 2023 12:46:14 -0800 Subject: [PATCH 70/75] Hyundai: update Hyundai Genesis tuning (#27197) --- selfdrive/car/torque_data/params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 397b29525d..7da508a156 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -25,7 +25,7 @@ HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819] -HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171] +HYUNDAI GENESIS 2015-2016: [2.7807965280270794, 2.325, 0.0984484465421171] HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] From 29d9d037590d2db33b7d49c44120d83307ec6568 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 4 Feb 2023 04:47:26 +0800 Subject: [PATCH 71/75] cabana: add dialog to open route from remote or local (#27183) * add OpenRouteDialog * cleanup * failed_to_load * fix load * clear message list and stream after open new route * show message * remove all tabs and charts after open * use textEdited * check route format * cleanup loadRoute --- tools/cabana/SConscript | 2 +- tools/cabana/cabana.cc | 23 +++++++--- tools/cabana/chartswidget.cc | 4 +- tools/cabana/chartswidget.h | 2 +- tools/cabana/detailwidget.cc | 10 ++++ tools/cabana/detailwidget.h | 1 + tools/cabana/mainwin.cc | 17 +++++++ tools/cabana/mainwin.h | 1 + tools/cabana/messageswidget.cc | 26 +++++++++-- tools/cabana/messageswidget.h | 4 ++ tools/cabana/route.cc | 68 ++++++++++++++++++++++++++++ tools/cabana/route.h | 19 ++++++++ tools/cabana/settings.cc | 2 + tools/cabana/settings.h | 1 + tools/cabana/streams/replaystream.cc | 12 ++--- tools/cabana/streams/replaystream.h | 7 +-- 16 files changed, 174 insertions(+), 25 deletions(-) create mode 100644 tools/cabana/route.cc create mode 100644 tools/cabana/route.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 0c9ad14973..a9922ba9be 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -21,7 +21,7 @@ cabana_env = qt_env.Clone() prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', - 'commands.cc', 'messageswidget.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if arch == "Darwin": diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index e34e2d0205..e028e383c2 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -4,6 +4,7 @@ #include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" +#include "tools/cabana/route.h" #include "tools/cabana/streams/livestream.h" #include "tools/cabana/streams/replaystream.h" @@ -26,10 +27,6 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"no-vipc", "do not output video"}); cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); cmd_parser.process(app); - const QStringList args = cmd_parser.positionalArguments(); - if (args.empty() && !cmd_parser.isSet("demo") && !cmd_parser.isSet("stream")) { - cmd_parser.showHelp(); - } std::unique_ptr op_prefix; std::unique_ptr stream; @@ -41,7 +38,6 @@ int main(int argc, char *argv[]) { #ifndef __APPLE__ op_prefix.reset(new OpenpilotPrefix()); #endif - const QString route = args.empty() ? DEMO_ROUTE : args.first(); uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { replay_flags |= REPLAY_FLAG_ECAM; @@ -50,9 +46,22 @@ int main(int argc, char *argv[]) { } else if (cmd_parser.isSet("no-vipc")) { replay_flags |= REPLAY_FLAG_NO_VIPC; } - auto replay_stream = new ReplayStream(&app); + + const QStringList args = cmd_parser.positionalArguments(); + QString route; + if (args.size() > 0) { + route = args.first(); + } else if (cmd_parser.isSet("demo")) { + route = DEMO_ROUTE; + } + + auto replay_stream = new ReplayStream(replay_flags, &app); stream.reset(replay_stream); - if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { + if (route.isEmpty()) { + if (OpenRouteDialog dlg(nullptr); !dlg.exec()) { + return 0; + } + } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) { return 0; } } diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 1b8ce657a6..eb14e5a044 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -137,7 +137,7 @@ void ChartsWidget::updateState() { if (!is_zoomed) { double pos = (cur_sec - display_range.first) / max_chart_range; if (pos < 0 || pos > 0.8) { - const double min_event_sec = (can->events()->front()->mono_time / (double)1e9) - can->routeStartTime(); + const double min_event_sec = can->events()->empty() ? 0 : (can->events()->front()->mono_time / (double)1e9 - can->routeStartTime()); display_range.first = std::floor(std::max(min_event_sec, cur_sec - max_chart_range * 0.2)); } display_range.second = std::floor(display_range.first + max_chart_range); @@ -157,7 +157,7 @@ void ChartsWidget::updateState() { void ChartsWidget::setMaxChartRange(int value) { max_chart_range = settings.chart_range = value; double current_sec = can->currentSec(); - const double min_event_sec = (can->events()->front()->mono_time / (double)1e9) - can->routeStartTime(); + const double min_event_sec = can->events()->empty() ? 0 : (can->events()->front()->mono_time / (double)1e9 - can->routeStartTime()); // keep current_sec's pos double pos = (current_sec - display_range.first) / (display_range.second - display_range.first); display_range.first = std::floor(std::max(min_event_sec, current_sec - max_chart_range * (1.0 - pos))); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 9b2afd45a9..15da8e53ad 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -97,6 +97,7 @@ public: public slots: void setColumnCount(int n); + void removeAll(); signals: void dock(bool floating); @@ -114,7 +115,6 @@ private: void zoomIn(double min, double max); void zoomReset(); void updateToolBar(); - void removeAll(); void setMaxChartRange(int value); void updateLayout(); void settingChanged(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 3af0fa9fc3..46f7a148f4 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -104,6 +104,16 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { } } +void DetailWidget::removeAll() { + msg_id = ""; + tabbar->blockSignals(true); + while (tabbar->count() > 0) { + tabbar->removeTab(0); + } + tabbar->blockSignals(false); + stacked_layout->setCurrentIndex(0); +} + void DetailWidget::setMessage(const QString &message_id) { msg_id = message_id; int index = tabbar->count() - 1; diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 3a3f3adf0e..a62e23f226 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -30,6 +30,7 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); void refresh(); + void removeAll(); QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } private: diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 94cf9840f7..dfd38e267d 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -15,6 +15,7 @@ #include #include "tools/cabana/commands.h" +#include "tools/cabana/route.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { @@ -66,6 +67,11 @@ MainWindow::MainWindow() : QMainWindow() { void MainWindow::createActions() { QMenu *file_menu = menuBar()->addMenu(tr("&File")); + if (!can->liveStreaming()) { + file_menu->addAction(tr("Open Route..."), this, &MainWindow::openRoute); + file_menu->addSeparator(); + } + file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New); file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open); @@ -185,6 +191,17 @@ void MainWindow::DBCFileChanged() { setWindowFilePath(QString("%1").arg(dbc()->name())); } +void MainWindow::openRoute() { + OpenRouteDialog dlg(this); + if (dlg.exec()) { + detail_widget->removeAll(); + charts_widget->removeAll(); + statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); + } else if (dlg.failedToLoad()) { + close(); + } +} + void MainWindow::newFile() { remindSaveChanges(); dbc()->open("untitled.dbc", ""); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index c26f6973c0..5e627df58b 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -23,6 +23,7 @@ public: void loadFile(const QString &fn); public slots: + void openRoute(); void newFile(); void openFile(); void openRecentFile(); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 9d0fc23e4d..359fe10f50 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -3,7 +3,6 @@ #include #include #include -#include #include #include #include @@ -14,7 +13,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); // message filter - QLineEdit *filter = new QLineEdit(this); + filter = new QLineEdit(this); filter->setClearButtonEnabled(true); filter->setPlaceholderText(tr("filter messages")); main_layout->addWidget(filter); @@ -41,8 +40,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { main_layout->addLayout(suppress_layout); // signals/slots - QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); + QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); + QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset); QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); @@ -83,6 +83,13 @@ void MessagesWidget::updateSuppressedButtons() { } } +void MessagesWidget::reset() { + model->reset(); + filter->clear(); + current_msg_id = ""; + updateSuppressedButtons(); +} + // MessageListModel @@ -175,10 +182,11 @@ void MessageListModel::sortMessages() { void MessageListModel::msgsReceived(const QHash *new_msgs) { int prev_row_count = msgs.size(); - if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) { + bool update_all = new_msgs->size() == can->can_msgs.size(); + if (update_all || (filter_str.isEmpty() && msgs.size() != can->can_msgs.size())) { msgs = can->can_msgs.keys(); } - if (msgs.size() != prev_row_count) { + if (update_all || msgs.size() != prev_row_count) { sortMessages(); return; } @@ -215,3 +223,11 @@ void MessageListModel::suppress() { void MessageListModel::clearSuppress() { suppressed_bytes.clear(); } + +void MessageListModel::reset() { + beginResetModel(); + filter_str = ""; + msgs.clear(); + clearSuppress(); + endResetModel(); +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 1927faa646..81ee36cd6f 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -23,6 +24,7 @@ public: void sortMessages(); void suppress(); void clearSuppress(); + void reset(); QStringList msgs; QSet> suppressed_bytes; @@ -41,6 +43,7 @@ public: QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); } bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); } void updateSuppressedButtons(); + void reset(); signals: void msgSelectionChanged(const QString &message_id); @@ -48,6 +51,7 @@ signals: protected: QTableView *table_widget; QString current_msg_id; + QLineEdit *filter; MessageListModel *model; QPushButton *suppress_add; QPushButton *suppress_clear; diff --git a/tools/cabana/route.cc b/tools/cabana/route.cc new file mode 100644 index 0000000000..ab322cdf90 --- /dev/null +++ b/tools/cabana/route.cc @@ -0,0 +1,68 @@ +#include "tools/cabana/route.h" + +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/streams/replaystream.h" + +OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) { + // TODO: get route list from api.comma.ai + QHBoxLayout *edit_layout = new QHBoxLayout; + edit_layout->addWidget(new QLabel(tr("Route:"))); + edit_layout->addWidget(route_edit = new QLineEdit(this)); + route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route")); + auto file_btn = new QPushButton(tr("Browse..."), this); + edit_layout->addWidget(file_btn); + + btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); + btn_box->button(QDialogButtonBox::Open)->setEnabled(false); + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(0); + main_layout->addLayout(edit_layout); + main_layout->addStretch(0); + main_layout->addWidget(btn_box); + setMinimumSize({550, 120}); + + QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute); + QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(route_edit, &QLineEdit::textChanged, [this]() { + btn_box->button(QDialogButtonBox::Open)->setEnabled(!route_edit->text().isEmpty()); + }); + QObject::connect(file_btn, &QPushButton::clicked, [=]() { + QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir); + if (!dir.isEmpty()) { + route_edit->setText(dir); + settings.last_route_dir = QFileInfo(dir).absolutePath(); + } + }); +} + +void OpenRouteDialog::loadRoute() { + btn_box->setEnabled(false); + + QString route = route_edit->text(); + QString data_dir; + if (int idx = route.lastIndexOf('/'); idx != -1) { + data_dir = route.mid(0, idx + 1); + route = route.mid(idx + 1); + } + + bool is_valid_format = Route::parseRoute(route).str.size() > 0; + if (!is_valid_format) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); + } else { + failed_to_load = !dynamic_cast(can)->loadRoute(route, data_dir); + if (failed_to_load) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); + } else { + accept(); + } + } + + btn_box->setEnabled(true); +} diff --git a/tools/cabana/route.h b/tools/cabana/route.h new file mode 100644 index 0000000000..ceda71d585 --- /dev/null +++ b/tools/cabana/route.h @@ -0,0 +1,19 @@ +#pragma once + +#include +#include +#include + +class OpenRouteDialog : public QDialog { + Q_OBJECT + +public: + OpenRouteDialog(QWidget *parent); + void loadRoute(); + inline bool failedToLoad() const { return failed_to_load; } + +private: + QLineEdit *route_edit; + QDialogButtonBox *btn_box; + bool failed_to_load = false; +}; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 22c7a941ab..6cbd16cabf 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -20,6 +20,7 @@ void Settings::save() { s.setValue("chart_range", chart_range); s.setValue("chart_column_count", chart_column_count); s.setValue("last_dir", last_dir); + s.setValue("last_route_dir", last_route_dir); s.setValue("window_state", window_state); s.setValue("geometry", geometry); s.setValue("video_splitter_state", video_splitter_state); @@ -36,6 +37,7 @@ void Settings::load() { chart_range = s.value("chart_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); last_dir = s.value("last_dir", QDir::homePath()).toString(); + last_route_dir = s.value("last_route_dir", QDir::homePath()).toString(); window_state = s.value("window_state").toByteArray(); geometry = s.value("geometry").toByteArray(); video_splitter_state = s.value("video_splitter_state").toByteArray(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 7abad81c29..a302d20077 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -20,6 +20,7 @@ public: int chart_range = 3 * 60; // e minutes int chart_series_type = 0; QString last_dir; + QString last_route_dir; QByteArray geometry; QByteArray video_splitter_state; QByteArray window_state; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 72c4a13048..b768b94327 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -2,7 +2,7 @@ #include "tools/cabana/dbcmanager.h" -ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) { +ReplayStream::ReplayStream(uint32_t replay_flags, QObject *parent) : replay_flags(replay_flags), AbstractStream(parent, false) { QObject::connect(&settings, &Settings::changed, [this]() { if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); }); @@ -16,13 +16,13 @@ static bool event_filter(const Event *e, void *opaque) { return ((ReplayStream *)opaque)->eventFilter(e); } -bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { - replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this); +bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { + replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); - QObject::connect(replay, &Replay::seekedTo, this, &AbstractStream::seekedTo); - QObject::connect(replay, &Replay::segmentsMerged, this, &AbstractStream::eventsMerged); - QObject::connect(replay, &Replay::streamStarted, this, &AbstractStream::streamStarted); + QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); + QObject::connect(replay.get(), &Replay::segmentsMerged, this, &AbstractStream::eventsMerged); + QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted); if (replay->load()) { const auto &segments = replay->route()->segments(); if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index a9a74e33b5..69fb738ab8 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -8,9 +8,9 @@ class ReplayStream : public AbstractStream { Q_OBJECT public: - ReplayStream(QObject *parent); + ReplayStream(uint32_t replay_flags, QObject *parent); ~ReplayStream(); - bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); + bool loadRoute(const QString &route, const QString &data_dir); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }; inline QString routeName() const override { return replay->route()->name(); } @@ -28,5 +28,6 @@ public: inline const std::vector> getTimeline() override { return replay->getTimeline(); } private: - Replay *replay = nullptr; + std::unique_ptr replay = nullptr; + uint32_t replay_flags = REPLAY_FLAG_NONE; }; From d6516059bd757b1e23c94808187b2dbc38786ca8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 4 Feb 2023 05:03:01 +0800 Subject: [PATCH 72/75] cabana: fix incorrect point size after adding new series to chart or changing series type (#27199) * update pointers after create series * cleanup --- tools/cabana/chartswidget.cc | 65 +++++++++++++++++++----------------- tools/cabana/chartswidget.h | 1 + 2 files changed, 36 insertions(+), 30 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index eb14e5a044..54cacf56cd 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -376,6 +376,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) { sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series}); updateTitle(); updateSeries(sig); + updateSeriesPoints(); emit seriesAdded(msg_id, sig); } @@ -482,41 +483,44 @@ void ChartView::updatePlot(double cur, double min, double max) { if (min != axis_x->min() || max != axis_x->max()) { axis_x->setRange(min, max); updateAxisY(); - - // Show points when zoomed in enough - for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto end = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); - - int num_points = std::max(end - begin, 1); - int pixels_per_point = width() / num_points; - - if (series_type == QAbstractSeries::SeriesTypeScatter) { - ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 1, 8)); - } else { - s.series->setPointsVisible(pixels_per_point > 20); - - // TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs. -#ifndef __APPLE - // OpenGL mode lacks certain features (such as showing points), only use when drawing many points - bool use_opengl = pixels_per_point < 1; - s.series->setUseOpenGL(use_opengl); - - // Qt doesn't properly apply device pixel ratio in OpenGL mode - QApplication *application = static_cast(QApplication::instance()); - float scale = use_opengl ? application->devicePixelRatio() : 1.0; - - QPen pen = s.series->pen(); - pen.setWidth(2.0 * scale); - s.series->setPen(pen); -#endif - } - } + updateSeriesPoints(); } scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } +void ChartView::updateSeriesPoints() { + // Show points when zoomed in enough + for (auto &s : sigs) { + auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); + auto end = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + + int num_points = std::max(end - begin, 1); + int pixels_per_point = width() / num_points; + + if (series_type == QAbstractSeries::SeriesTypeScatter) { + ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 1, 8)); + } else { + s.series->setPointsVisible(pixels_per_point > 20); + + // TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs. +#ifndef __APPLE + // OpenGL mode lacks certain features (such as showing points), only use when drawing many points + bool use_opengl = pixels_per_point < 1; + s.series->setUseOpenGL(use_opengl); + + // Qt doesn't properly apply device pixel ratio in OpenGL mode + QApplication *application = static_cast(QApplication::instance()); + float scale = use_opengl ? application->devicePixelRatio() : 1.0; + + QPen pen = s.series->pen(); + pen.setWidth(2.0 * scale); + s.series->setPen(pen); +#endif + } + } +} + void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { events = events ? events : can->events(); for (auto &s : sigs) { @@ -783,6 +787,7 @@ void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { series->replace(s.vals); s.series = series; } + updateSeriesPoints(); updateTitle(); } } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 15da8e53ad..8c50993971 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -73,6 +73,7 @@ private: void applyNiceNumbers(qreal min, qreal max); qreal niceNumber(qreal x, bool ceiling); QXYSeries *createSeries(QAbstractSeries::SeriesType type); + void updateSeriesPoints(); QValueAxis *axis_x; QValueAxis *axis_y; From 74187463da9f93c6841a6394b0b91a5451ef4765 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 3 Feb 2023 14:45:36 -0700 Subject: [PATCH 73/75] laikad: add laikad startup tests (#27207) * add laikad startup test * move debug files to xx * add laikad startup and ephemeris test --------- Co-authored-by: Kurt Nistelberger --- tools/gpstest/test_laikad.py | 105 +++++++++++++++++++++++++++++++++++ 1 file changed, 105 insertions(+) create mode 100644 tools/gpstest/test_laikad.py diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py new file mode 100644 index 0000000000..613ac991b1 --- /dev/null +++ b/tools/gpstest/test_laikad.py @@ -0,0 +1,105 @@ +#!/usr/bin/env python3 +import os +import time +import unittest + +import cereal.messaging as messaging +import selfdrive.sensord.pigeond as pd + +from common.params import Params +from system.hardware import TICI +from selfdrive.manager.process_config import managed_processes +from 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("LaikadEphemeris") + 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 9a42929b0c7bfa259f361b17ec22dfd34e389fec Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 3 Feb 2023 15:22:33 -0700 Subject: [PATCH 74/75] navd: check duration_typical before using (#27184) check duration_typical Co-authored-by: Kurt Nistelberger --- selfdrive/navd/navd.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 81e3bdb3df..7af911ab2a 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -226,7 +226,11 @@ class RouteEngine: remaining = 1.0 - along_geometry / max(step['distance'], 1) total_distance = step['distance'] * remaining total_time = step['duration'] * remaining - total_time_typical = step['duration_typical'] * remaining + + if step['duration_typical'] is None: + total_time_typical = total_time + else: + total_time_typical = step['duration_typical'] * remaining # Add up totals for future steps for i in range(self.step_idx + 1, len(self.route)): From 73a8d6b95185da3b49129143160b99d83e5a753d Mon Sep 17 00:00:00 2001 From: pbkompasz <47194071+pbkompasz@users.noreply.github.com> Date: Sat, 4 Feb 2023 01:30:59 +0200 Subject: [PATCH 75/75] docs: Add cabana to tools (#27208) --- docs/overview.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/overview.rst b/docs/overview.rst index cda51ba3d4..cc4c582155 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -77,3 +77,4 @@ tools Simulator tools/ssh/README.md Webcam + tools/cabana/README.md