" +
+ f"
"
+ )
+
+ plt.close(fig1)
+ plt.close(fig2)
+
+ with open(save_path, "w") as f:
+ f.write(html_template)
+
+ print(f"Report saved to {save_path}")
+
+
+def main():
+ parser = argparse.ArgumentParser(description='Extract memory usage from route logs.')
+ parser.add_argument('route_or_segment_name', help='Route or segment name from comma connect')
+ args = parser.parse_args()
+
+ try:
+ print(f"Fetching logs for {args.route_or_segment_name}")
+ lr = LogReader(args.route_or_segment_name, default_mode=ReadMode.QLOG)
+ segment_data = lr.run_across_segments(24, process_segment)
+ segments = list(range(len(segment_data)))
+ route_name = args.route_or_segment_name.replace('/', '_')
+ plot_results(segments, segment_data, route_name)
+ except Exception as e:
+ print(f"Error: {e}")
+ sys.exit(1)
+
+
+if __name__ == "__main__":
+ main()
diff --git a/sunnypilot/tools/pull_footage.py b/sunnypilot/tools/pull_footage.py
new file mode 100755
index 0000000000..9964ef5769
--- /dev/null
+++ b/sunnypilot/tools/pull_footage.py
@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+import requests
+from openpilot.tools.lib.route import Route
+
+
+def get_segments(source, route_id, camera, seg_range):
+ if "@" in source or "comma-" in source or "sunny-" in source: # SSH
+ if not route_id:
+ raise ValueError("route_id required for SSH")
+ cmd = ["ssh", source, f"ls -d /data/media/0/realdata/{route_id.split('--')[0]}--*"]
+ output = subprocess.check_output(cmd, stderr=subprocess.DEVNULL).decode("utf-8").strip()
+ return [{
+ "type": "ssh",
+ "host": source,
+ "src": os.path.join(path, camera),
+ "num": int(path.split("--")[-1])
+ } for path in sorted(output.split("\n"), key=lambda x: int(x.split("--")[-1])) if path]
+ else: # URL
+ route = Route(route_id)
+ cameras = [camera]
+ if camera == "fcamera.hevc":
+ cameras.extend([c for c in ["ecamera.hevc", "qcamera.ts"] if c != camera])
+
+ for cam in cameras:
+ attr_name = "camera_paths" if cam == "fcamera.hevc" else f"{cam.split('.')[0]}_paths"
+ paths = getattr(route, attr_name)()
+ if any(paths):
+ return [{"type": "url", "src": url, "num": idx, "cam": cam} for idx, url in enumerate(paths) if url]
+
+ raise ValueError(f"No footage found for {route_id}")
+
+
+def download(job, out_dir):
+ destination = os.path.join(out_dir, f"{job['num']}_{os.path.basename(job.get('cam', job.get('src')))}")
+ if os.path.exists(destination) and os.path.getsize(destination) > 0:
+ return destination
+
+ print(f"Downloading segment {job['num']}")
+ if job["type"] == "ssh":
+ subprocess.check_call(["scp", f"{job['host']}:{job['src']}", destination])
+ else:
+ with requests.get(job["src"], stream=True) as r:
+ r.raise_for_status()
+ with open(destination, 'wb') as f:
+ shutil.copyfileobj(r.raw, f)
+ return destination
+
+
+def mux(files, output_file, codec):
+ list_filename = f"{output_file}.list.txt"
+ with open(list_filename, 'w') as f:
+ f.write('\n'.join([f"file '{os.path.abspath(name)}'" for name in files]))
+
+ try:
+ cmd = [
+ "ffmpeg", "-y", "-probesize", "100M", "-analyzeduration", "100M", "-f", "concat",
+ "-safe", "0", "-r", "20", "-i", list_filename, "-c", "copy", "-tag:v", codec, output_file
+ ]
+ subprocess.check_call(cmd)
+ print(f"Saved: {output_file} ({os.path.getsize(output_file) / 1048576:.2f} MB)")
+ if sys.platform == "darwin":
+ subprocess.run(["open", "-R", output_file])
+ finally:
+ if os.path.exists(list_filename):
+ os.remove(list_filename)
+
+
+def main():
+ parser = argparse.ArgumentParser()
+ parser.add_argument("source")
+ parser.add_argument("route_id", nargs='?')
+ parser.add_argument("--output", "-o", default="output.mp4")
+ parser.add_argument("--camera", "-c", default="fcamera.hevc")
+ parser.add_argument("--keep-segments", action="store_true")
+ args = parser.parse_args()
+
+ try:
+ route_id_str = args.route_id or args.source
+ segment_range = None
+ if "/" in route_id_str:
+ route_id_str, range_str = route_id_str.rsplit("/", 1)
+ if ":" in range_str or range_str.isdigit():
+ segment_range = range_str
+
+ is_ssh = "@" in args.source or "comma-" in args.source or "sunny-" in args.source
+ if not is_ssh and len(route_id_str.split("--")) > 2:
+ route_id_str = "--".join(route_id_str.split("--")[:2])
+
+ segments = get_segments(args.source, route_id_str, args.camera, segment_range)
+ if segment_range:
+ if ":" in segment_range:
+ parts = segment_range.split(":")
+ start_idx = int(parts[0]) if parts[0] else None
+ end_idx = int(parts[1]) if parts[1] else None
+ else:
+ start_idx = int(segment_range)
+ end_idx = start_idx + 1
+
+ segments = [
+ segment for segment in segments
+ if (start_idx is None or segment['num'] >= start_idx) and (end_idx is None or segment['num'] < end_idx)
+ ]
+
+ download_dir = f"{route_id_str}_segments"
+ os.makedirs(download_dir, exist_ok=True)
+
+ downloaded_files = sorted(
+ [download(segment, download_dir) for segment in segments],
+ key=lambda x: int(os.path.basename(x).split("_")[0])
+ )
+
+ camera_name = segments[0].get('cam', args.camera)
+ codec = "hvc1" if camera_name.endswith("hevc") else "avc1"
+ mux(downloaded_files, f"{route_id_str}--{args.output}", codec)
+
+ if not args.keep_segments:
+ shutil.rmtree(download_dir)
+
+ except Exception as e:
+ print(f"Error: {e}")
+ sys.exit(1)
+
+
+if __name__ == "__main__":
+ main()
diff --git a/system/hardware/esim.py b/system/hardware/esim.py
index 9b7d4f9ec0..40600d26b5 100755
--- a/system/hardware/esim.py
+++ b/system/hardware/esim.py
@@ -1,7 +1,6 @@
#!/usr/bin/env python3
import argparse
-import time
from openpilot.system.hardware import HARDWARE
@@ -13,16 +12,13 @@ if __name__ == '__main__':
parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
args = parser.parse_args()
- mutated = False
lpa = HARDWARE.get_sim_lpa()
if args.switch:
lpa.switch_profile(args.switch)
- mutated = True
elif args.delete:
confirm = input('are you sure you want to delete this profile? (y/N) ')
if confirm == 'y':
lpa.delete_profile(args.delete)
- mutated = True
else:
print('cancelled')
exit(0)
@@ -33,11 +29,6 @@ if __name__ == '__main__':
else:
parser.print_help()
- if mutated:
- HARDWARE.reboot_modem()
- # eUICC needs a small delay post-reboot before querying profiles
- time.sleep(.5)
-
profiles = lpa.list_profiles()
print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
for p in profiles:
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 60721b6144..d4d28418a3 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -338,6 +338,9 @@ def hardware_thread(end_event, hw_queue) -> None:
show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
+ if show_alert:
+ msg.deviceState.fanSpeedPercentDesired = 100
+
# Handle offroad/onroad transition
should_start = all(onroad_conditions.values())
if started_ts is None:
@@ -435,9 +438,10 @@ def hardware_thread(end_event, hw_queue) -> None:
statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
- # report to server once every 10 minutes
+ # report to server once every 10 minutes, or every 1s when thermally blocked
rising_edge_started = should_start and not should_start_prev
- if rising_edge_started or (count % int(600. / DT_HW)) == 0:
+ status_packet_interval = 1. if show_alert else 600.
+ if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0:
dat = {
'count': count,
'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
index 2e7e6a0ba9..ceb901e2f7 100644
--- a/system/hardware/tici/lpa.py
+++ b/system/hardware/tici/lpa.py
@@ -2,17 +2,23 @@
import atexit
import base64
+import fcntl
import math
import os
import serial
+import subprocess
import sys
+import termios
+import time
-from collections.abc import Generator
+from collections.abc import Callable, Generator
+from contextlib import contextmanager
+from typing import Any
-from openpilot.system.hardware.base import LPABase, Profile
+from openpilot.system.hardware.base import LPABase, LPAError, Profile
-DEFAULT_DEVICE = "/dev/ttyUSB2"
+DEFAULT_DEVICE = "/dev/modem_at0"
DEFAULT_BAUD = 9600
DEFAULT_TIMEOUT = 5.0
# https://euicc-manual.osmocom.org/docs/lpa/applet-id/
@@ -20,44 +26,82 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100"
MM = "org.freedesktop.ModemManager1"
MM_MODEM = MM + ".Modem"
ES10X_MSS = 120
+OPEN_ISDR_RETRIES = 10
+OPEN_ISDR_RETRY_DELAY_S = 0.25
+OPEN_ISDR_RESET_ATTEMPT = 5
+SEND_APDU_RETRIES = 3
+LOCK_FILE = '/dev/shm/modem_lpa.lock'
DEBUG = os.environ.get("DEBUG") == "1"
+
# TLV Tags
TAG_ICCID = 0x5A
+TAG_STATUS = 0x80
TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_SET_NICKNAME = 0xBF29
+TAG_ENABLE_PROFILE = 0xBF31
+TAG_DELETE_PROFILE = 0xBF33
+TAG_OK = 0xA0
+
+PROFILE_OK = 0x00
+PROFILE_NOT_IN_DISABLED_STATE = 0x02
+PROFILE_CAT_BUSY = 0x05
+
+PROFILE_ERROR_CODES = {
+ 0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState",
+ 0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
+ PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
+}
STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
+# TLV tag -> (field_name, decoder)
+FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
+
def b64e(data: bytes) -> str:
return base64.b64encode(data).decode("ascii")
+def base64_trim(s: str) -> str:
+ return "".join(c for c in s if c not in "\n\r \t")
+
+
+def b64d(s: str) -> bytes:
+ return base64.b64decode(base64_trim(s))
+
+
class AtClient:
- def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None:
- self.debug = debug
+ def __init__(self, device: str, baud: int, timeout: float) -> None:
self.channel: str | None = None
+ self._device = device
+ self._baud = baud
self._timeout = timeout
self._serial: serial.Serial | None = None
- try:
- self._serial = serial.Serial(device, baudrate=baud, timeout=timeout)
- self._serial.reset_input_buffer()
- except (serial.SerialException, PermissionError, OSError):
- pass
+ self._use_dbus = not os.path.exists(device)
+
+ def send_raw(self, data: bytes) -> None:
+ self._ensure_serial()
+ self._serial.reset_input_buffer()
+ self._serial.write(data)
+ self._serial.flush()
def close(self) -> None:
try:
if self.channel:
- self.query(f"AT+CCHC={self.channel}")
+ try:
+ self.query(f"AT+CCHC={self.channel}")
+ except (RuntimeError, TimeoutError):
+ pass
self.channel = None
finally:
if self._serial:
self._serial.close()
def _send(self, cmd: str) -> None:
- if self.debug:
+ if DEBUG:
print(f"SER >> {cmd}", file=sys.stderr)
self._serial.write((cmd + "\r").encode("ascii"))
@@ -70,7 +114,7 @@ class AtClient:
line = raw.decode(errors="ignore").strip()
if not line:
continue
- if self.debug:
+ if DEBUG:
print(f"SER << {line}", file=sys.stderr)
if line == "OK":
return lines
@@ -78,6 +122,18 @@ class AtClient:
raise RuntimeError(f"AT command failed: {line}")
lines.append(line)
+ def _ensure_serial(self, reconnect: bool = False) -> None:
+ if reconnect:
+ self.channel = None
+ try:
+ if self._serial:
+ self._serial.close()
+ except Exception:
+ pass
+ self._serial = None
+ if self._serial is None:
+ self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+
def _get_modem(self):
import dbus
bus = dbus.SystemBus()
@@ -87,48 +143,88 @@ class AtClient:
return bus.get_object(MM, modem_path)
def _dbus_query(self, cmd: str) -> list[str]:
- if self.debug:
+ if DEBUG:
print(f"DBUS >> {cmd}", file=sys.stderr)
try:
result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
except Exception as e:
raise RuntimeError(f"AT command failed: {e}") from e
lines = [line.strip() for line in result.splitlines() if line.strip()]
- if self.debug:
+ if DEBUG:
for line in lines:
print(f"DBUS << {line}", file=sys.stderr)
return lines
def query(self, cmd: str) -> list[str]:
- if self._serial:
+ if self._use_dbus:
+ return self._dbus_query(cmd)
+ self._ensure_serial()
+ try:
+ self._send(cmd)
+ return self._expect()
+ except serial.SerialException:
+ self._ensure_serial(reconnect=True)
self._send(cmd)
return self._expect()
- return self._dbus_query(cmd)
- def open_isdr(self) -> None:
- # close any stale logical channel from a previous crashed session
- try:
- self.query("AT+CCHC=1")
- except RuntimeError:
- pass
+ def _open_isdr_once(self) -> None:
+ if self.channel:
+ try:
+ self.query(f"AT+CCHC={self.channel}")
+ except RuntimeError:
+ pass
+ self.channel = None
+ # drain any unsolicited responses before opening
+ if self._serial and not self._use_dbus:
+ try:
+ self._serial.reset_input_buffer()
+ except (OSError, serial.SerialException, termios.error):
+ self._ensure_serial(reconnect=True)
for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
self.channel = ch
return
raise RuntimeError("Failed to open ISD-R application")
+ def _reset_modem(self) -> None:
+ if self._serial:
+ try:
+ self._serial.close()
+ except Exception:
+ pass
+ self._serial = None
+ subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+
+ def open_isdr(self) -> None:
+ for attempt in range(OPEN_ISDR_RETRIES):
+ try:
+ self._open_isdr_once()
+ return
+ except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+ time.sleep(OPEN_ISDR_RETRY_DELAY_S)
+ if attempt == OPEN_ISDR_RESET_ATTEMPT:
+ self._reset_modem()
+ raise RuntimeError("Failed to open ISD-R after retries")
+
def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
- if not self.channel:
- raise RuntimeError("Logical channel is not open")
- hex_payload = apdu.hex().upper()
- for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
- if line.startswith("+CGLA:"):
- parts = line.split(":", 1)[1].split(",", 1)
- if len(parts) == 2:
- data = bytes.fromhex(parts[1].strip().strip('"'))
- if len(data) >= 2:
- return data[:-2], data[-2], data[-1]
- raise RuntimeError("Missing +CGLA response")
+ for attempt in range(SEND_APDU_RETRIES):
+ try:
+ if not self.channel:
+ self.open_isdr()
+ hex_payload = apdu.hex().upper()
+ for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+ if line.startswith("+CGLA:"):
+ parts = line.split(":", 1)[1].split(",", 1)
+ if len(parts) == 2:
+ data = bytes.fromhex(parts[1].strip().strip('"'))
+ if len(data) >= 2:
+ return data[:-2], data[-2], data[-1]
+ raise RuntimeError("Missing +CGLA response")
+ except (RuntimeError, ValueError):
+ self.channel = None
+ if attempt == SEND_APDU_RETRIES - 1:
+ raise
+ raise RuntimeError("send_apdu failed")
# --- TLV utilities ---
@@ -170,12 +266,37 @@ def find_tag(data: bytes, target: int) -> bytes | None:
return next((v for t, v in iter_tlv(data) if t == target), None)
+def require_tag(data: bytes, target: int, label: str = "") -> bytes:
+ v = find_tag(data, target)
+ if v is None:
+ raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
+ return v
+
+
def tbcd_to_string(raw: bytes) -> str:
return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
-# Profile field decoders: TLV tag -> (field_name, decoder)
-_PROFILE_FIELDS = {
+def string_to_tbcd(s: str) -> bytes:
+ digits = [int(c) for c in s if c.isdigit()]
+ return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
+
+
+def encode_tlv(tag: int, value: bytes) -> bytes:
+ tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
+ vlen = len(value)
+ if vlen <= 127:
+ return tag_bytes + bytes([vlen]) + value
+ length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
+ return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
+
+
+def int_bytes(n: int) -> bytes:
+ """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
+ return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
+
+
+PROFILE: FieldMap = {
TAG_ICCID: ("iccid", tbcd_to_string),
0x4F: ("isdpAid", lambda v: v.hex().upper()),
0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
@@ -188,11 +309,11 @@ _PROFILE_FIELDS = {
}
-def _decode_profile_fields(data: bytes) -> dict:
- """Parse known profile metadata TLV fields into a dict."""
- result = {}
+def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+ """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+ result: dict[str, Any] = {name: None for name, _ in field_map.values()}
for tag, value in iter_tlv(data):
- if (field := _PROFILE_FIELDS.get(tag)):
+ if (field := field_map.get(tag)):
result[field[0]] = field[1](value)
return result
@@ -225,57 +346,102 @@ def es10x_command(client: AtClient, data: bytes) -> bytes:
# --- Profile operations ---
def decode_profiles(blob: bytes) -> list[dict]:
- root = find_tag(blob, TAG_PROFILE_INFO_LIST)
- if root is None:
- raise RuntimeError("Missing ProfileInfoList")
- list_ok = find_tag(root, 0xA0)
+ root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+ list_ok = find_tag(root, TAG_OK)
if list_ok is None:
return []
- defaults = {name: None for name, _ in _PROFILE_FIELDS.values()}
- return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+ return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]
def list_profiles(client: AtClient) -> list[dict]:
return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
+def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
+ nickname_bytes = nickname.encode("utf-8")
+ if len(nickname_bytes) > 64:
+ raise ValueError("Profile nickname must be 64 bytes or less")
+ content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
+ response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
+ code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0]
+ if code == 0x01:
+ raise LPAError(f"profile {iccid} not found")
+ if code != 0x00:
+ raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+
+
class TiciLPA(LPABase):
- _instance = None
-
- def __new__(cls):
- if cls._instance is None:
- cls._instance = super().__new__(cls)
- return cls._instance
-
def __init__(self):
if hasattr(self, '_client'):
return
- self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG)
- self._client.open_isdr()
+ self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
atexit.register(self._client.close)
+ @contextmanager
+ def _acquire_channel(self):
+ fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
+ try:
+ fcntl.flock(fd, fcntl.LOCK_EX)
+ self._client.open_isdr()
+ yield
+ finally:
+ if self._client.channel:
+ try:
+ self._client.query(f"AT+CCHC={self._client.channel}")
+ except (RuntimeError, TimeoutError):
+ pass
+ self._client.channel = None
+ fcntl.flock(fd, fcntl.LOCK_UN)
+ os.close(fd)
+
def list_profiles(self) -> list[Profile]:
- return [
- Profile(
- iccid=p.get("iccid", ""),
- nickname=p.get("profileNickname") or "",
- enabled=p.get("profileState") == "enabled",
- provider=p.get("serviceProviderName") or "",
- )
- for p in list_profiles(self._client)
- ]
+ with self._acquire_channel():
+ return [
+ Profile(
+ iccid=p.get("iccid", ""),
+ nickname=p.get("profileNickname") or "",
+ enabled=p.get("profileState") == "enabled",
+ provider=p.get("serviceProviderName") or "",
+ )
+ for p in list_profiles(self._client)
+ ]
def get_active_profile(self) -> Profile | None:
return None
def delete_profile(self, iccid: str) -> None:
- return None
+ if self.is_comma_profile(iccid):
+ raise LPAError("refusing to delete a comma profile")
+ with self._acquire_channel():
+ request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+ response = es10x_command(self._client, request)
+ code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0]
+ if code != PROFILE_OK:
+ raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
def download_profile(self, qr: str, nickname: str | None = None) -> None:
return None
def nickname_profile(self, iccid: str, nickname: str) -> None:
- return None
+ with self._acquire_channel():
+ set_profile_nickname(self._client, iccid, nickname)
+
+ def _enable_profile(self, iccid: str) -> int:
+ inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+ inner += b'\x01\x01\x01' # refreshFlag=1
+ response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner))
+ return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0]
def switch_profile(self, iccid: str) -> None:
- return None
+ with self._acquire_channel():
+ code = self._enable_profile(iccid)
+ if code == PROFILE_CAT_BUSY: # stale eUICC transaction, reset and retry
+ self._client._reset_modem()
+ self._client.open_isdr()
+ code = self._enable_profile(iccid)
+ if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
+ raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+ from openpilot.system.hardware import HARDWARE
+ if HARDWARE.get_device_type() == "mici":
+ self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r') # mici has no SIM presence pin; raw because CFUN=0 drops serial
+ self._client._ensure_serial(reconnect=True)
diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py
index e55cadcf78..78429a847b 100755
--- a/system/ubloxd/ubloxd.py
+++ b/system/ubloxd/ubloxd.py
@@ -365,7 +365,7 @@ class UbloxMsgParser:
assert isinstance(s1, Glonass.String1)
eph.p1 = int(s1.p1)
tk = int(s1.t_k)
- eph.tkDEPRECATED = tk
+ eph.deprecated.tk = tk
eph.xVel = float(s1.x_vel) * math.pow(2, -20)
eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
eph.x = float(s1.x) * math.pow(2, -11)
diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py
index 291d8f6ff0..82126417d5 100644
--- a/system/ui/sunnypilot/widgets/option_control.py
+++ b/system/ui/sunnypilot/widgets/option_control.py
@@ -60,17 +60,19 @@ class OptionControlSP(ItemAction):
def set_value(self, value: int):
"""Set the control to a specific value"""
- if self.min_value <= value <= self.max_value:
- self.current_value = value
- if self.value_map:
- self.params.put(self.param_key, self.value_map[value])
- else:
- if self.use_float_scaling:
- self.params.put(self.param_key, value / 100.0)
- else:
- self.params.put(self.param_key, value)
- if self.on_value_changed:
- self.on_value_changed(value)
+ if not (self.min_value <= value <= self.max_value):
+ return
+ if value == self.current_value:
+ return
+ self.current_value = value
+ if self.value_map:
+ self.params.put(self.param_key, self.value_map[value])
+ elif self.use_float_scaling:
+ self.params.put(self.param_key, value / 100.0)
+ else:
+ self.params.put(self.param_key, value)
+ if self.on_value_changed:
+ self.on_value_changed(value)
def get_displayed_value(self) -> str:
"""Get the displayed value, handling value mapping if present"""
@@ -157,10 +159,10 @@ class OptionControlSP(ItemAction):
def _handle_mouse_release(self, mouse_pos: MousePos):
if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
- self.current_value -= self.value_change_step
- self.current_value = max(self.min_value, self.current_value)
+ new_value = self.current_value - self.value_change_step
+ new_value = max(self.min_value, new_value)
+ self.set_value(new_value)
elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
- self.current_value += self.value_change_step
- self.current_value = min(self.max_value, self.current_value)
-
- self.set_value(self.current_value)
+ new_value = self.current_value + self.value_change_step
+ new_value = min(self.max_value, new_value)
+ self.set_value(new_value)
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
index c34db092e8..69233b803d 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -198,7 +198,10 @@ class TreeOptionDialog(MultiOptionDialog):
self.option_buttons = self.visible_items
self.options = [item.text for item in self.visible_items]
- self.scroller._items = self.visible_items
+ # Rebuild scroller items to ensure proper setup of touch callbacks
+ self.scroller._items.clear()
+ for item in self.option_buttons:
+ self.scroller.add_widget(item)
if reset_scroll:
self.scroller.scroll_panel.set_offset(0)
diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py
index d80986ebf2..4876198eb0 100644
--- a/system/webrtc/schema.py
+++ b/system/webrtc/schema.py
@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
- return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
+ return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:
diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
index 3654769756..48672dbbf0 100644
--- a/tools/bodyteleop/static/index.html
+++ b/tools/bodyteleop/static/index.html
@@ -15,29 +15,23 @@
comma body
- -
-
-
-
-
-
-
-
-
- body
+
+
+
+
-
+
- W
-
-
-
-
- you
+
+
A
+ S
+ D
+
+
+
-
-
-
@@ -53,43 +47,6 @@
-
-
-
-
-
-
-
- W
- 0,0x,y
-
-
- A
- S
- D
-
-
-
-
-
-
-
-
-
-
- Play Sounds
-
-
-
-
-
-
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
index b1e0e7ee70..3a11f78b9e 100644
--- a/tools/bodyteleop/static/js/controls.js
+++ b/tools/bodyteleop/static/js/controls.js
@@ -18,37 +18,3 @@ export const handleKeyX = (key, setValue) => {
$("#pos-vals").text(x+","+y);
}
};
-
-export async function executePlan() {
- let plan = $("#plan-text").val();
- const planList = [];
- plan.split("\n").forEach(function(e){
- let line = e.split(",").map(k=>parseInt(k));
- if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
- console.log("invalid plan");
- }
- else{
- planList.push(line)
- }
- });
-
- async function execute() {
- for (var i = 0; i < planList.length; i++) {
- let [w, a, s, d, t] = planList[i];
- while(t > 0){
- console.log(w, a, s, d, t);
- if(w==1){$("#key-w").mousedown();}
- if(a==1){$("#key-a").mousedown();}
- if(s==1){$("#key-s").mousedown();}
- if(d==1){$("#key-d").mousedown();}
- await sleep(50);
- $("#key-w").mouseup();
- $("#key-a").mouseup();
- $("#key-s").mouseup();
- $("#key-d").mouseup();
- t = t - 0.05;
- }
- }
- }
- execute();
-}
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
index 83205a876b..0db1dcd9b3 100644
--- a/tools/bodyteleop/static/js/jsmain.js
+++ b/tools/bodyteleop/static/js/jsmain.js
@@ -1,5 +1,5 @@
-import { handleKeyX, executePlan } from "./controls.js";
-import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
+import { handleKeyX } from "./controls.js";
+import { start, stop, lastChannelMessageTime } from "./webrtc.js";
export var pc = null;
export var dc = null;
@@ -8,12 +8,6 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
-$("#plan-button").click(executePlan);
-$(".sound").click((e)=>{
- const sound = $(e.target).attr('id').replace('sound-', '')
- return playSoundRequest(sound);
-});
-
setInterval( () => {
const dt = new Date().getTime();
if ((dt - lastChannelMessageTime) > 1000) {
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
index 165a2ce6c4..28bea238e6 100644
--- a/tools/bodyteleop/static/js/webrtc.js
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -15,15 +15,6 @@ export function offerRtcRequest(sdp, type) {
}
-export function playSoundRequest(sound) {
- return fetch('/sound', {
- body: JSON.stringify({sound}),
- headers: {'Content-Type': 'application/json'},
- method: 'POST'
- });
-}
-
-
export function pingHeadRequest() {
return fetch('/', {
method: 'HEAD'
@@ -38,20 +29,18 @@ export function createPeerConnection(pc) {
pc = new RTCPeerConnection(config);
- // connect audio / video
+ // connect video
pc.addEventListener('track', function(evt) {
console.log("Adding Tracks!")
if (evt.track.kind == 'video')
document.getElementById('video').srcObject = evt.streams[0];
- else
- document.getElementById('audio').srcObject = evt.streams[0];
});
return pc;
}
export function negotiate(pc) {
- return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
+ return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) {
return pc.setLocalDescription(offer);
}).then(function() {
return new Promise(function(resolve) {
@@ -90,14 +79,6 @@ function isMobile() {
export const constraints = {
- audio: {
- autoGainControl: false,
- sampleRate: 48000,
- sampleSize: 16,
- echoCancellation: true,
- noiseSuppression: true,
- channelCount: 1
- },
video: isMobile()
};
@@ -105,23 +86,8 @@ export const constraints = {
export function start(pc, dc) {
pc = createPeerConnection(pc);
- // add audio track
- navigator.mediaDevices.enumerateDevices()
- .then(function(devices) {
- const hasAudioInput = devices.find((device) => device.kind === "audioinput");
- var modifiedConstraints = {};
- modifiedConstraints.video = constraints.video;
- modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
-
- return Promise.resolve(modifiedConstraints);
- })
- .then(function(constraints) {
- if (constraints.audio || constraints.video) {
- return navigator.mediaDevices.getUserMedia(constraints);
- } else{
- return Promise.resolve(null);
- }
- })
+ // add a local video track on mobile
+ (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null))
.then(function(stream) {
if (stream) {
stream.getTracks().forEach(function(track) {
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
index 1bfb5982b4..79fe8052ff 100644
--- a/tools/bodyteleop/static/main.css
+++ b/tools/bodyteleop/static/main.css
@@ -172,13 +172,6 @@ video {
display: none;
}
-.plan-form {
- display: flex;
- flex-direction: column;
- justify-content: space-between;
- align-items: center;
-}
-
.details {
display: flex;
padding: 0px 10px 0px 10px;
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
index 128e49400e..cd9bf1dd79 100755
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -33,6 +33,6 @@ fi
# Build _cabana
cd "$ROOT"
-scons -j4 tools/cabana/_cabana
+scons -j4 tools/cabana/_cabana cereal/messaging/bridge
exec "$DIR/_cabana" "$@"
diff --git a/tools/cabana/panda.cc b/tools/cabana/panda.cc
index 0612d67746..cf5354a507 100644
--- a/tools/cabana/panda.cc
+++ b/tools/cabana/panda.cc
@@ -106,8 +106,8 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
-void Panda::send_heartbeat(bool engaged) {
- control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+ control_write(0xf3, engaged, engaged_mads);
}
void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
diff --git a/tools/cabana/panda.h b/tools/cabana/panda.h
index d318c33f4d..8b861a2476 100644
--- a/tools/cabana/panda.h
+++ b/tools/cabana/panda.h
@@ -64,7 +64,7 @@ public:
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
- void send_heartbeat(bool engaged);
+ void send_heartbeat(bool engaged, bool engaged_mads = false);
void set_can_speed_kbps(uint16_t bus, uint16_t speed);
void set_data_speed_kbps(uint16_t bus, uint16_t speed);
bool can_receive(std::vector& out_vec);
diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc
index 0d1b5a2c1b..27378b4b6b 100644
--- a/tools/jotpluggler/browser.cc
+++ b/tools/jotpluggler/browser.cc
@@ -73,7 +73,7 @@ std::vector build_browser_tree(const std::vector &path
}
bool is_deprecated_browser_path(const std::string &path) {
- return path.find("DEPRECATED") != std::string::npos;
+ return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
}
std::vector visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {
diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc
index a3c68ddcef..5d9d644808 100644
--- a/tools/jotpluggler/plot.cc
+++ b/tools/jotpluggler/plot.cc
@@ -6,7 +6,6 @@
#include
#include
#include
-#include
constexpr double PLOT_Y_PAD_FRACTION = 0.4;
@@ -74,10 +73,6 @@ struct StateBlock {
std::string label;
};
-struct PaneEnumContext {
- std::vector enums;
-};
-
struct PaneValueFormatContext {
SeriesFormat format;
bool valid = false;
@@ -106,38 +101,6 @@ bool curves_are_bool_like(const std::vector &prepared_curves) {
return true;
}
-bool curve_is_state_like(const PreparedCurve &curve) {
- if (!curve.display_info.integer_like || curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
- return false;
- }
- if (curve.enum_info != nullptr) {
- return true;
- }
- std::unordered_set distinct_values;
- for (double value : curve.ys) {
- if (!std::isfinite(value)) {
- continue;
- }
- distinct_values.insert(static_cast(std::llround(value)));
- if (distinct_values.size() > 12) {
- return false;
- }
- }
- return !distinct_values.empty();
-}
-
-bool curves_use_state_blocks(const std::vector &prepared_curves) {
- if (prepared_curves.empty()) {
- return false;
- }
- for (const PreparedCurve &curve : prepared_curves) {
- if (!curve_is_state_like(curve)) {
- return false;
- }
- }
- return true;
-}
-
ImU32 state_block_color(int value, float alpha = 1.0f) {
static constexpr std::array, 8> kPalette = {{
{{111, 143, 175}},
@@ -307,36 +270,6 @@ std::optional app_sample_xy_value_at_time(const std::vector &xs,
return y0 + (y1 - y0) * alpha;
}
-int format_enum_axis_tick(double value, char *buf, int size, void *user_data) {
- const auto *ctx = static_cast(user_data);
- const int idx = static_cast(std::llround(value));
- if (ctx != nullptr && idx >= 0 && std::abs(value - static_cast(idx)) < 0.01) {
- std::vector names;
- names.reserve(ctx->enums.size());
- for (const EnumInfo *info : ctx->enums) {
- if (info == nullptr || static_cast(idx) >= info->names.size()) {
- continue;
- }
- const std::string &name = info->names[static_cast(idx)];
- if (name.empty()) continue;
- if (std::find(names.begin(), names.end(), std::string_view(name)) == names.end()) {
- names.emplace_back(name);
- }
- }
- if (!names.empty()) {
- std::string joined;
- for (size_t i = 0; i < names.size(); ++i) {
- if (i != 0) {
- joined += ", ";
- }
- joined += names[i];
- }
- return std::snprintf(buf, size, "%d (%s)", idx, joined.c_str());
- }
- }
- return std::snprintf(buf, size, "%.6g", value);
-}
-
int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
const auto *ctx = static_cast(user_data);
if (ctx == nullptr || !ctx->valid) {
@@ -831,23 +764,16 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
}
const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
- PaneEnumContext enum_context;
PaneValueFormatContext pane_value_format;
- const bool state_block_mode = curves_use_state_blocks(prepared_curves);
- bool all_enum_curves = !prepared_curves.empty();
+ bool state_block_mode = !prepared_curves.empty();
size_t max_legend_label_width = 0;
for (const PreparedCurve &curve : prepared_curves) {
max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
- if (curve.enum_info != nullptr) {
- enum_context.enums.push_back(curve.enum_info);
- } else {
- all_enum_curves = false;
+ if (curve.enum_info == nullptr) {
+ state_block_mode = false;
merge_pane_value_format(&pane_value_format, curve.display_info);
}
}
- if (prepared_curves.empty()) {
- all_enum_curves = false;
- }
const int supported_count = static_cast(prepared_curves.size());
const ImVec2 plot_size = ImGui::GetContentRegionAvail();
const bool has_cursor_time = state->has_tracker_time;
@@ -895,8 +821,6 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
if (state_block_mode) {
ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
- } else if (all_enum_curves && !enum_context.enums.empty()) {
- ImPlot::SetupAxisFormat(ImAxis_Y1, format_enum_axis_tick, &enum_context);
} else if (pane_value_format.valid) {
ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
} else {
diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc
index cd0bf51015..bc110b534f 100644
--- a/tools/jotpluggler/sketch_layout.cc
+++ b/tools/jotpluggler/sketch_layout.cc
@@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which,
append_can_frame(can_service,
static_cast(msg.getSrc()),
msg.getAddress(),
- msg.getBusTimeDEPRECATED(),
+ msg.getDeprecated().getBusTime(),
msg.getDat(),
tm,
series);
@@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which,
append_can_frame(can_service,
static_cast(msg.getSrc()),
msg.getAddress(),
- msg.getBusTimeDEPRECATED(),
+ msg.getDeprecated().getBusTime(),
msg.getDat(),
tm,
series);
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index 46a0dcf3cb..6a443b4155 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -62,7 +62,7 @@ class GithubUtils:
self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
def get_bucket_sha(self, bucket):
- github_path = f"git/refs/heads/{bucket}"
+ github_path = f"git/ref/heads/{bucket}"
r = self.api_call(github_path, data_call=True, raise_on_failure=False)
return r.json()['object']['sha'] if r.ok else None
diff --git a/tools/op.sh b/tools/op.sh
index f21a285d17..3b02602619 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -383,6 +383,9 @@ function op_switch() {
git submodule update --init --recursive
git submodule foreach git reset --hard
git submodule foreach git clean -df
+
+ # remove openpilot update flag if present
+ rm -f .overlay_init
}
function op_start() {
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index 7c95e9cad4..039dd4f235 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -5,6 +5,7 @@ import numpy as np
import pyray as rl
from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -94,6 +95,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
+ label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}
dpi = 90
fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -116,10 +118,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
plots.append(plot)
idxs.append(name_to_arr_idx[item])
plot_select.append(i)
- axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+ # Build colored title: each label colored to match its plot line
+ title_texts = []
+ for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
+ if j2 > 0:
+ title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10)))
+ title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10)))
+ packed = HPacker(children=title_texts, pad=0, sep=0)
+ ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
+ bbox_transform=axs[i].transAxes, frameon=False, pad=0)
+ axs[i].add_artist(ab)
axs[i].tick_params(axis="x", colors="white")
axs[i].tick_params(axis="y", colors="white")
- axs[i].title.set_color("white")
if i < len(plot_ylims) - 1:
axs[i].set_xticks([])
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index aba67bcdf8..54b69dc168 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -142,18 +142,19 @@ void LogReader::migrateOldEvents() {
new_evt.setLogMonoTime(old_evt.getLogMonoTime());
auto new_state = new_evt.initSelfdriveState();
- new_state.setActive(old_state.getActiveDEPRECATED());
- new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
- new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
- new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
- new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
- new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
- new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
- new_state.setEnabled(old_state.getEnabledDEPRECATED());
- new_state.setEngageable(old_state.getEngageableDEPRECATED());
- new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
- new_state.setPersonality(old_state.getPersonalityDEPRECATED());
- new_state.setState(old_state.getStateDEPRECATED());
+ auto old_dep = old_state.getDeprecated();
+ new_state.setActive(old_dep.getActive());
+ new_state.setAlertSize(old_dep.getAlertSize());
+ new_state.setAlertSound(old_dep.getAlertSound2());
+ new_state.setAlertStatus(old_dep.getAlertStatus());
+ new_state.setAlertText1(old_dep.getAlertText1());
+ new_state.setAlertText2(old_dep.getAlertText2());
+ new_state.setAlertType(old_dep.getAlertType());
+ new_state.setEnabled(old_dep.getEnabled());
+ new_state.setEngageable(old_dep.getEngageable());
+ new_state.setExperimentalMode(old_dep.getExperimentalMode());
+ new_state.setPersonality(old_dep.getPersonality());
+ new_state.setState(old_dep.getState());
// Serialize the new event to the buffer
auto buf_size = msg.getSerializedSize();
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 7fe2f405a1..405c79f425 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -3,7 +3,6 @@ import argparse
import os
import sys
-import cv2
import numpy as np
import pyray as rl
@@ -22,7 +21,8 @@ from openpilot.tools.replay.lib.ui_helpers import (
plot_lead,
plot_model,
)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
os.environ['BASEDIR'] = BASEDIR
@@ -30,8 +30,6 @@ ANGLE_SCALE = 5.0
def ui_thread(addr):
- cv2.setNumThreads(1)
-
# Get monitor info before creating window
rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
rl.init_window(1, 1, "")
@@ -59,14 +57,15 @@ def ui_thread(addr):
font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
font = rl.load_font_ex(font_path, 32, None, 0)
- # Create textures for camera and top-down view
- camera_image = rl.gen_image_color(640, 480, rl.BLACK)
- camera_texture = rl.load_texture_from_image(camera_image)
- rl.unload_image(camera_image)
+ camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+
+ # Overlay texture for model/lane line drawing
+ overlay_img = np.zeros((480, 640, 4), dtype='uint8')
+ overlay_image = rl.gen_image_color(640, 480, rl.BLANK)
+ overlay_texture = rl.load_texture_from_image(overlay_image)
+ rl.unload_image(overlay_image)
# lid_overlay array is (lidar_x, lidar_y) = (384, 960)
- # pygame treats first axis as width, so texture is 384 wide x 960 tall
- # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
top_down_texture = rl.load_texture_from_image(top_down_image)
rl.unload_image(top_down_image)
@@ -89,7 +88,6 @@ def ui_thread(addr):
)
img = np.zeros((480, 640, 3), dtype='uint8')
- imgff = None
num_px = 0
calibration = None
@@ -116,7 +114,7 @@ def ui_thread(addr):
plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
- plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+ plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
plot_names = [
["gas", "computer_gas", "user_brake", "computer_brake"],
["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
@@ -138,20 +136,16 @@ def ui_thread(addr):
palette[110] = [110, 110, 110, 255] # car_color (gray)
palette[255] = [255, 255, 255, 255] # WHITE
- vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
while not rl.window_should_close():
- # ***** frame *****
- if not vipc_client.is_connected():
- vipc_client.connect(False)
-
rl.begin_drawing()
rl.clear_background(rl.Color(64, 64, 64, 255))
- yuv_img_raw = vipc_client.recv()
- if yuv_img_raw is None or not yuv_img_raw.data.any():
- rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE)
- rl.end_drawing()
- continue
+ # Render camera (NV12->RGB on GPU via shader)
+ if camera_view.frame:
+ cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width
+ else:
+ cam_h = 480.0
+ camera_view.render(rl.Rectangle(0, 0, 640, cam_h))
lid_overlay = lid_overlay_blank.copy()
top_down = top_down_texture, lid_overlay
@@ -159,19 +153,10 @@ def ui_thread(addr):
sm.update(0)
camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
- # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
- h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
- nv12_size = h * 3 // 2 * stride
- imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
- num_px = w * h
- rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
-
- qcam = "QCAM" in os.environ
- bb_scale = (528 if qcam else camera.fcam.width) / 640.0
calib_scale = camera.fcam.width / 640.0
- zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
- cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+ if camera_view.frame:
+ num_px = camera_view.frame.width * camera_view.frame.height
intrinsic_matrix = camera.fcam.intrinsics
@@ -183,7 +168,8 @@ def ui_thread(addr):
else:
angle_steers_k = np.inf
- plot_arr[:-1] = plot_arr[1:]
+ if sm.updated['carState']:
+ plot_arr[:-1] = plot_arr[1:]
plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
@@ -198,9 +184,10 @@ def ui_thread(addr):
plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
- if len(sm['longitudinalPlan'].accels):
- plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+ plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
+ # Draw model overlays onto img, then blit as transparent overlay
+ img[:] = 0
if sm.recv_frame['modelV2']:
plot_model(sm['modelV2'], img, calibration, top_down)
@@ -214,11 +201,12 @@ def ui_thread(addr):
rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
- # *** blits ***
- # Update camera texture from numpy array
- img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
- rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
- rl.draw_texture(camera_texture, 0, 0, rl.WHITE) # noqa: TID251
+ # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
+ mask = np.any(img > 0, axis=2)
+ overlay_img[:, :, :3] = img
+ overlay_img[:, :, 3] = mask * 255
+ rl.update_texture(overlay_texture, rl.ffi.cast("void *", overlay_img.ctypes.data))
+ rl.draw_texture(overlay_texture, 0, 0, rl.WHITE) # noqa: TID251
# display alerts
rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
@@ -257,9 +245,10 @@ def ui_thread(addr):
rl.end_drawing()
- rl.unload_texture(camera_texture)
+ rl.unload_texture(overlay_texture)
rl.unload_texture(top_down_texture)
rl.unload_font(font)
+ camera_view.close()
rl.close_window()
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 68ff3050db..1567c20ef9 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -92,6 +92,8 @@ class SimulatedCar:
'ignitionLine': simulator_state.ignition,
'pandaType': "blackPanda",
'controlsAllowed': True,
+ 'controlsAllowedLateral': True,
+ 'controlsAllowedLongitudinal': True,
'safetyModel': 'hondaBosch',
'alternativeExperience': self.sm["carParams"].alternativeExperience,
'safetyParam': HondaSafetyFlags.RADARLESS.value | HondaSafetyFlags.BOSCH_LONG.value,
diff --git a/uv.lock b/uv.lock
index 38c89e3fec..7ecb51f5d1 100644
--- a/uv.lock
+++ b/uv.lock
@@ -291,41 +291,41 @@ wheels = [
[[package]]
name = "cryptography"
-version = "46.0.6"
+version = "46.0.7"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "cffi", marker = "platform_python_implementation != 'PyPy'" },
]
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+sdist = { url = "https://files.pythonhosted.org/packages/47/93/ac8f3d5ff04d54bc814e961a43ae5b0b146154c89c61b47bb07557679b18/cryptography-46.0.7.tar.gz", hash = "sha256:e4cfd68c5f3e0bfdad0d38e023239b96a2fe84146481852dffbcca442c245aa5", size = 750652, upload-time = "2026-04-08T01:57:54.692Z" }
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