From ae6ad15df5e9047f841e990812d26f0409545dc2 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sun, 15 Jan 2023 21:50:29 +0100 Subject: [PATCH 001/124] MacOS: bump body to fix build (#26972) --- body | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/body b/body index dc780f858c..e1805f65ee 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb +Subproject commit e1805f65ee75fab4454c21eda8b42b49d4bdc48f From 58bd02408979f19999acd8c755ed30785b9ef6d7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 16 Jan 2023 04:52:11 +0800 Subject: [PATCH 002/124] cabana: support drag and drop to merge charts (#26968) --- tools/cabana/chartswidget.cc | 67 +++++++++++++++++++++++++++++++----- tools/cabana/chartswidget.h | 6 ++++ 2 files changed, 65 insertions(+), 8 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 952ed2d83f..c8208b2f14 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -331,6 +332,17 @@ void ChartView::msgRemoved(uint32_t address) { } } +void ChartView::addSeries(const QList &series_list) { + for (auto &s : series_list) { + if (auto m = dbc()->msg(s[0])) { + auto it = m->sigs.find(s[2]); + if (it != m->sigs.end() && !hasSeries(s[0], &(it->second))) { + addSeries(s[0], &(it->second)); + } + } + } +} + void ChartView::manageSeries() { SeriesSelector dlg(this); for (auto &s : sigs) { @@ -343,14 +355,7 @@ void ChartView::manageSeries() { if (series_list.isEmpty()) { emit remove(); } else { - for (auto &s : series_list) { - if (auto m = dbc()->msg(s[0])) { - auto it = m->sigs.find(s[2]); - if (it != m->sigs.end() && !hasSeries(s[0], &(it->second))) { - addSeries(s[0], &(it->second)); - } - } - } + addSeries(series_list); for (auto it = sigs.begin(); it != sigs.end(); /**/) { 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(); @@ -495,6 +500,23 @@ void ChartView::leaveEvent(QEvent *event) { QChartView::leaveEvent(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()) { + QMimeData *mimeData = new QMimeData; + mimeData->setData(mime_type, QByteArray::number((qulonglong)this)); + QDrag *drag = new QDrag(this); + drag->setMimeData(mimeData); + drag->setPixmap(grab()); + drag->setHotSpot(event->pos()); + Qt::DropAction dropAction = drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); + if (dropAction == Qt::MoveAction) { + return; + } + } + QChartView::mousePressEvent(event); +} + void ChartView::mouseReleaseEvent(QMouseEvent *event) { auto rubber = findChild(); if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { @@ -550,6 +572,35 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { QChartView::mouseMoveEvent(ev); } +void ChartView::dragMoveEvent(QDragMoveEvent *event) { + if (event->mimeData()->hasFormat(mime_type)) { + event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction); + event->accept(); + } else { + event->ignore(); + } +} + +void ChartView::dropEvent(QDropEvent *event) { + if (event->mimeData()->hasFormat(mime_type)) { + if (event->source() == this) { + event->setDropAction(Qt::MoveAction); + event->accept(); + } else { + ChartView *source_chart = (ChartView *)event->source(); + QList series; + for (auto &s : source_chart->sigs) { + series.push_back({s.msg_id, msgName(s.msg_id), QString::fromStdString(s.sig->name)}); + } + addSeries(series); + emit source_chart->remove(); + event->acceptProposedAction(); + } + } else { + event->ignore(); + } +} + void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { qreal x = chart()->mapToPosition(QPointF{can->currentSec(), 0}).x(); qreal y1 = chart()->plotArea().top() - 2; diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 819432920b..ebce8ceda6 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -58,8 +59,11 @@ private slots: private: QList::iterator removeSeries(const QList::iterator &it); + void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; + void dragMoveEvent(QDragMoveEvent *event) override; + void dropEvent(QDropEvent *event) override; void leaveEvent(QEvent *event) override; void resizeEvent(QResizeEvent *event) override; void updateAxisY(); @@ -68,6 +72,7 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; void applyNiceNumbers(qreal min, qreal max); qreal niceNumber(qreal x, bool ceiling); + void addSeries(const QList &series_list); QValueAxis *axis_x; QValueAxis *axis_y; @@ -76,6 +81,7 @@ private: QGraphicsProxyWidget *manage_btn_proxy; std::pair events_range = {0, 0}; QList sigs; + const QString mime_type = "application/x-cabanachartview"; }; class ChartsWidget : public QWidget { From f6dc12a735b4856d2ac6225ec9a2f2aa36d2c2de Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 15 Jan 2023 16:13:50 -0500 Subject: [PATCH 003/124] VW MQB: Add diagnostic firewall note to config tool (#26975) --- selfdrive/debug/vw_mqb_config.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 8c4dbc55ee..8952405b8e 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -126,6 +126,7 @@ if __name__ == "__main__": uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore except (NegativeResponseError, MessageTimeoutError): print("Security access failed!") + print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)") quit() try: From 11da83d2b58d26e876fe65e6bb2ec1013b7a5316 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 15 Jan 2023 13:52:16 -0800 Subject: [PATCH 004/124] boardd: lock spi device (#26937) * lock spi * bump panda Co-authored-by: Comma Device --- panda | 2 +- selfdrive/boardd/spi.cc | 25 ++++++++++++++++++++++--- 2 files changed, 23 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 11d90f9e78..e83b2189c1 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 11d90f9e78b1c070e44e02d5d8c2b18790617324 +Subproject commit e83b2189c148499b8ba430433886791217f3389a diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 717b6ce820..8a6bf8be7f 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -1,3 +1,4 @@ +#include #include #include @@ -28,6 +29,23 @@ struct __attribute__((packed)) spi_header { const int SPI_MAX_RETRIES = 5; const int SPI_ACK_TIMEOUT = 50; // milliseconds +class LockEx { +public: + LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) { + m.lock(); + flock(fd, LOCK_EX); + }; + + ~LockEx() { + m.unlock(); + flock(fd, LOCK_UN); + } + +private: + int fd; + std::recursive_mutex &m; +}; + PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { LOGD("opening SPI panda: %s", serial.c_str()); @@ -84,6 +102,7 @@ void PandaSpiHandle::cleanup() { int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { + LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, @@ -94,6 +113,7 @@ int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t par } int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { + LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, @@ -104,15 +124,15 @@ int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t para } int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + LockEx lock(spi_fd, hw_lock); return bulk_transfer(endpoint, data, length, NULL, 0); } int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + LockEx lock(spi_fd, hw_lock); return bulk_transfer(endpoint, NULL, 0, data, length); } int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) { - std::lock_guard lk(hw_lock); - const int xfer_size = 0x40 * 15; int ret = 0; @@ -167,7 +187,6 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1 int ret; int count = SPI_MAX_RETRIES; - std::lock_guard lk(hw_lock); do { // TODO: handle error ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); From 9c58e5fedd7cee154eec44857c6df83dcc1a8ed0 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 15 Jan 2023 20:16:45 -0500 Subject: [PATCH 005/124] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202020=20?= =?UTF-8?q?=C5=A0koda=20Scala=20(#26976)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/car/volkswagen/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index f627e517be..6ae4969cc0 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1079,6 +1079,7 @@ FW_VERSIONS = { b'\xf1\x870CW300050 \xf1\x891709', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14', ], (Ecu.eps, 0x712, None): [ From 5cc192be4d994d26e385f03a1945d810d465eb00 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 16 Jan 2023 07:13:16 +0100 Subject: [PATCH 006/124] cabana: MacOS fixes (#26973) * make qtcharts a framework * cabana: dfisable openpilot prefix on macos * cabana: disable opengl on charts * fix linux build * no newline * add comments --- tools/cabana/SConscript | 5 ++++- tools/cabana/cabana.cc | 4 ++++ tools/cabana/chartswidget.cc | 5 +++++ 3 files changed, 13 insertions(+), 1 deletion(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 718e2e50af..507b98ae88 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -8,10 +8,13 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', if arch == "Darwin": base_frameworks.append('OpenCL') + base_frameworks.append('QtCharts') else: base_libs.append('OpenCL') + base_libs.append('Qt5Charts') + +qt_libs = ['qt_util'] + base_libs -qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs cabana_env = qt_env.Clone() diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 4f037ba595..6a9db120e9 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -33,7 +33,11 @@ int main(int argc, char *argv[]) { replay_flags |= REPLAY_FLAG_QCAMERA; } + // TODO: Remove when OpenpilotPrefix supports ZMQ +#ifndef __APPLE__ OpenpilotPrefix op_prefix; +#endif + CANMessages p(&app); int ret = 0; if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c8208b2f14..b8ec0af346 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -268,7 +268,12 @@ 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); From f25239f7c516b19782926423754db7c31a29bd75 Mon Sep 17 00:00:00 2001 From: apache2046 Date: Tue, 17 Jan 2023 02:22:09 +0800 Subject: [PATCH 007/124] Radard: pdf not cdf (#26978) Update radard.py according the the equation, it is the probability density function (pdf) , not the cumulative distribution function (cdf) --- selfdrive/controls/radard.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index db87604e98..6a0902e510 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -35,7 +35,7 @@ class KalmanParams(): self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]] -def laplacian_cdf(x, mu, b): +def laplacian_pdf(x, mu, b): b = max(b, 1e-4) return math.exp(-abs(x-mu)/b) @@ -45,9 +45,9 @@ def match_vision_to_cluster(v_ego, lead, clusters): offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA def prob(c): - prob_d = laplacian_cdf(c.dRel, offset_vision_dist, lead.xStd[0]) - prob_y = laplacian_cdf(c.yRel, -lead.y[0], lead.yStd[0]) - prob_v = laplacian_cdf(c.vRel + v_ego, lead.v[0], lead.vStd[0]) + prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0]) + prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0]) + prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0]) # This is isn't exactly right, but good heuristic return prob_d * prob_y * prob_v From 5cf1dd7f1377c65172a5dfaaade1396c17eb9e5a Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 16 Jan 2023 19:36:06 +0100 Subject: [PATCH 008/124] MacOS: mock gpio functions (#26971) --- common/gpio.cc | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/common/gpio.cc b/common/gpio.cc index 9f5c211a4b..aa65c0bd9d 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -1,5 +1,20 @@ #include "common/gpio.h" +#ifdef __APPLE__ +int gpio_init(int pin_nr, bool output) { + return 0; +} + +int gpio_set(int pin_nr, bool high) { + return 0; +} + +int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { + return 0; +} + +#else + #include #include @@ -63,3 +78,5 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p close(fd); return rq.fd; } + +#endif From 657f1c13379f9b7f5b820ab17772fd6a37cd14d2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 16 Jan 2023 11:20:20 -0800 Subject: [PATCH 009/124] add bootstrap icons (#26980) * add bootstrap icons * pin --- third_party/bootstrap/.gitignore | 1 + third_party/bootstrap/bootstrap-icons.svg | 1 + third_party/bootstrap/pull.sh | 14 ++++++++++++++ 3 files changed, 16 insertions(+) create mode 100644 third_party/bootstrap/.gitignore create mode 100644 third_party/bootstrap/bootstrap-icons.svg create mode 100755 third_party/bootstrap/pull.sh diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore new file mode 100644 index 0000000000..ac06c0cf85 --- /dev/null +++ b/third_party/bootstrap/.gitignore @@ -0,0 +1 @@ +/icons/ diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg new file mode 100644 index 0000000000..61f2720db4 --- /dev/null +++ b/third_party/bootstrap/bootstrap-icons.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh new file mode 100755 index 0000000000..0b03b4db9e --- /dev/null +++ b/third_party/bootstrap/pull.sh @@ -0,0 +1,14 @@ +#!/bin/bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +if [ ! -d icons/ ]; then + git clone https://github.com/twbs/icons/ +fi + +cd icons +git fetch --all +git checkout d5aa187483a1b0b186f87adcfa8576350d970d98 +cp bootstrap-icons.svg ../ From 164880524a705fee3ba0507e70c7c0069b1f7ef0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 17 Jan 2023 03:21:15 +0800 Subject: [PATCH 010/124] cabana: add a combobox to switch between signal and raw hex value (#26974) * switch between hex&signal value * sync display mode between view & model --- tools/cabana/historylog.cc | 36 +++++++++++++++++++++++++++++------- tools/cabana/historylog.h | 14 ++++++++++++-- 2 files changed, 41 insertions(+), 9 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 485a21cc1b..c6ee7d9086 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -7,16 +7,24 @@ // HistoryLogModel +void HistoryLogModel::setDisplayType(HistoryLogModel::DisplayType type) { + if (display_type != type) { + display_type = type; + refresh(); + } +} + QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { + const bool display_signals = display_type == HistoryLogModel::Signals; if (role == Qt::DisplayRole) { const auto &m = messages[index.row()]; if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : m.data; - } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) { + return display_signals ? QString::number(m.sig_values[index.column() - 1]) : m.data; + } else if (role == Qt::FontRole && index.column() == 1 && !display_signals) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); - } else if (role == Qt::ToolTipRole && index.column() > 0 && !sigs.empty()) { + } else if (role == Qt::ToolTipRole && index.column() > 0 && display_signals) { return tr("double click to open the chart"); } return {}; @@ -28,6 +36,7 @@ void HistoryLogModel::setMessage(const QString &message_id) { if (auto dbc_msg = dbc()->msg(msg_id)) { sigs = dbc_msg->getSignals(); } + display_type = !sigs.empty() ? HistoryLogModel::Signals : HistoryLogModel::Hex; filter_cmp = nullptr; refresh(); } @@ -41,15 +50,16 @@ void HistoryLogModel::refresh() { } QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { + const bool display_signals = display_type == HistoryLogModel::Signals && !sigs.empty(); if (orientation == Qt::Horizontal) { if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { if (section == 0) { return "Time"; } - return !sigs.empty() ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; - } else if (role == Qt::BackgroundRole && section > 0 && !sigs.empty()) { + return display_signals ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; + } else if (role == Qt::BackgroundRole && section > 0 && display_signals) { return QBrush(QColor(getColor(section - 1))); - } else if (role == Qt::ForegroundRole && section > 0 && !sigs.empty()) { + } else if (role == Qt::ForegroundRole && section > 0 && display_signals) { return QBrush(Qt::black); } } @@ -182,6 +192,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); QHBoxLayout *h = new QHBoxLayout(); + + display_type_cb = new QComboBox(); + display_type_cb->addItems({"Signal value", "Hex value"}); + h->addWidget(display_type_cb); + signals_cb = new QComboBox(this); signals_cb->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Preferred); h->addWidget(signals_cb); @@ -202,6 +217,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(logs); QObject::connect(logs, &QTableView::doubleClicked, this, &LogsWidget::doubleClicked); + QObject::connect(display_type_cb, SIGNAL(activated(int)), this, SLOT(displayTypeChanged())); QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter); @@ -222,6 +238,8 @@ void LogsWidget::setMessage(const QString &message_id) { signals_cb->addItem(s->name.c_str()); } } + display_type_cb->setCurrentIndex(has_signals ? 0 : 1); + display_type_cb->setVisible(has_signals); comp_box->setVisible(has_signals); value_edit->setVisible(has_signals); signals_cb->setVisible(has_signals); @@ -245,6 +263,10 @@ void LogsWidget::setFilter() { cur_filter_text = value_edit->text(); } +void LogsWidget::displayTypeChanged() { + model->setDisplayType(display_type_cb->currentIndex() == 0 ? HistoryLogModel::Signals : HistoryLogModel::Hex); +} + void LogsWidget::showEvent(QShowEvent *event) { if (dynamic_mode->isChecked()) { model->refresh(); @@ -259,7 +281,7 @@ void LogsWidget::updateState() { void LogsWidget::doubleClicked(const QModelIndex &index) { if (index.isValid()) { - if (model->sigs.size() > 0 && index.column() > 0) { + if (model->display_type == HistoryLogModel::Signals && model->sigs.size() > 0 && index.column() > 0) { emit openChart(model->msg_id, model->sigs[index.column()-1]); } can->seekTo(model->messages[index.row()].mono_time / (double)1e9 - can->routeStartTime()); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index f20f51637a..1eea7e5eba 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -21,16 +21,24 @@ class HistoryLogModel : public QAbstractTableModel { Q_OBJECT public: + enum DisplayType { + Signals, + Hex + }; + HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} void setMessage(const QString &message_id); void updateState(); void setFilter(int sig_idx, const QString &value, std::function cmp); + void setDisplayType(DisplayType type); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; void fetchMore(const QModelIndex &parent) override; inline bool canFetchMore(const QModelIndex &parent) const override { return has_more_data; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); } - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return std::max(1ul, sigs.size()) + 1; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { + return display_type == HistoryLogModel::Hex ? 2 : std::max(1ul, sigs.size()) + 1; + } void setDynamicMode(int state); void segmentsMerged(); void refresh(); @@ -55,6 +63,7 @@ public: std::deque messages; std::vector sigs; bool dynamic_mode = false; + DisplayType display_type = HistoryLogModel::Signals; }; class HistoryLog : public QTableView { @@ -76,6 +85,7 @@ signals: private slots: void setFilter(); + void displayTypeChanged(); private: void doubleClicked(const QModelIndex &index); @@ -84,7 +94,7 @@ private: HistoryLog *logs; HistoryLogModel *model; QCheckBox *dynamic_mode; - QComboBox *signals_cb, *comp_box; + QComboBox *signals_cb, *comp_box, *display_type_cb; QLineEdit *value_edit; QString cur_filter_text; }; From af97a96080428976abf2f65aa7deec109a015032 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 16 Jan 2023 19:43:34 -0800 Subject: [PATCH 011/124] Add lane ekf (#26986) * change lane_kf pos * add lane back here --- SConstruct | 2 +- selfdrive/locationd/models/lane_kf.py | 105 ++++++++++++++++++++++++++ 2 files changed, 106 insertions(+), 1 deletion(-) create mode 100755 selfdrive/locationd/models/lane_kf.py diff --git a/SConstruct b/SConstruct index b148a9116a..3051f4298d 100644 --- a/SConstruct +++ b/SConstruct @@ -387,10 +387,10 @@ rednose_config = { if arch != "larch64": rednose_config['to_build'].update({ 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), + 'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps), 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), - 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps), }) Export('rednose_config') diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py new file mode 100755 index 0000000000..4d38fa8e09 --- /dev/null +++ b/selfdrive/locationd/models/lane_kf.py @@ -0,0 +1,105 @@ +#!/usr/bin/env python3 +import sys +import numpy as np +import sympy as sp + +from selfdrive.locationd.models.constants import ObservationKind +from rednose.helpers.ekf_sym import gen_code, EKF_sym + + +class LaneKalman(): + name = 'lane' + + @staticmethod + def generate_code(generated_dir): + # make functions and jacobians with sympy + # state variables + dim = 6 + state = sp.MatrixSymbol('state', dim, 1) + + dd = sp.Symbol('dd') # WARNING: NOT TIME + + # Time derivative of the state as a function of state + state_dot = sp.Matrix(np.zeros((dim, 1))) + state_dot[:3,0] = sp.Matrix(state[3:6,0]) + + # Basic descretization, 1st order intergrator + # Can be pretty bad if dt is big + f_sym = sp.Matrix(state) + dd*state_dot + + # + # Observation functions + # + h_lane_sym = sp.Matrix(state[:3,0]) + obs_eqs = [[h_lane_sym, ObservationKind.LANE_PT, None]] + gen_code(generated_dir, LaneKalman.name, f_sym, dd, state, obs_eqs, dim, dim) + + def __init__(self, generated_dir, pt_std=5): + # state + # left and right lane centers in ecef + # WARNING: this is not a temporal model + # the 'time' in this kalman filter is + # the distance traveled by the vehicle, + # which should approximately be the + # distance along the lane path + # a more logical parametrization + # states 0-2 are ecef coordinates distance d + # states 3-5 is the 3d "velocity" of the + # lane in ecef (m/m). + x_initial = np.array([0,0,0, + 0,0,0]) + + # state covariance + P_initial = np.diag([1e16, 1e16, 1e16, + 1**2, 1**2, 1**2]) + + # process noise + Q = np.diag([0.1**2, 0.1**2, 0.1**2, + 0.1**2, 0.1**2, 0.1*2]) + + self.dim_state = len(x_initial) + + # init filter + self.filter = EKF_sym(generated_dir, self.name, Q, x_initial, P_initial, x_initial.shape[0], P_initial.shape[0]) + self.obs_noise = {ObservationKind.LANE_PT: np.diag([pt_std**2]*3)} + + @property + def x(self): + return self.filter.state() + + @property + def P(self): + return self.filter.covs() + + def predict(self, t): + return self.filter.predict(t) + + def rts_smooth(self, estimates): + return self.filter.rts_smooth(estimates, norm_quats=False) + + + def init_state(self, state, covs_diag=None, covs=None, filter_time=None): + if covs_diag is not None: + P = np.diag(covs_diag) + elif covs is not None: + P = covs + else: + P = self.filter.covs() + self.filter.init_state(state, P, filter_time) + + def predict_and_observe(self, t, kind, data): + data = np.atleast_2d(data) + return self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) + + def get_R(self, kind, n): + obs_noise = self.obs_noise[kind] + dim = obs_noise.shape[0] + R = np.zeros((n, dim, dim)) + for i in range(n): + R[i,:,:] = obs_noise + return R + + +if __name__ == "__main__": + generated_dir = sys.argv[2] + LaneKalman.generate_code(generated_dir) From a43a243b6e3852798390e0adc85f8f688f43b4d3 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 16 Jan 2023 21:02:30 -0700 Subject: [PATCH 012/124] Improve GPSbox tests (#26983) * add altitude testing * fix proc check Co-authored-by: Kurt Nistelberger --- tools/gpstest/README.md | 7 +- tools/gpstest/fuzzy_testing.py | 206 +++++++++++---------------- tools/gpstest/helper.py | 53 +++++++ tools/gpstest/remote_checker.py | 54 ------- tools/gpstest/rpc_server.py | 185 ++++++++++++++++++++++++ tools/gpstest/simulate_gps_signal.py | 25 ++-- 6 files changed, 342 insertions(+), 188 deletions(-) create mode 100644 tools/gpstest/helper.py delete mode 100644 tools/gpstest/remote_checker.py create mode 100644 tools/gpstest/rpc_server.py diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md index 5aff0ee3d7..01f44df0ce 100644 --- a/tools/gpstest/README.md +++ b/tools/gpstest/README.md @@ -3,12 +3,9 @@ Testing the GPS receiver using GPS spoofing. At the moment only static location relpay is supported. # Usage -``` -# on host, start gps signal simulation -./run_static_lime.py -``` +on C3 run `rpc_server.py`, on host PC run `fuzzy_testing.py` -`run_static_lime.py` downloads the latest ephemeris file from +`simulate_gps_signal.py` downloads the latest ephemeris file from https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/. diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index bd204e7ae7..a2e130342c 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -1,147 +1,115 @@ #!/usr/bin/env python3 -import sys -import time -import random -import datetime as dt -import subprocess as sp +import argparse import multiprocessing -import threading -from typing import Tuple, Any +import rpyc # pylint: disable=import-error +from collections import defaultdict -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from helper import download_rinex, exec_LimeGPS_bin +from helper import get_random_coords, get_continuous_coords -cache_dir = '/tmp/gpstest/' +#------------------------------------------------------------------------------ +# this script is supposed to run on HOST PC +# limeSDR is unreliable via c3 USB +#------------------------------------------------------------------------------ -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, cache_dir, ConstellationId.GPS) - - -def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int): - # this functions should never return, cause return means, timeout is - # reached or it crashed - try: - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location] - sp.check_output(cmd, timeout=duration) - except sp.TimeoutExpired: - print("LimeGPS timeout reached!") - except Exception as e: - print(f"LimeGPS crashed: {str(e)}") - - -def run_lime_gps(rinex_file: str, location: str, duration: int): - print(f"LimeGPS {location} {duration}") - +def run_lime_gps(rinex_file: str, location: str, timeout: int): + # needs to run longer than the checker + timeout += 10 + print(f"LimeGPS {location} {timeout}") p = multiprocessing.Process(target=exec_LimeGPS_bin, - args=(rinex_file, location, duration)) + args=(rinex_file, location, timeout)) p.start() return p +con = None +def run_remote_checker(lat, lon, alt, duration, ip_addr): + global con + try: + con = rpyc.connect(ip_addr, 18861) + con._config['sync_request_timeout'] = duration+20 + except ConnectionRefusedError: + print("could not run remote checker is 'rpc_server.py' running???") + return False, None, None -def get_random_coords(lat, lon) -> Tuple[int, int]: - # jump around the world - # max values, lat: -90 to 90, lon: -180 to 180 + matched, log, info = con.root.exposed_run_checker(lat, lon, alt, + timeout=duration, + use_laikad=True) + con.close() # TODO: might wanna fetch more logs here + con = None - lat_add = random.random()*20 + 10 - lon_add = random.random()*20 + 20 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - -def get_continuous_coords(lat, lon) -> Tuple[int, int]: - # continuously move around the world - - lat_add = random.random()*0.01 - lon_add = random.random()*0.01 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - -rc_p: Any = None -def exec_remote_checker(lat, lon, duration, ip_addr): - global rc_p - # TODO: good enough for testing - remote_cmd = "export PYTHONPATH=/data/pythonpath && " - remote_cmd += "cd /data/openpilot && " - remote_cmd += f"timeout {duration} /usr/local/pyenv/shims/python tools/gpstest/remote_checker.py " - remote_cmd += f"{lat} {lon}" - - ssh_cmd = ["ssh", "-i", "/home/batman/openpilot/xx/phone/key/id_rsa", - f"comma@{ip_addr}"] - ssh_cmd += [remote_cmd] - - rc_p = sp.Popen(ssh_cmd, stdout=sp.PIPE) - rc_p.wait() - rc_output = rc_p.stdout.read() - print(f"Checker Result: {rc_output.strip().decode('utf-8')}") + print(f"Remote Checker: {log} {info}") + return matched, log, info -def run_remote_checker(spoof_proc, lat, lon, duration, ip_addr) -> bool: - checker_thread = threading.Thread(target=exec_remote_checker, - args=(lat, lon, duration, ip_addr)) - checker_thread.start() +stats = defaultdict(int) # type: ignore +keys = ['success', 'failed', 'ublox_fail', 'laikad_fail', 'proc_crash', 'checker_crash'] - tcnt = 0 - while True: - if not checker_thread.is_alive(): - # assume this only happens when the signal got matched - return True - - # the spoofing process has a timeout, kill checker if reached - if not spoof_proc.is_alive(): - rc_p.kill() - # spoofing process died, assume timeout - print("Spoofing process timeout") - return False - - print(f"Time elapsed: {tcnt}[s]", end = "\r") - time.sleep(1) - tcnt += 1 +def print_report(): + print("\nFuzzy testing report summary:") + for k in keys: + print(f" {k}: {stats[k]}") -def main(): - if len(sys.argv) < 2: - print(f"usage: {sys.argv[0]} [-c]") - ip_addr = sys.argv[1] +def update_stats(matched, log, info): + if matched: + stats['success'] += 1 + return - continuous_mode = False - if len(sys.argv) == 3 and sys.argv[2] == '-c': - print("Continuous Mode!") - continuous_mode = True + stats['failed'] += 1 + if log == "PROC CRASH": + stats['proc_crash'] += 1 + if log == "CHECKER CRASHED": + stats['checker_crash'] += 1 + if log == "TIMEOUT": + if "LAIKAD" in info: + stats['laikad_fail'] += 1 + else: # "UBLOX" in info + stats['ublox_fail'] += 1 + +def main(ip_addr, continuous_mode, timeout, pos): rinex_file = download_rinex() - duration = 60*3 # max runtime in seconds - lat, lon = get_random_coords(47.2020, 15.7403) + lat, lon, alt = pos + if lat == 0 and lon == 0 and alt == 0: + lat, lon, alt = get_random_coords(47.2020, 15.7403) - while True: - # spoof random location - spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},100", duration) - start_time = time.monotonic() + try: + while True: + # spoof random location + spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},{alt}", timeout) - # remote checker runs blocking - if not run_remote_checker(spoof_proc, lat, lon, duration, ip_addr): - # location could not be matched by ublox module - pass + # remote checker execs blocking + matched, log, info = run_remote_checker(lat, lon, alt, timeout, ip_addr) + update_stats(matched, log, info) + spoof_proc.terminate() + spoof_proc = None - end_time = time.monotonic() - spoof_proc.terminate() + if continuous_mode: + lat, lon, alt = get_continuous_coords(lat, lon, alt) + else: + lat, lon, alt = get_random_coords(lat, lon) + except KeyboardInterrupt: + if spoof_proc is not None: + spoof_proc.terminate() - # -1 to count process startup - print(f"Time to get Signal: {round(end_time - start_time - 1, 4)}") + if con is not None and not con.closed: + con.root.exposed_kill_procs() + con.close() + + print_report() - if continuous_mode: - lat, lon = get_continuous_coords(lat, lon) - else: - lat, lon = get_random_coords(lat, lon) if __name__ == "__main__": - main() + parser = argparse.ArgumentParser(description="Fuzzy test GPS stack with random locations.") + parser.add_argument("ip_addr", type=str) + parser.add_argument("-c", "--contin", type=bool, nargs='?', default=False, help='Continous location change') + parser.add_argument("-t", "--timeout", type=int, nargs='?', default=180, help='Timeout to get location') + + # for replaying a location + parser.add_argument("lat", type=float, nargs='?', default=0) + parser.add_argument("lon", type=float, nargs='?', default=0) + parser.add_argument("alt", type=float, nargs='?', default=0) + args = parser.parse_args() + main(args.ip_addr, args.contin, args.timeout, (args.lat, args.lon, args.alt)) diff --git a/tools/gpstest/helper.py b/tools/gpstest/helper.py new file mode 100644 index 0000000000..4f62e60db0 --- /dev/null +++ b/tools/gpstest/helper.py @@ -0,0 +1,53 @@ +import random +import datetime as dt +import subprocess as sp +from typing import Tuple + +from laika.downloader import download_nav +from laika.gps_time import GPSTime +from laika.helpers import ConstellationId + + +def download_rinex(): + # TODO: check if there is a better way to get the full brdc file for LimeGPS + gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) + utc_time = dt.datetime.utcnow() - dt.timedelta(1) + gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) + return download_nav(gps_time, '/tmp/gpstest/', ConstellationId.GPS) + + +def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int): + # this functions should never return, cause return means, timeout is + # reached or it crashed + try: + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location] + sp.check_output(cmd, timeout=duration) + except sp.TimeoutExpired: + print("LimeGPS timeout reached!") + except Exception as e: + print(f"LimeGPS crashed: {str(e)}") + + +def get_random_coords(lat, lon) -> Tuple[float, float, int]: + # jump around the world + # max values, lat: -90 to 90, lon: -180 to 180 + + lat_add = random.random()*20 + 10 + lon_add = random.random()*20 + 20 + alt = random.randint(-10**3, 4*10**3) + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5), alt + + +def get_continuous_coords(lat, lon, alt) -> Tuple[float, float, int]: + # continuously move around the world + lat_add = random.random()*0.01 + lon_add = random.random()*0.01 + alt_add = random.randint(-100, 100) + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + alt += alt_add + return round(lat, 5), round(lon, 5), alt diff --git a/tools/gpstest/remote_checker.py b/tools/gpstest/remote_checker.py deleted file mode 100644 index a649a105c3..0000000000 --- a/tools/gpstest/remote_checker.py +++ /dev/null @@ -1,54 +0,0 @@ -#!/usr/bin/env python3 -import sys -import time -from typing import List - -from common.params import Params -import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes - -DELTA = 0.001 -# assume running openpilot for now -procs: List[str] = []#"ubloxd", "pigeond"] - - -def main(): - if len(sys.argv) != 4: - print("args: ") - return - - quectel_mod = Params().get_bool("UbloxAvailable") - sol_lat = float(sys.argv[2]) - sol_lon = float(sys.argv[3]) - - for p in procs: - managed_processes[p].start() - time.sleep(0.5) # give time to startup - - socket = 'gpsLocation' if quectel_mod else 'gpsLocationExternal' - gps_sock = messaging.sub_sock(socket, timeout=0.1) - - # analyze until the location changed - while True: - events = messaging.drain_sock(gps_sock) - for e in events: - loc = e.gpsLocation if quectel_mod else e.gpsLocationExternal - lat = loc.latitude - lon = loc.longitude - - if abs(lat - sol_lat) < DELTA and abs(lon - sol_lon) < DELTA: - print("MATCH") - return - - time.sleep(0.1) - - for p in procs: - if not managed_processes[p].proc.is_alive(): - print(f"ERROR: '{p}' died") - return - - -if __name__ == "__main__": - main() - for p in procs: - managed_processes[p].stop() diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py new file mode 100644 index 0000000000..b35c66d02d --- /dev/null +++ b/tools/gpstest/rpc_server.py @@ -0,0 +1,185 @@ +import os +import time +import shutil +from datetime import datetime +from collections import defaultdict + +import rpyc # pylint: disable=import-error +from rpyc.utils.server import ThreadedServer # pylint: disable=import-error + +#from common.params import Params +import cereal.messaging as messaging +from selfdrive.manager.process_config import managed_processes +from laika.lib.coordinates import ecef2geodetic + +DELTA = 0.001 +ALT_DELTA = 30 +MATCH_NUM = 10 +REPORT_STATS = 10 + +EPHEM_CACHE = "/data/params/d/LaikadEphemeris" +DOWNLOAD_CACHE = "/tmp/comma_download_cache" + +SERVER_LOG_FILE = "/tmp/fuzzy_server.log" +server_log = open(SERVER_LOG_FILE, "w+") + +def slog(msg): + server_log.write(f"{datetime.now().strftime('%H:%M:%S.%f')} | {msg}\n") + server_log.flush() + +def handle_laikad(msg): + if not hasattr(msg, 'correctedMeasurements'): + return None + + num_corr = len(msg.correctedMeasurements) + pos_ecef = msg.positionECEF.value + pos_geo = [] + if len(pos_ecef) > 0: + pos_geo = ecef2geodetic(pos_ecef) + + pos_std = msg.positionECEF.std + pos_valid = msg.positionECEF.valid + + slog(f"{num_corr} {pos_geo} {pos_ecef} {pos_std} {pos_valid}") + return pos_geo, (num_corr, pos_geo, list(pos_ecef), list(msg.positionECEF.std)) + +hw_msgs = 0 +ephem_msgs: dict = defaultdict(int) +def handle_ublox(msg): + global hw_msgs + + d = msg.to_dict() + + if 'hwStatus2' in d: + hw_msgs += 1 + + if 'ephemeris' in d: + ephem_msgs[msg.ephemeris.svId] += 1 + + num_meas = None + if 'measurementReport' in d: + num_meas = msg.measurementReport.numMeas + + return [hw_msgs, ephem_msgs, num_meas] + + +def start_procs(procs): + for p in procs: + managed_processes[p].start() + time.sleep(1) + +def kill_procs(procs, no_retry=False): + for p in procs: + managed_processes[p].stop() + time.sleep(1) + + if not no_retry: + for p in procs: + mp = managed_processes[p].proc + if mp is not None and mp.is_alive(): + managed_processes[p].stop() + time.sleep(3) + +def check_alive_procs(procs): + for p in procs: + mp = managed_processes[p].proc + if mp is None or not mp.is_alive(): + return False, p + return True, None + + +class RemoteCheckerService(rpyc.Service): + def on_connect(self, conn): + pass + + def on_disconnect(self, conn): + #kill_procs(self.procs, no_retry=False) + # this execution is delayed, it will kill the next run of laikad + # TODO: add polling to wait for everything is killed + pass + + def run_checker(self, slat, slon, salt, sockets, procs, timeout): + global hw_msgs, ephem_msgs + hw_msgs = 0 + ephem_msgs = defaultdict(int) + + slog(f"Run test: {slat} {slon} {salt}") + + # quectel_mod = Params().get_bool("UbloxAvailable") + + match_cnt = 0 + msg_cnt = 0 + stats_laikad = [] + stats_ublox = [] + + self.procs = procs + start_procs(procs) + sm = messaging.SubMaster(sockets) + + start_time = time.monotonic() + while True: + sm.update() + + if sm.updated['ubloxGnss']: + stats_ublox.append(handle_ublox(sm['ubloxGnss'])) + + if sm.updated['gnssMeasurements']: + pos_geo, stats = handle_laikad(sm['gnssMeasurements']) + if pos_geo is None or len(pos_geo) == 0: + continue + + match = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon])) + match &= abs(pos_geo[2] - salt) < ALT_DELTA + if match: + match_cnt += 1 + if match_cnt >= MATCH_NUM: + return True, "MATCH", f"After: {round(time.monotonic() - start_time, 4)}" + + # keep some stats for error reporting + stats_laikad.append(stats) + + if (msg_cnt % 10) == 0: + a, p = check_alive_procs(procs) + if not a: + return False, "PROC CRASH", f"{p}" + msg_cnt += 1 + + if (time.monotonic() - start_time) > timeout: + h = f"LAIKAD: {stats_laikad[-REPORT_STATS:]}" + if len(h) == 0: + h = f"UBLOX: {stats_ublox[-REPORT_STATS:]}" + return False, "TIMEOUT", h + + + def exposed_run_checker(self, slat, slon, salt, timeout=180, use_laikad=True): + try: + procs = [] + sockets = [] + + if use_laikad: + procs.append("laikad") # pigeond, ubloxd # might wanna keep them running + sockets += ['ubloxGnss', 'gnssMeasurements'] + + if os.path.exists(EPHEM_CACHE): + os.remove(EPHEM_CACHE) + shutil.rmtree(DOWNLOAD_CACHE, ignore_errors=True) + + ret = self.run_checker(slat, slon, salt, sockets, procs, timeout) + kill_procs(procs) + return ret + + except Exception as e: + # always make sure processes get killed + kill_procs(procs) + return False, "CHECKER CRASHED", f"{str(e)}" + + + def exposed_kill_procs(self): + kill_procs(self.procs, no_retry=True) + + +if __name__ == "__main__": + print(f"Sever Log written to: {SERVER_LOG_FILE}") + t = ThreadedServer(RemoteCheckerService, port=18861) + t.start() + diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py index a6aca1c404..da0f64eaca 100755 --- a/tools/gpstest/simulate_gps_signal.py +++ b/tools/gpstest/simulate_gps_signal.py @@ -16,7 +16,7 @@ cache_dir = '/tmp/gpstest/' def download_rinex(): # TODO: check if there is a better way to get the full brdc file for LimeGPS gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) + utc_time = dt.datetime.utcnow()# - dt.timedelta(1) gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) return download_nav(gps_time, cache_dir, ConstellationId.GPS) @@ -36,11 +36,15 @@ def get_random_coords(lat, lon) -> Tuple[int, int]: # jump around the world return get_coords(lat, lon, 20, 20, 10, 20) -def run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout): +def run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout): while True: try: - print(f"starting LimeGPS, Location: {lat},{lon}") - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] + # TODO: add starttime setting and altitude + # -t 2023/01/15,00:00:00 -T 2023/01/15,00:00:00 + # this needs to match the date of the navigation file + print(f"starting LimeGPS, Location: {lat} {lon} {alt}") + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},{alt}"] + print(f"CMD: {cmd}") sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) except KeyboardInterrupt: print("stopping LimeGPS") @@ -71,7 +75,7 @@ def run_hackRF_loop(lat, lon, rinex_file, timeout): try: print(f"starting gps-sdr-sim, Location: {lat},{lon}") # create 30second file and replay with hackrf endless - cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},100", "-d", "30"] + cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},-200", "-d", "30"] sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) # created in current working directory except Exception: @@ -90,7 +94,7 @@ def run_hackRF_loop(lat, lon, rinex_file, timeout): print(f"hackrf_transfer crashed:{str(e)}") -def main(lat, lon, jump_sim, contin_sim, hackrf_mode): +def main(lat, lon, alt, jump_sim, contin_sim, hackrf_mode): if hackrf_mode: if not os.path.exists('hackrf'): @@ -130,17 +134,18 @@ def main(lat, lon, jump_sim, contin_sim, hackrf_mode): if jump_sim: timeout = 30 - if not hackrf_mode: - run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout) - else: + if hackrf_mode: run_hackRF_loop(lat, lon, rinex_file, timeout) + else: + run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout) if __name__ == "__main__": parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") parser.add_argument("lat", type=float, nargs='?', default=0) parser.add_argument("lon", type=float, nargs='?', default=0) + parser.add_argument("alt", type=float, nargs='?', default=0) parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)") args = parser.parse_args() - main(args.lat, args.lon, args.jump, args.contin, args.hackrf) + main(args.lat, args.lon, args.alt, args.jump, args.contin, args.hackrf) From 2ef127ebc05c609dffff506a64fa3c600d7b194b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 18 Jan 2023 05:09:18 +0800 Subject: [PATCH 013/124] cabana: more compact form (#26985) --- tools/cabana/signaledit.cc | 54 ++++++++++++++++++++++---------------- tools/cabana/signaledit.h | 2 +- 2 files changed, 32 insertions(+), 24 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 3845e72be1..2a92e03461 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -9,50 +9,56 @@ // SignalForm SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { - QFormLayout *form_layout = new QFormLayout(this); + auto double_validator = new QDoubleValidator(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); + QFormLayout *form_layout = new QFormLayout(); + main_layout->addLayout(form_layout); name = new QLineEdit(); name->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name)); form_layout->addRow(tr("Name"), name); + QHBoxLayout *hl = new QHBoxLayout(this); size = new QSpinBox(); size->setMinimum(1); - form_layout->addRow(tr("Size"), size); - + hl->addWidget(size); endianness = new QComboBox(); - endianness->addItems({"Little", "Big"}); - form_layout->addRow(tr("Endianness"), endianness); - - form_layout->addRow(tr("lsb"), lsb = new QLabel()); - form_layout->addRow(tr("msb"), msb = new QLabel()); - + endianness->addItems({"Little Endianness", "Big Endianness"}); + hl->addWidget(endianness); sign = new QComboBox(); sign->addItems({"Signed", "Unsigned"}); - form_layout->addRow(tr("sign"), sign); - - auto double_validator = new QDoubleValidator(this); - - factor = new QLineEdit(); - factor->setValidator(double_validator); - form_layout->addRow(tr("Factor"), factor); + 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(); - form_layout->addRow(tr("Unit"), unit); + extra_layout->addRow(tr("Unit"), unit); comment = new QLineEdit(); - form_layout->addRow(tr("Comment"), comment); + extra_layout->addRow(tr("Comment"), comment); min_val = new QLineEdit(); min_val->setValidator(double_validator); - form_layout->addRow(tr("Minimum value"), min_val); + extra_layout->addRow(tr("Minimum value"), min_val); max_val = new QLineEdit(); max_val->setValidator(double_validator); - form_layout->addRow(tr("Maximum value"), max_val); + extra_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); - form_layout->addRow(tr("Value descriptions"), val_desc); + 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); @@ -60,6 +66,10 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { 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...")); + }); } void SignalForm::textBoxEditingFinished() { @@ -180,8 +190,6 @@ void SignalEdit::updateForm(bool visible) { form->sign->setCurrentIndex(sig->is_signed ? 0 : 1); form->factor->setText(QString::number(sig->factor)); form->offset->setText(QString::number(sig->offset)); - form->msb->setText(QString::number(sig->msb)); - form->lsb->setText(QString::number(sig->lsb)); form->size->setValue(sig->size); } form->setVisible(visible); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index d7b9084e7f..a18f1d34f0 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -17,9 +17,9 @@ public: void textBoxEditingFinished(); QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; - QLabel *lsb, *msb; QSpinBox *size; QComboBox *sign, *endianness; + QToolButton *expand_btn; signals: void changed(); From bc8e2032f7aaafb172e4b2505e7cdc5da1970eb9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 17 Jan 2023 14:16:28 -0800 Subject: [PATCH 014/124] camerad: reduce ox LFM noise (#26949) * wip * make separate score func * n4ot g * clean up * remove * simplify * b2b * more than 0 * this is fine * led * balance costs * clean up * no if tici * box view * new baselines * Revert "new baselines" This reverts commit f7a5d059eda70fa4d49e3024923da30e8821f42b. * Revert "box view" This reverts commit a57924be36e7d6abc2585aca9575c74cd583ef86. * maximize dcg Co-authored-by: Comma Dev1ce --- system/camerad/cameras/camera_qcom2.cc | 25 +++++++++++++------------ system/camerad/cameras/sensor2_i2c.h | 8 ++++---- 2 files changed, 17 insertions(+), 16 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 8e2ad7bd91..92b3bde413 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -60,15 +60,15 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { const float DC_GAIN_AR0231 = 2.5; const float DC_GAIN_OX03C10 = 7.32; -const float DC_GAIN_ON_GREY_AR0231= 0.2; +const float DC_GAIN_ON_GREY_AR0231 = 0.2; const float DC_GAIN_OFF_GREY_AR0231 = 0.3; -const float DC_GAIN_ON_GREY_OX03C10= 0.25; -const float DC_GAIN_OFF_GREY_OX03C10 = 0.35; +const float DC_GAIN_ON_GREY_OX03C10 = 0.9; +const float DC_GAIN_OFF_GREY_OX03C10 = 1.0; const int DC_GAIN_MIN_WEIGHT_AR0231 = 0; const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; -const int DC_GAIN_MIN_WEIGHT_OX03C10 = 16; -const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32; +const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine +const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1; const float TARGET_GREY_FACTOR_AR0231 = 1.0; const float TARGET_GREY_FACTOR_OX03C10 = 0.02; @@ -1172,15 +1172,16 @@ void CameraState::set_camera_exposure(float grey_frac) { }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); } else if (camera_id == CAMERA_ID_OX03C10) { - // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD - uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0); - uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0); - // uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); - uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); - uint32_t spd_time = vs_time; + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + uint32_t lcg_time = hcg_time; + uint32_t spd_time = exposure_time_max + VS_TIME_MAX_OX03C10; + uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; uint32_t min_gain = ox03c10_analog_gains_reg[0]; + uint32_t spd_gain = 0xF00; + struct i2c_random_wr_payload exp_reg_array[] = { {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, @@ -1189,7 +1190,7 @@ void CameraState::set_camera_exposure(float grey_frac) { {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF}, - {0x3548, min_gain>>8}, {0x3549, min_gain&0xFF}, + {0x3548, spd_gain>>8}, {0x3549, spd_gain&0xFF}, {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index ab51059d9a..83fcb8f7a9 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -126,7 +126,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3219, 0x08}, {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure - {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain + {0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure {0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain @@ -711,11 +711,11 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x4221, 0x03}, // this is changed from 1 -> 3 // DCG exposure coarse - {0x3501, 0x01}, {0x3502, 0xc8}, + // {0x3501, 0x01}, {0x3502, 0xc8}, // SPD exposure coarse - {0x3541, 0x01}, {0x3542, 0xc8}, + // {0x3541, 0x01}, {0x3542, 0xc8}, // VS exposure coarse - {0x35c1, 0x00}, {0x35c2, 0x01}, + // {0x35c1, 0x00}, {0x35c2, 0x01}, // crc reference {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55}, From fe9fadaa55760d3940d7ccabd1e7edbf3bed1b1a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 17 Jan 2023 14:22:47 -0800 Subject: [PATCH 015/124] Ioniq 2019 EV: add FW versions (#26988) * add FW from 26e73a0e32642dc4|2023-01-16--13-05-28 * duplicate --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c4fda42b63..ec7605657b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -448,11 +448,13 @@ FW_VERSIONS = { b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', ], }, CAR.IONIQ_HEV_2022: { From e5931ed7624208e1413cb06e1522eb704948e1c0 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 17 Jan 2023 17:17:10 -0800 Subject: [PATCH 016/124] boardd: retune LED curve for new autoexposure (#26991) * use il only * works on both Co-authored-by: Comma Dev1ce --- selfdrive/boardd/boardd.cc | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 1f1249194d..e626882191 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -48,8 +48,8 @@ #define MAX_IR_POWER 0.5f #define MIN_IR_POWER 0.0f -#define CUTOFF_IL 200 -#define SATURATE_IL 1600 +#define CUTOFF_IL 400 +#define SATURATE_IL 1000 #define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a') using namespace std::chrono_literals; @@ -540,9 +540,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { if (sm.updated("driverCameraState")) { auto event = sm["driverCameraState"]; int cur_integ_lines = event.getDriverCameraState().getIntegLines(); - float cur_gain = event.getDriverCameraState().getGain(); - cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain); + cur_integ_lines = integ_lines_filter.update(cur_integ_lines); last_front_frame_t = event.getLogMonoTime(); if (cur_integ_lines <= CUTOFF_IL) { From ef42652368bb56a93e75f172062ac9f6aca29563 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 17 Jan 2023 19:52:06 -0800 Subject: [PATCH 017/124] fix typo AR0321 -> AR0231 (#26993) --- Jenkinsfile | 2 +- cereal | 2 +- selfdrive/ui/ui.cc | 2 +- system/camerad/cameras/camera_common.cc | 2 +- system/camerad/test/test_camerad.py | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 3b16b3f112..bd138bed76 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -152,7 +152,7 @@ pipeline { stage('camerad-ar') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici-ar0321", [ + phone_steps("tici-ar0231", [ ["build", "cd selfdrive/manager && ./build.py"], ["test camerad", "python system/camerad/test/test_camerad.py"], ["test exposure", "python system/camerad/test/test_exposure.py"], diff --git a/cereal b/cereal index c0d9abf6f7..6b91a52d3d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c0d9abf6f7c7de140c41af10e322e226d900ef99 +Subproject commit 6b91a52d3d7bd62507f26ac1321338d4cfd2dc03 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c62d737481..4df963167a 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -163,7 +163,7 @@ static void update_state(UIState *s) { scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); } if (sm.updated("wideRoadCameraState")) { - float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f; + float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 30e2810ec4..7ee3738057 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -167,7 +167,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setExposureValPercent(perc); if (c->camera_id == CAMERA_ID_AR0231) { - framed.setSensor(cereal::FrameData::ImageSensor::AR0321); + framed.setSensor(cereal::FrameData::ImageSensor::AR0231); } else if (c->camera_id == CAMERA_ID_OX03C10) { framed.setSensor(cereal::FrameData::ImageSensor::OX03C10); } diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 6c2ef1c7bc..34411e4ef1 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -10,7 +10,7 @@ from selfdrive.manager.process_config import managed_processes from system.hardware import TICI TEST_TIMESPAN = 30 -LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0321: 0.5, # ARs use synced pulses for frame starts +LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') From 2fd48e26a3580a52d76b43dada7fc04eb2cbe669 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 17 Jan 2023 22:00:01 -0800 Subject: [PATCH 018/124] Deprecate canMonoTimes (#26992) * not used anywhere * bump cereal * also here --- cereal | 2 +- selfdrive/controls/controlsd.py | 1 - selfdrive/controls/radard.py | 1 - 3 files changed, 1 insertion(+), 3 deletions(-) diff --git a/cereal b/cereal index 6b91a52d3d..b27131e72f 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 6b91a52d3d7bd62507f26ac1321338d4cfd2dc03 +Subproject commit b27131e72f987f3bd0fcd28a42f686b583709e1f diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1d92cd4fb2..ac36df7aa2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -757,7 +757,6 @@ class Controls: controlsState.alertType = current_alert.alert_type controlsState.alertSound = current_alert.audible_alert - controlsState.canMonoTimes = list(CS.canMonoTimes) controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] controlsState.enabled = self.enabled diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 6a0902e510..34f0f274fe 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -165,7 +165,6 @@ class RadarD(): dat.valid = sm.all_checks() and len(rr.errors) == 0 radarState = dat.radarState radarState.mdMonoTime = sm.logMonoTime['modelV2'] - radarState.canMonoTimes = list(rr.canMonoTimes) radarState.radarErrors = list(rr.errors) radarState.carStateMonoTime = sm.logMonoTime['carState'] From ef89ec3eb095df8604d8c66009413444b634b1e6 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 18 Jan 2023 19:31:40 +0100 Subject: [PATCH 019/124] cabana: fix segfault on descending sort (#26995) --- tools/cabana/messageswidget.cc | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index fd0bc68514..ffbca1b1df 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -96,8 +96,9 @@ void MessageListModel::sortMessages() { beginResetModel(); if (sort_column == 0) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - bool ret = std::pair{msgName(l), l} < std::pair{msgName(r), r}; - return sort_order == Qt::AscendingOrder ? ret : !ret; + auto ll = std::pair{msgName(l), l}; + auto rr = std::pair{msgName(r), r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } else if (sort_column == 1) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { @@ -105,13 +106,15 @@ void MessageListModel::sortMessages() { }); } else if (sort_column == 2) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - bool ret = std::pair{can->lastMessage(l).freq, l} < std::pair{can->lastMessage(r).freq, r}; - return sort_order == Qt::AscendingOrder ? ret : !ret; + auto ll = std::pair{can->lastMessage(l).freq, l}; + auto rr = std::pair{can->lastMessage(r).freq, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } else if (sort_column == 3) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - bool ret = std::pair{can->lastMessage(l).count, l} < std::pair{can->lastMessage(r).count, r}; - return sort_order == Qt::AscendingOrder ? ret : !ret; + auto ll = std::pair{can->lastMessage(l).count, l}; + auto rr = std::pair{can->lastMessage(r).count, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } endResetModel(); From e69e4f4052927b1053145d06cc8144f209f84f11 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 18 Jan 2023 19:32:04 +0100 Subject: [PATCH 020/124] cabana: sort bus:id numerically instead of alphabetically (#26996) * cabana: sort bus:id numerically instead of alphabetically * Update tools/cabana/canmessages.h --- tools/cabana/canmessages.cc | 2 ++ tools/cabana/canmessages.h | 2 ++ tools/cabana/messageswidget.cc | 4 +++- 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 6e19eb440f..a473313f90 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -64,6 +64,8 @@ bool CANMessages::eventFilter(const Event *event) { 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) { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index ea43933565..2451793742 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -11,6 +11,8 @@ struct CanData { double ts = 0.; + uint8_t src = 0; + uint32_t address = 0; uint32_t count = 0; uint32_t freq = 0; QByteArray dat; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index ffbca1b1df..3477abe37b 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -102,7 +102,9 @@ void MessageListModel::sortMessages() { }); } else if (sort_column == 1) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - return sort_order == Qt::AscendingOrder ? l < r : l > r; + auto ll = std::tuple{can->lastMessage(l).src, can->lastMessage(l).address, l}; + auto rr = std::tuple{can->lastMessage(r).src, can->lastMessage(r).address, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } else if (sort_column == 2) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { From 351d97ab5a72f3dfb22de2e7e321c4cc447a44c9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 19 Jan 2023 03:40:44 +0800 Subject: [PATCH 021/124] cabana: make video resizable (#26998) --- tools/cabana/chartswidget.cc | 1 - tools/cabana/mainwin.cc | 19 ++++++++++++------- tools/cabana/mainwin.h | 4 +++- tools/cabana/settings.cc | 2 ++ tools/cabana/settings.h | 4 +++- tools/cabana/videowidget.cc | 30 +++++++++++++++--------------- tools/cabana/videowidget.h | 2 +- 7 files changed, 36 insertions(+), 26 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index b8ec0af346..33e133d140 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -16,7 +16,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 9df5894b90..af89d26f4f 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -116,19 +116,23 @@ void MainWindow::createDockWindows() { addDockWidget(Qt::LeftDockWidgetArea, dock); // right panel - QWidget *right_container = new QWidget(this); - r_layout = new QVBoxLayout(right_container); charts_widget = new ChartsWidget(this); + QWidget *charts_container = new QWidget(this); + charts_layout = new QVBoxLayout(charts_container); + charts_layout->setContentsMargins(0, 0, 0, 0); + charts_layout->addWidget(charts_widget); + video_widget = new VideoWidget(this); - r_layout->addWidget(video_widget, 0, Qt::AlignTop); - r_layout->addWidget(charts_widget, 1); - r_layout->addStretch(0); + video_splitter = new QSplitter(Qt::Vertical,this); + video_splitter->addWidget(video_widget); + video_splitter->addWidget(charts_container); + video_splitter->restoreState(settings.video_splitter_state); video_dock = new QDockWidget(can->routeName(), this); video_dock->setObjectName(tr("VideoPanel")); video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); - video_dock->setWidget(right_container); + video_dock->setWidget(video_splitter); addDockWidget(Qt::RightDockWidgetArea, video_dock); } @@ -239,7 +243,7 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); - r_layout->insertWidget(2, charts_widget, 1); + charts_layout->insertWidget(0, charts_widget, 1); floating_window->deleteLater(); floating_window = nullptr; } else if (!dock && !floating_window) { @@ -270,6 +274,7 @@ void MainWindow::closeEvent(QCloseEvent *event) { settings.geometry = saveGeometry(); settings.window_state = saveState(); + settings.video_splitter_state = video_splitter->saveState(); settings.save(); QWidget::closeEvent(event); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index f8b5f92349..3e80ffa1aa 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -5,6 +5,7 @@ #include #include #include +#include #include #include "tools/cabana/chartswidget.h" @@ -51,8 +52,9 @@ protected: DetailWidget *detail_widget; ChartsWidget *charts_widget; QWidget *floating_window = nullptr; - QVBoxLayout *r_layout; + QVBoxLayout *charts_layout; QProgressBar *progress_bar; QJsonDocument fingerprint_to_dbc; QComboBox *dbc_combo; + QSplitter *video_splitter;; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 5e7f833317..a5b490e9fb 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -21,6 +21,7 @@ void Settings::save() { s.setValue("last_dir", last_dir); s.setValue("window_state", window_state); s.setValue("geometry", geometry); + s.setValue("video_splitter_state", video_splitter_state); } void Settings::load() { @@ -32,6 +33,7 @@ void Settings::load() { last_dir = s.value("last_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(); } // SettingsDlg diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index d231a3a53a..76be2f1487 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -18,7 +18,9 @@ public: int chart_height = 200; int max_chart_x_range = 3 * 60; // 3 minutes QString last_dir; - QByteArray window_state, geometry; + QByteArray geometry; + QByteArray video_splitter_state; + QByteArray window_state; signals: void changed(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index ed4354ce65..99d82daccf 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -17,20 +17,16 @@ inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } -VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { - setFrameShape(QFrame::StyledPanel); - setFrameShadow(QFrame::Sunken); - QHBoxLayout *containter_layout = new QHBoxLayout(this); - QVBoxLayout *main_layout = new QVBoxLayout(); - main_layout->setContentsMargins(0, 0, 0, 0); +VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + QFrame *frame = new QFrame(this); + frame->setFrameShape(QFrame::StyledPanel); + frame->setFrameShadow(QFrame::Sunken); + main_layout->addWidget(frame); - containter_layout->addStretch(1); - containter_layout->addLayout(main_layout); - containter_layout->addStretch(1); - - cam_widget = new CameraWidget("camerad", can->visionStreamType(), false, this); - cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); - main_layout->addWidget(cam_widget); + QVBoxLayout *frame_layout = new QVBoxLayout(frame); + cam_widget = new CameraWidget("camerad", can->visionStreamType(), false); + frame_layout->addWidget(cam_widget); // slider controls QHBoxLayout *slider_layout = new QHBoxLayout(); @@ -43,7 +39,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { end_time_label = new QLabel(this); slider_layout->addWidget(end_time_label); - main_layout->addLayout(slider_layout); + frame_layout->addLayout(slider_layout); // btn controls QHBoxLayout *control_layout = new QHBoxLayout(); @@ -61,7 +57,11 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { group->addButton(btn); if (speed == 1.0) btn->setChecked(true); } - main_layout->addLayout(control_layout); + frame_layout->addLayout(control_layout); + + cam_widget->setMinimumHeight(100); + cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index ec8bc4bec4..515dab6c87 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -35,7 +35,7 @@ private: QSize thumbnail_size = {}; }; -class VideoWidget : public QFrame { +class VideoWidget : public QWidget { Q_OBJECT public: From c21d9408a191ba8e3303f2459d1f7476fefd35ba Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 19 Jan 2023 05:19:23 +0800 Subject: [PATCH 022/124] cabana: use bootstrap icons (#26981) * use bootstrap icons * typo * build into asset_obj * add to files_common --- SConstruct | 2 +- release/files_common | 1 + selfdrive/assets/assets.qrc | 1 + selfdrive/ui/SConscript | 1 + selfdrive/ui/qt/util.cc | 37 ++++++++++++++++++++++++++++++++++++ selfdrive/ui/qt/util.h | 1 + tools/cabana/SConscript | 4 ++-- tools/cabana/chartswidget.cc | 13 ++++++++----- tools/cabana/detailwidget.cc | 5 +++-- tools/cabana/signaledit.cc | 6 ++++-- tools/cabana/videowidget.cc | 15 +++++++++++---- tools/cabana/videowidget.h | 1 + 12 files changed, 71 insertions(+), 16 deletions(-) diff --git a/SConstruct b/SConstruct index 3051f4298d..8864164f15 100644 --- a/SConstruct +++ b/SConstruct @@ -282,7 +282,7 @@ Export('envCython') # Qt build environment qt_env = env.Clone() -qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"] +qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"] qt_libs = [] if arch == "Darwin": diff --git a/release/files_common b/release/files_common index 3d07924a91..0dc0e96226 100644 --- a/release/files_common +++ b/release/files_common @@ -436,6 +436,7 @@ third_party/acados/larch64/** third_party/acados/include/** third_party/acados/acados_template/** +third_party/bootstrap/** third_party/qt5/larch64/bin/** scripts/update_now.sh diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc index 39be41aa65..79a1a1e272 100644 --- a/selfdrive/assets/assets.qrc +++ b/selfdrive/assets/assets.qrc @@ -1,5 +1,6 @@ + ../../third_party/bootstrap/bootstrap-icons.svg img_continue_triangle.svg img_circled_check.svg img_circled_slash.svg diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 669c214746..3ce7a0505d 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -41,6 +41,7 @@ assets_src = "#selfdrive/assets/assets.qrc" qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"])) asset_obj = qt_env.Object("assets", assets) +Export('asset_obj') # build soundd qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 59903e3376..4f52310649 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -2,11 +2,14 @@ #include #include +#include #include #include #include #include #include +#include +#include #include "common/params.h" #include "common/swaglog.h" @@ -218,3 +221,37 @@ QColor interpColor(float xv, std::vector xp, std::vector fp) { ); } } + +static QHash load_bootstrap_icons() { + QHash icons; + + QFile f(":/bootstrap-icons.svg"); + if (f.open(QIODevice::ReadOnly | QIODevice::Text)) { + QDomDocument xml; + xml.setContent(&f); + QDomNode n = xml.documentElement().firstChild(); + while (!n.isNull()) { + QDomElement e = n.toElement(); + if (!e.isNull() && e.hasAttribute("id")) { + QString svg_str; + QTextStream stream(&svg_str); + n.save(stream, 0); + svg_str.replace("", ""); + icons[e.attribute("id")] = svg_str.toUtf8(); + } + n = n.nextSibling(); + } + } + return icons; +} + +QPixmap bootstrapPixmap(const QString &id) { + static QHash icons = load_bootstrap_icons(); + + QPixmap pixmap; + if (auto it = icons.find(id); it != icons.end()) { + pixmap.loadFromData(it.value(), "svg"); + } + return pixmap; +} diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 61a27a8669..3188f3f9b9 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -22,6 +22,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co void initApp(int argc, char *argv[]); QWidget* topWidget (QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); +QPixmap bootstrapPixmap(const QString &id); QRect getTextRect(QPainter &p, int flags, const QString &text); void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom); diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 507b98ae88..6726a042ad 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,6 +1,6 @@ import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', - 'cereal', 'transformations', 'widgets', 'opendbc') + 'cereal', 'transformations', 'widgets', 'opendbc', 'asset_obj') base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', @@ -22,7 +22,7 @@ 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', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) -cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, asset_obj], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 33e133d140..69229baa64 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -12,6 +12,8 @@ #include #include +#include "selfdrive/ui/qt/util.h" + // ChartsWidget ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { @@ -19,14 +21,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); + toolbar->setIconSize({16, 16}); title_label = new QLabel(); title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); toolbar->addWidget(title_label); show_all_values_btn = toolbar->addAction(""); toolbar->addWidget(range_label = new QLabel()); - reset_zoom_btn = toolbar->addAction("⟲"); + reset_zoom_btn = toolbar->addAction(bootstrapPixmap("arrow-counterclockwise"), ""); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); - remove_all_btn = toolbar->addAction("✖"); + remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), ""); remove_all_btn->setToolTip(tr("Remove all charts")); dock_btn = toolbar->addAction(""); main_layout->addWidget(toolbar); @@ -137,7 +140,7 @@ void ChartsWidget::updateToolBar() { reset_zoom_btn->setEnabled(is_zoomed); range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); title_label->setText(charts.size() > 0 ? tr("Charts (%1)").arg(charts.size()) : tr("Charts")); - dock_btn->setText(docking ? "⬈" : "⬋"); + dock_btn->setIcon(bootstrapPixmap(docking ? "arrow-up-right" : "arrow-down-left")); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } @@ -223,7 +226,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { chart->layout()->setContentsMargins(0, 0, 0, 0); QToolButton *remove_btn = new QToolButton(); - remove_btn->setText("X"); + remove_btn->setIcon(bootstrapPixmap("x")); remove_btn->setAutoRaise(true); remove_btn->setToolTip(tr("Remove Chart")); close_btn_proxy = new QGraphicsProxyWidget(chart); @@ -231,7 +234,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { close_btn_proxy->setZValue(chart->zValue() + 11); QToolButton *manage_btn = new QToolButton(); - manage_btn->setText("🔧"); + manage_btn->setIcon(bootstrapPixmap("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 06377616da..247111aaf4 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -36,6 +36,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // message title toolbar = new QToolBar(this); + toolbar->setIconSize({16, 16}); toolbar->addWidget(new QLabel("time:")); time_label = new QLabel(this); time_label->setStyleSheet("font-weight:bold"); @@ -45,8 +46,8 @@ 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("🖍", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); - remove_msg_act = toolbar->addAction("X", this, &DetailWidget::removeMsg); + toolbar->addAction(bootstrapPixmap("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); + remove_msg_act = toolbar->addAction(bootstrapPixmap("x-lg"), "", this, &DetailWidget::removeMsg); remove_msg_act->setToolTip(tr("Remove Message")); toolbar->setVisible(false); frame_layout->addWidget(toolbar); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 2a92e03461..e2025dcc82 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -6,6 +6,8 @@ #include #include +#include "selfdrive/ui/qt/util.h" + // SignalForm SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { @@ -104,13 +106,13 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa title_layout->addWidget(title); plot_btn = new QToolButton(this); - plot_btn->setText("📈"); + 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->setText("x"); + remove_btn->setIcon(bootstrapPixmap("x")); remove_btn->setToolTip(tr("Remove signal")); title_layout->addWidget(remove_btn); main_layout->addWidget(title_bar); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 99d82daccf..400cc5108a 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -13,6 +13,8 @@ #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"); } @@ -43,8 +45,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { // btn controls QHBoxLayout *control_layout = new QHBoxLayout(); - play_btn = new QPushButton("⏸"); - play_btn->setStyleSheet("font-weight:bold; height:16px"); + play_btn = new QPushButton(); control_layout->addWidget(play_btn); QButtonGroup *group = new QButtonGroup(this); @@ -68,12 +69,13 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); - QObject::connect(can, &CANMessages::paused, [this]() { play_btn->setText("▶"); }); - QObject::connect(can, &CANMessages::resume, [this]() { play_btn->setText("⏸"); }); + QObject::connect(can, &CANMessages::paused, this, &VideoWidget::updatePlayBtnState); + QObject::connect(can, &CANMessages::resume, this, &VideoWidget::updatePlayBtnState); QObject::connect(can, &CANMessages::streamStarted, [this]() { end_time_label->setText(formatTime(can->totalSeconds())); slider->setRange(0, can->totalSeconds() * 1000); }); + updatePlayBtnState(); } void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { @@ -90,6 +92,11 @@ void VideoWidget::updateState() { slider->setValue(can->currentSec() * 1000); } +void VideoWidget::updatePlayBtnState() { + play_btn->setIcon(bootstrapPixmap(can->isPaused() ? "play" : "pause")); + play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause")); +} + // Slider Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { QTimer *timer = new QTimer(this); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 515dab6c87..424a5b08fe 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -44,6 +44,7 @@ public: protected: void updateState(); + void updatePlayBtnState(); CameraWidget *cam_widget; QLabel *end_time_label; From 669becadde77d79443d933364234212c10d56151 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 18 Jan 2023 19:57:54 -0700 Subject: [PATCH 023/124] Ublox tow continuity check (#27001) * add continuity check * simplify * remove pair * update refs * bump laika update refs Co-authored-by: Kurt Nistelberger --- laika_repo | 2 +- selfdrive/locationd/ublox_msg.cc | 13 +++++++++++-- selfdrive/locationd/ublox_msg.h | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 14 insertions(+), 4 deletions(-) diff --git a/laika_repo b/laika_repo index 73bf110ae0..2e5c7b8a85 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 73bf110ae0093ad86755bf5eb6a03e46ff5c239d +Subproject commit 2e5c7b8a85cbaebda7fa715fe53d5e6ecbd62b0a diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 6431e9d48b..8bd9985170 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -170,9 +170,18 @@ kj::Array UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) { 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(); - if (subframe_id == 1) gps_subframes[msg->sv_id()].clear(); - gps_subframes[msg->sv_id()][subframe_id] = subframe_data; + 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; } if (gps_subframes[msg->sv_id()].size() == 5) { diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h index 542e72816b..919e9963f1 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/selfdrive/locationd/ublox_msg.h @@ -103,6 +103,7 @@ class UbloxMsgParser { inline bool valid_so_far(); 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 a173cf5205..1aa3aa6f1e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -18a70665bdb6b6aee4a224e826417049415e8290 +acc5655633af6ade096ad41f680fd8a28c2e3790 \ No newline at end of file From b7ce77b3aa48c3605554f63068a13860023eff86 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 18 Jan 2023 23:29:12 -0700 Subject: [PATCH 024/124] Add low Gnss laikad test (#26987) * add low gnss test * enable laikad * temp fix for cache * update replay * save LaikadEphemeris for testing * rem * update refs * add comment Co-authored-by: Kurt Nistelberger --- selfdrive/locationd/laikad.py | 6 +++- selfdrive/locationd/locationd.cc | 23 +++++------- selfdrive/locationd/test/test_laikad.py | 36 +++++++++++++++++-- selfdrive/locationd/test/test_locationd.py | 29 +++++---------- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 59 insertions(+), 39 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index b8d86c63fd..ac8fac01f0 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -391,13 +391,17 @@ def process_msg(laikad, gnss_msg, mono_time, block=False): def clear_tmp_cache(): + # TODO: remove this function once laika downloader is changed to not write to disk + if "CI" in os.environ or "REPLAY" in os.environ: + return + if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) os.mkdir(DOWNLOADS_CACHE_FOLDER) def main(sm=None, pm=None, qc=None): - #clear_tmp_cache() + clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) if use_qcom or (qc is not None and qc): diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 8941b50248..e78b3d3903 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -589,12 +589,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->handle_sensor(t, log.getAccelerometer()); } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); - } else if (log.isGpsLocation()) { - this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); - } else if (log.isGpsLocationExternal()) { - this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); - //} else if (log.isGnssMeasurements()) { - // this->handle_gnss(t, log.getGnssMeasurements()); + //} else if (log.isGpsLocation()) { + // this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); + //} else if (log.isGpsLocationExternal()) { + // this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); + } else if (log.isGnssMeasurements()) { + this->handle_gnss(t, log.getGnssMeasurements()); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -658,17 +658,12 @@ void Localizer::determine_gps_mode(double current_time) { int Localizer::locationd_thread() { ublox_available = Params().getBool("UbloxAvailable", true); - const char* gps_location_socket; - if (ublox_available) { - gps_location_socket = "gpsLocationExternal"; - } else { - gps_location_socket = "gpsLocation"; - } - const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", + + const std::initializer_list service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); + SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 6059eab68f..8cd84d91c2 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -22,7 +22,26 @@ def get_log(segs=range(0)): logs = [] for i in segs: logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - return [m for m in logs if m.which() == 'ubloxGnss'] + all_logs = [m for m in logs if m.which() == 'ubloxGnss'] + + low_gnss = [] + for m in all_logs: + if m.ubloxGnss.which() != 'measurementReport': + continue + if m.ubloxGnss.measurementReport.numMeas == 0: + continue + + MAX_MEAS = 7 + if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: + mb = m.as_builder() + mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS + mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] + mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 + low_gnss.append(mb.as_reader()) + else: + low_gnss.append(m) + + return all_logs, low_gnss def verify_messages(lr, laikad, return_one_success=False): @@ -59,8 +78,9 @@ class TestLaikad(unittest.TestCase): @classmethod def setUpClass(cls): - logs = get_log(range(1)) + logs, low_gnss = get_log(range(1)) cls.logs = logs + cls.low_gnss = low_gnss first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -254,6 +274,18 @@ class TestLaikad(unittest.TestCase): # Verify orbit data is not downloaded mock_method.assert_not_called() + def test_low_gnss_meas(self): + cnt = 0 + laikad = Laikad() + for m in self.low_gnss: + msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) + if msg is None: + continue + gm = msg.gnssMeasurements + if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: + cnt += 1 + self.assertEqual(cnt, 554) + def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 9f643e2b8f..943969a49e 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -15,7 +15,7 @@ from selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): MAX_WAITS = 1000 - LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', + LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): @@ -46,25 +46,14 @@ class TestLocationdProc(unittest.TestCase): except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - - if name == "gpsLocationExternal": - msg.gpsLocationExternal.flags = 1 - msg.gpsLocationExternal.verticalAccuracy = 1.0 - msg.gpsLocationExternal.speedAccuracy = 1.0 - msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 - msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] - msg.gpsLocationExternal.latitude = float(self.lat) - msg.gpsLocationExternal.longitude = float(self.lon) - msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 - msg.gpsLocationExternal.altitude = float(self.alt) - #if name == "gnssMeasurements": - # msg.gnssMeasurements.measTime = t - # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - # msg.gnssMeasurements.positionECEF.std = [0,0,0] - # msg.gnssMeasurements.positionECEF.valid = True - # msg.gnssMeasurements.velocityECEF.value = [] - # msg.gnssMeasurements.velocityECEF.std = [0,0,0] - # msg.gnssMeasurements.velocityECEF.valid = True + if name == "gnssMeasurements": + msg.gnssMeasurements.measTime = t + msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] + msg.gnssMeasurements.positionECEF.std = [0,0,0] + msg.gnssMeasurements.positionECEF.valid = True + msg.gnssMeasurements.velocityECEF.value = [] + msg.gnssMeasurements.velocityECEF.std = [0,0,0] + msg.gnssMeasurements.velocityECEF.valid = True elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 22ec099285..24ee87e471 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -331,7 +331,7 @@ CONFIGS = [ pub_sub={ "cameraOdometry": ["liveLocationKalman"], "accelerometer": [], "gyroscope": [], - "gpsLocationExternal": [], "liveCalibration": [], "carState": [], + "gnssMeasurements": [], "liveCalibration": [], "carState": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1aa3aa6f1e..629a9a2f51 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -acc5655633af6ade096ad41f680fd8a28c2e3790 \ No newline at end of file +660149849230afe36363100ab0f5935038d8191e \ No newline at end of file From cebee69f304357c5966dec9b316a4d15e68c571b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 20 Jan 2023 02:32:48 +0800 Subject: [PATCH 025/124] cabana: click time label to seek to a specified time (#27006) --- tools/cabana/canmessages.h | 1 + tools/cabana/videowidget.cc | 28 +++++++++++++++++++++++++--- tools/cabana/videowidget.h | 5 +++++ 3 files changed, 31 insertions(+), 3 deletions(-) diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 2451793742..2cdc010d8c 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -34,6 +34,7 @@ public: inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const { return replay->currentSeconds(); } + inline QDateTime currentDateTime() const { return replay->currentDateTime(); } inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } inline const Route* route() const { return replay->route(); } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 400cc5108a..2f6aab249a 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -3,11 +3,11 @@ #include #include #include -#include #include #include #include #include +#include #include #include #include @@ -31,8 +31,9 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { frame_layout->addWidget(cam_widget); // slider controls - QHBoxLayout *slider_layout = new QHBoxLayout(); - QLabel *time_label = new QLabel("00:00"); + slider_layout = new QHBoxLayout(); + time_label = new ElidedLabel("00:00"); + time_label->setToolTip(tr("Click to set current time")); slider_layout->addWidget(time_label); slider = new Slider(this); @@ -64,6 +65,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); + QObject::connect(time_label, &ElidedLabel::clicked, this, &VideoWidget::timeLabelClicked); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); @@ -78,6 +80,26 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { updatePlayBtnState(); } +void VideoWidget::timeLabelClicked() { + auto time_edit = new QTimeEdit(this); + auto init_date_time = can->currentDateTime(); + time_edit->setDateTime(init_date_time); + time_edit->setDisplayFormat("hh:mm:ss"); + time_label->setVisible(false); + slider_layout->insertWidget(0, time_edit); + QTimer::singleShot(0, [=]() { time_edit->setFocus(); }); + + QObject::connect(time_edit, &QTimeEdit::editingFinished, [=]() { + if (time_edit->dateTime() != init_date_time) { + int seconds = can->route()->datetime().secsTo(time_edit->dateTime()); + can->seekTo(seconds); + } + time_edit->setVisible(false); + time_label->setVisible(true); + time_edit->deleteLater(); + }); +} + void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { if (!is_zoomed) { min = 0; diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 424a5b08fe..e9899abbbf 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -3,12 +3,14 @@ #include #include +#include #include #include #include #include #include "selfdrive/ui/qt/widgets/cameraview.h" +#include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/canmessages.h" class Slider : public QSlider { @@ -45,9 +47,12 @@ public: protected: void updateState(); void updatePlayBtnState(); + void timeLabelClicked(); CameraWidget *cam_widget; QLabel *end_time_label; + ElidedLabel *time_label; + QHBoxLayout *slider_layout; QPushButton *play_btn; Slider *slider; }; From 5b8d124be7d1277d816ff337fd69600da0e891e2 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 19 Jan 2023 19:35:18 +0100 Subject: [PATCH 026/124] cabana: color bytes based on activity (#26970) * cabana: color bytes based on activity * newlines * fix text color when selected * fix indent * add colors to binary view * no need to check contains * whitespace * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh --- tools/cabana/binaryview.cc | 8 +++-- tools/cabana/canmessages.cc | 60 ++++++++++++++++++++++++++++++++++ tools/cabana/canmessages.h | 2 ++ tools/cabana/messageswidget.cc | 53 ++++++++++++++++++++++++++++-- tools/cabana/messageswidget.h | 8 +++++ 5 files changed, 127 insertions(+), 4 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index b98c75d452..b6a5fa75aa 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -177,7 +177,9 @@ void BinaryViewModel::setMessage(const QString &message_id) { void BinaryViewModel::updateState() { auto prev_items = items; - const auto &binary = can->lastMessage(msg_id).dat; + const auto &last_msg = can->lastMessage(msg_id); + const auto &binary = last_msg.dat; + // data size may changed. if (binary.size() > row_count) { beginInsertRows({}, row_count, binary.size() - 1); @@ -193,6 +195,7 @@ void BinaryViewModel::updateState() { hex[0] = toHex(binary[i] >> 4); hex[1] = toHex(binary[i] & 0xf); items[i * column_count + 8].val = hex; + items[i * column_count + 8].bg_color = last_msg.colors[i]; } for (int i = binary.size(); i < row_count; ++i) { for (int j = 0; j < column_count; ++j) { @@ -201,7 +204,7 @@ void BinaryViewModel::updateState() { } for (int i = 0; i < row_count * column_count; ++i) { - if (i >= prev_items.size() || prev_items[i].val != items[i].val) { + 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); } @@ -234,6 +237,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op if (index.column() == 8) { painter->setFont(hex_font); + painter->fillRect(option.rect, item->bg_color); } else if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, selection_color); painter->setPen(option.palette.color(QPalette::BrightText)); diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index a473313f90..9b5f41c60a 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -18,6 +18,10 @@ static bool event_filter(const Event *e, void *opaque) { return c->eventFilter(e); } +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); +} + bool CANMessages::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); replay->setSegmentCacheLimit(settings.cached_segment_limit); @@ -49,6 +53,9 @@ void CANMessages::process(QHash *messages) { bool CANMessages::eventFilter(const Event *event) { static std::unique_ptr new_msgs = std::make_unique>(); + static QHash prev_dat; + static QHash> colors; + static QHash> last_change_t; static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { @@ -71,6 +78,59 @@ bool CANMessages::eventFilter(const Event *event) { if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = data.count / delta; } + + // Init colors + if (colors[id].size() != data.dat.size()) { + colors[id].clear(); + for (int i = 0; i < data.dat.size(); i++){ + colors[id].append(QColor(0, 0, 0, 0)); + } + } + + // Init last_change_t + if (last_change_t[id].size() != data.dat.size()) { + last_change_t[id].clear(); + for (int i = 0; i < data.dat.size(); i++){ + last_change_t[id].append(data.ts); + } + } + + // Compute background color for the bytes based on changes + if (prev_dat[id].size() == data.dat.size()) { + for (int i = 0; i < data.dat.size(); i++){ + uint8_t last = prev_dat[id][i]; + uint8_t cur = data.dat[i]; + + const int periodic_threshold = 10; + const int start_alpha = 128; + const float fade_time = 2.0; + + if (last != cur) { + double delta_t = data.ts - last_change_t[id][i]; + + if (delta_t * data.freq > periodic_threshold) { + // Last change was while ago, choose color based on delta up or down + if (cur > last) { + colors[id][i] = QColor(0, 187, 255, start_alpha); // Cyan + } else { + colors[id][i] = QColor(255, 0, 0, start_alpha); // Red + } + } else { + // Periodic changes + colors[id][i] = blend(colors[id][i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue + } + + last_change_t[id][i] = data.ts; + } else { + // Fade out + float alpha_delta = 1.0 / (data.freq + 1) / fade_time; + colors[id][i].setAlphaF(std::max(0.0, colors[id][i].alphaF() - alpha_delta)); + } + } + } + + data.colors = colors[id]; + prev_dat[id] = data.dat; } double ts = millis_since_boot(); diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 2cdc010d8c..c30361af41 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -4,6 +4,7 @@ #include #include +#include #include "opendbc/can/common_dbc.h" #include "tools/cabana/settings.h" @@ -16,6 +17,7 @@ struct CanData { uint32_t count = 0; uint32_t freq = 0; QByteArray dat; + QList colors; }; class CANMessages : public QObject { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 3477abe37b..10a9c2e849 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -4,6 +4,8 @@ #include #include #include +#include +#include #include "tools/cabana/dbcmanager.h" @@ -21,6 +23,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget = new QTableView(this); model = new MessageListModel(this); table_widget->setModel(model); + table_widget->setItemDelegateForColumn(4, new MessageBytesDelegate(table_widget)); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); @@ -31,6 +34,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget->setColumnWidth(2, 80); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); + main_layout->addWidget(table_widget); // signals/slots @@ -65,9 +69,10 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, } QVariant MessageListModel::data(const QModelIndex &index, int role) const { + const auto &id = msgs[index.row()]; + auto &can_data = can->lastMessage(id); + if (role == Qt::DisplayRole) { - const auto &id = msgs[index.row()]; - auto &can_data = can->lastMessage(id); switch (index.column()) { case 0: return msgName(id); case 1: return id; @@ -77,6 +82,13 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } else if (role == Qt::FontRole && index.column() == columnCount() - 1) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); + } else if (role == Qt::UserRole && index.column() == 4) { + + QList colors; + for (int i = 0; i < can_data.dat.size(); i++){ + colors.append(can_data.colors[i]); + } + return colors; } return {}; } @@ -146,3 +158,40 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { sortMessages(); } } + + +MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { +} + +void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + QList colors = index.data(Qt::UserRole).toList(); + + QStyleOptionViewItemV4 opt = option; + initStyleOption(&opt, index); + + const QFont font = index.data(Qt::FontRole).value(); + painter->setFont(font); + + QRect rect = opt.rect; + QString bytes = QString(opt.text); + + QRect pos = rect; + QRect space = painter->boundingRect(pos, opt.displayAlignment, " "); + pos.setX(pos.x() + space.width()); + + if ((option.state & QStyle::State_Selected) && (option.state & QStyle::State_Active)) { + painter->setPen(option.palette.color(QPalette::HighlightedText)); + } else { + painter->setPen(option.palette.color(QPalette::Text)); + } + + int i = 0; + for (auto &byte : bytes.split(" ")) { + QRect sz = painter->boundingRect(pos, opt.displayAlignment, byte); + const int m = space.width() / 2; + painter->fillRect(sz.marginsAdded(QMargins(m + 1, m, m, m)), colors[i].value()); + painter->drawText(pos, opt.displayAlignment, byte); + pos.setX(pos.x() + sz.width() + space.width()); + i++; + } +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 62aa23c02e..8b74f1427e 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -2,6 +2,7 @@ #include #include +#include #include "tools/cabana/canmessages.h" @@ -41,3 +42,10 @@ protected: QString current_msg_id; MessageListModel *model; }; + +class MessageBytesDelegate : public QStyledItemDelegate { + Q_OBJECT +public: + MessageBytesDelegate(QObject *parent); + void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; +}; From d365d99cb005b99ce7385d169e696847b0726315 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 19 Jan 2023 19:36:17 +0100 Subject: [PATCH 027/124] cabana: improve open/save functions (#27007) --- tools/cabana/mainwin.cc | 23 +++++++++++++++-------- tools/cabana/mainwin.h | 2 ++ 2 files changed, 17 insertions(+), 8 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index af89d26f4f..89876f4267 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -68,13 +68,14 @@ MainWindow::MainWindow() : QMainWindow() { void MainWindow::createActions() { QMenu *file_menu = menuBar()->addMenu(tr("&File")); - file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::loadDBCFromFile); + file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::loadDBCFromFile)->setShortcuts(QKeySequence::Open); file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); file_menu->addSeparator(); - file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveDBCToFile); + file_menu->addAction(tr("Save DBC..."), this, &MainWindow::saveDBCToFile)->setShortcuts(QKeySequence::Save); + file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAsDBCToFile)->setShortcuts(QKeySequence::SaveAs); file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); file_menu->addSeparator(); - file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption); + file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences); QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); auto undo_act = detail_widget->undo_stack->createUndoAction(this, tr("&Undo")); @@ -182,7 +183,7 @@ void MainWindow::loadDBCFromName(const QString &name) { } void MainWindow::loadDBCFromFile() { - QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); + file_name = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); if (!file_name.isEmpty()) { settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); @@ -213,18 +214,24 @@ void MainWindow::loadDBCFromFingerprint() { } void MainWindow::saveDBCToFile() { - QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), - QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); - if (!file_name.isEmpty()) { + if (file_name.isEmpty()) { + saveAsDBCToFile(); + } else { settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); - detail_widget->undo_stack->clear(); } } } +void MainWindow::saveAsDBCToFile() { + file_name = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); + if (!file_name.isEmpty()) { + saveDBCToFile(); + } +} + void MainWindow::saveDBCToClipboard() { QGuiApplication::clipboard()->setText(dbc()->generateDBC()); QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 3e80ffa1aa..c1a5908a53 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -28,6 +28,7 @@ public slots: void loadDBCFromFile(); void loadDBCFromClipboard(); void saveDBCToFile(); + void saveAsDBCToFile(); void saveDBCToClipboard(); signals: @@ -57,4 +58,5 @@ protected: QJsonDocument fingerprint_to_dbc; QComboBox *dbc_combo; QSplitter *video_splitter;; + QString file_name = ""; }; From 35b83579634f2cdee4d6ef4652995b1844773b6e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 19 Jan 2023 19:37:27 +0100 Subject: [PATCH 028/124] cabana: search by signal name (#26944) --- tools/cabana/messageswidget.cc | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 10a9c2e849..5deac031a1 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -97,7 +97,24 @@ void MessageListModel::setFilterString(const QString &string) { 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) { msgs.push_back(it.key()); } } From 9131da9103718d6ae113ad7b3519037e2b4ffa70 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 19 Jan 2023 11:46:22 -0800 Subject: [PATCH 029/124] Revert "Add low Gnss laikad test (#26987)" This reverts commit b7ce77b3aa48c3605554f63068a13860023eff86. --- selfdrive/locationd/laikad.py | 6 +--- selfdrive/locationd/locationd.cc | 23 +++++++----- selfdrive/locationd/test/test_laikad.py | 36 ++----------------- selfdrive/locationd/test/test_locationd.py | 29 ++++++++++----- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 39 insertions(+), 59 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ac8fac01f0..b8d86c63fd 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -391,17 +391,13 @@ def process_msg(laikad, gnss_msg, mono_time, block=False): def clear_tmp_cache(): - # TODO: remove this function once laika downloader is changed to not write to disk - if "CI" in os.environ or "REPLAY" in os.environ: - return - if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) os.mkdir(DOWNLOADS_CACHE_FOLDER) def main(sm=None, pm=None, qc=None): - clear_tmp_cache() + #clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) if use_qcom or (qc is not None and qc): diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index e78b3d3903..8941b50248 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -589,12 +589,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->handle_sensor(t, log.getAccelerometer()); } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); - //} else if (log.isGpsLocation()) { - // this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); - //} else if (log.isGpsLocationExternal()) { - // this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); - } else if (log.isGnssMeasurements()) { - this->handle_gnss(t, log.getGnssMeasurements()); + } else if (log.isGpsLocation()) { + this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); + } else if (log.isGpsLocationExternal()) { + this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); + //} else if (log.isGnssMeasurements()) { + // this->handle_gnss(t, log.getGnssMeasurements()); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -658,12 +658,17 @@ void Localizer::determine_gps_mode(double current_time) { int Localizer::locationd_thread() { ublox_available = Params().getBool("UbloxAvailable", true); - - const std::initializer_list service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration", + const char* gps_location_socket; + if (ublox_available) { + gps_location_socket = "gpsLocationExternal"; + } else { + gps_location_socket = "gpsLocation"; + } + const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"}); + SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 8cd84d91c2..6059eab68f 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -22,26 +22,7 @@ def get_log(segs=range(0)): logs = [] for i in segs: logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - all_logs = [m for m in logs if m.which() == 'ubloxGnss'] - - low_gnss = [] - for m in all_logs: - if m.ubloxGnss.which() != 'measurementReport': - continue - if m.ubloxGnss.measurementReport.numMeas == 0: - continue - - MAX_MEAS = 7 - if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: - mb = m.as_builder() - mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS - mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] - mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 - low_gnss.append(mb.as_reader()) - else: - low_gnss.append(m) - - return all_logs, low_gnss + return [m for m in logs if m.which() == 'ubloxGnss'] def verify_messages(lr, laikad, return_one_success=False): @@ -78,9 +59,8 @@ class TestLaikad(unittest.TestCase): @classmethod def setUpClass(cls): - logs, low_gnss = get_log(range(1)) + logs = get_log(range(1)) cls.logs = logs - cls.low_gnss = low_gnss first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -274,18 +254,6 @@ class TestLaikad(unittest.TestCase): # Verify orbit data is not downloaded mock_method.assert_not_called() - def test_low_gnss_meas(self): - cnt = 0 - laikad = Laikad() - for m in self.low_gnss: - msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) - if msg is None: - continue - gm = msg.gnssMeasurements - if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: - cnt += 1 - self.assertEqual(cnt, 554) - def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 943969a49e..9f643e2b8f 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -15,7 +15,7 @@ from selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): MAX_WAITS = 1000 - LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration', + LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): @@ -46,14 +46,25 @@ class TestLocationdProc(unittest.TestCase): except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - if name == "gnssMeasurements": - msg.gnssMeasurements.measTime = t - msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - msg.gnssMeasurements.positionECEF.std = [0,0,0] - msg.gnssMeasurements.positionECEF.valid = True - msg.gnssMeasurements.velocityECEF.value = [] - msg.gnssMeasurements.velocityECEF.std = [0,0,0] - msg.gnssMeasurements.velocityECEF.valid = True + + if name == "gpsLocationExternal": + msg.gpsLocationExternal.flags = 1 + msg.gpsLocationExternal.verticalAccuracy = 1.0 + msg.gpsLocationExternal.speedAccuracy = 1.0 + msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 + msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] + msg.gpsLocationExternal.latitude = float(self.lat) + msg.gpsLocationExternal.longitude = float(self.lon) + msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 + msg.gpsLocationExternal.altitude = float(self.alt) + #if name == "gnssMeasurements": + # msg.gnssMeasurements.measTime = t + # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] + # msg.gnssMeasurements.positionECEF.std = [0,0,0] + # msg.gnssMeasurements.positionECEF.valid = True + # msg.gnssMeasurements.velocityECEF.value = [] + # msg.gnssMeasurements.velocityECEF.std = [0,0,0] + # msg.gnssMeasurements.velocityECEF.valid = True elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 24ee87e471..22ec099285 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -331,7 +331,7 @@ CONFIGS = [ pub_sub={ "cameraOdometry": ["liveLocationKalman"], "accelerometer": [], "gyroscope": [], - "gnssMeasurements": [], "liveCalibration": [], "carState": [], + "gpsLocationExternal": [], "liveCalibration": [], "carState": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 629a9a2f51..1aa3aa6f1e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -660149849230afe36363100ab0f5935038d8191e \ No newline at end of file +acc5655633af6ade096ad41f680fd8a28c2e3790 \ No newline at end of file From fd4dc109e1ab01b2d1ea6aaf3e99126dbaddc63b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 20 Jan 2023 05:51:55 +0800 Subject: [PATCH 030/124] cabana: add support for multiple columns charts (#27000) --- tools/cabana/chartswidget.cc | 68 +++++++++++++++++++++++++++++------- tools/cabana/chartswidget.h | 14 ++++++-- tools/cabana/settings.cc | 2 ++ tools/cabana/settings.h | 1 + 4 files changed, 70 insertions(+), 15 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 69229baa64..412365a15b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -22,9 +22,19 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); toolbar->setIconSize({16, 16}); - title_label = new QLabel(); - title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - toolbar->addWidget(title_label); + + toolbar->addWidget(title_label = new QLabel()); + title_label->setContentsMargins(0 ,0, 12, 0); + columns_cb = new QComboBox(this); + columns_cb->addItems({"1", "2", "3", "4"}); + columns_cb->setCurrentIndex(std::clamp(settings.chart_column_count - 1, 0, 3)); + toolbar->addWidget(new QLabel(tr("Columns:"))); + toolbar->addWidget(columns_cb); + + QLabel *stretch_label = new QLabel(this); + stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + toolbar->addWidget(stretch_label); + show_all_values_btn = toolbar->addAction(""); toolbar->addWidget(range_label = new QLabel()); reset_zoom_btn = toolbar->addAction(bootstrapPixmap("arrow-counterclockwise"), ""); @@ -36,8 +46,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { // charts QWidget *charts_container = new QWidget(this); - charts_layout = new QVBoxLayout(charts_container); - charts_layout->addStretch(); + QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container); + charts_main_layout->setContentsMargins(0, 0, 0, 0); + charts_layout = new QGridLayout(charts_container); + charts_main_layout->addLayout(charts_layout); + charts_main_layout->addStretch(0); QScrollArea *charts_scroll = new QScrollArea(this); charts_scroll->setWidgetResizable(true); @@ -53,6 +66,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { align_charts_timer = new QTimer(this); align_charts_timer->setSingleShot(true); align_charts_timer->callOnTimeout(this, &ChartsWidget::alignCharts); + column_count = settings.chart_column_count; QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); @@ -60,6 +74,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(show_all_values_btn, &QAction::triggered, this, &ChartsWidget::showAllData); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); + QObject::connect(columns_cb, SIGNAL(activated(int)), SLOT(setColumnCount(int))); + QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); QObject::connect(dock_btn, &QAction::triggered, [this]() { emit dock(!docking); docking = !docking; @@ -144,6 +160,14 @@ void ChartsWidget::updateToolBar() { dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } +void ChartsWidget::settingChanged() { + for (auto c : charts) { + c->setFixedHeight(settings.chart_height); + columns_cb->setCurrentIndex(std::clamp(settings.chart_column_count - 1, 0, columns_cb->count() - 1)); + setColumnCount(settings.chart_column_count); + } +} + ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) { for (auto c : charts) if (c->hasSeries(id, sig)) return c; @@ -157,6 +181,9 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo chart = merge && charts.size() > 0 ? charts.back() : nullptr; if (!chart) { chart = new ChartView(this); + chart->setFixedHeight(settings.chart_height); + chart->setMinimumWidth(CHART_MIN_WIDTH); + chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); chart->setEventsRange(display_range); auto range = is_zoomed ? zoomed_range : display_range; @@ -167,8 +194,8 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); QObject::connect(chart, &ChartView::axisYUpdated, [this]() { align_charts_timer->start(100); }); - charts_layout->insertWidget(0, chart); charts.push_back(chart); + updateLayout(); } chart->addSeries(id, sig); } else if (!show && chart) { @@ -178,6 +205,29 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo setUpdatesEnabled(true); } +void ChartsWidget::setColumnCount(int n) { + n = std::clamp(n + 1, 1, columns_cb->count()); + if (column_count != n) { + column_count = n; + updateLayout(); + } +} + +void ChartsWidget::updateLayout() { + int n = column_count; + for (; n >= 1; --n) { + if ((n * (CHART_MIN_WIDTH + charts_layout->spacing())) < rect().width()) break; + } + for (int i = 0; i < charts.size(); ++i) { + charts_layout->addWidget(charts[i], i / n, i % n); + } +} + +void ChartsWidget::resizeEvent(QResizeEvent *event) { + QWidget::resizeEvent(event); + updateLayout(); +} + void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); @@ -244,13 +294,11 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { setChart(chart); setRenderHint(QPainter::Antialiasing); setRubberBand(QChartView::HorizontalRubberBand); - updateFromSettings(); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); - QObject::connect(&settings, &Settings::changed, this, &ChartView::updateFromSettings); QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); QObject::connect(manage_btn, &QToolButton::clicked, this, &ChartView::manageSeries); } @@ -386,10 +434,6 @@ void ChartView::updateTitle() { } } -void ChartView::updateFromSettings() { - setFixedHeight(settings.chart_height); -} - void ChartView::setEventsRange(const std::pair &range) { if (range != events_range) { events_range = range; diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index ebce8ceda6..54c84ad2db 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -3,11 +3,11 @@ #include #include #include +#include #include #include #include #include -#include #include #include #include @@ -68,7 +68,6 @@ private: void resizeEvent(QResizeEvent *event) override; void updateAxisY(); void updateTitle(); - void updateFromSettings(); void drawForeground(QPainter *painter, const QRectF &rect) override; void applyNiceNumbers(qreal min, qreal max); qreal niceNumber(qreal x, bool ceiling); @@ -92,12 +91,16 @@ public: void showChart(const QString &id, const Signal *sig, bool show, bool merge); inline bool hasSignal(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } +public slots: + void setColumnCount(int n); + signals: void dock(bool floating); void rangeChanged(double min, double max, bool is_zommed); void seriesChanged(); private: + void resizeEvent(QResizeEvent *event) override; void alignCharts(); void removeChart(ChartView *chart); void eventsMerged(); @@ -108,6 +111,8 @@ private: void updateToolBar(); void removeAll(); void showAllData(); + void updateLayout(); + void settingChanged(); bool eventFilter(QObject *obj, QEvent *event) override; ChartView *findChart(const QString &id, const Signal *sig); @@ -119,7 +124,7 @@ private: QAction *reset_zoom_btn; QAction *remove_all_btn; QTimer *align_charts_timer; - QVBoxLayout *charts_layout; + QGridLayout *charts_layout; QList charts; uint32_t max_chart_range = 0; bool is_zoomed = false; @@ -127,6 +132,9 @@ private: std::pair display_range; std::pair zoomed_range; bool use_dark_theme = false; + QComboBox *columns_cb; + int column_count = 1; + const int CHART_MIN_WIDTH = 300; }; class SeriesSelector : public QDialog { diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index a5b490e9fb..0b0610edc9 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -18,6 +18,7 @@ void Settings::save() { s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); s.setValue("max_chart_x_range", max_chart_x_range); + s.setValue("chart_column_count", chart_column_count); s.setValue("last_dir", last_dir); s.setValue("window_state", window_state); s.setValue("geometry", geometry); @@ -30,6 +31,7 @@ void Settings::load() { cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); + chart_column_count = s.value("chart_column_count", 1).toInt(); last_dir = s.value("last_dir", QDir::homePath()).toString(); window_state = s.value("window_state").toByteArray(); geometry = s.value("geometry").toByteArray(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 76be2f1487..924021eb94 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -16,6 +16,7 @@ public: int fps = 10; int cached_segment_limit = 3; int chart_height = 200; + int chart_column_count = 1; int max_chart_x_range = 3 * 60; // 3 minutes QString last_dir; QByteArray geometry; From f9490739ab37ae680aef272d51eb3cf2b36b4103 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 20 Jan 2023 07:26:00 +0800 Subject: [PATCH 031/124] Cabana: support live streaming (#26946) * support live streaming * update live stream's time * cleanup stream classes * disable video control in live streaming mode * emit streamStarted() in LiveStream::streamThread * disable some features in live streaming mode * refactor charts to support live streaming mode * disable dynamic mode checkbox in live streaming mode * updateDispalyRange * thread safe events * TODO: add support for ZMQ * atomic time stamp * only keep settings.cached_segment_limit*60 seconds data in liveStream * make charts work better in live mode * cleanup ChartView * fix toolbar * cleanup cleanup * disable openpilotPrefix and useOpenGL on macos * add comment * exit gracefully * support ZMQ * use ::operator new/delete * cleanup streams * cleanup * align stream buffers * check looping back * check if series is empty * cleanup * add TODO: write stream to log file to replay it * upper_bound * remove class member event_range * change default settings value * cleanup updateDisplayrange * fix merge error --- tools/cabana/SConscript | 4 +- tools/cabana/binaryview.cc | 2 +- tools/cabana/cabana.cc | 47 +++++---- tools/cabana/canmessages.h | 86 ----------------- tools/cabana/chartswidget.cc | 95 +++++++++++-------- tools/cabana/chartswidget.h | 6 +- tools/cabana/commands.h | 1 - tools/cabana/dbcmanager.h | 2 - tools/cabana/detailwidget.cc | 4 +- tools/cabana/historylog.cc | 9 +- tools/cabana/historylog.h | 2 +- tools/cabana/mainwin.cc | 11 ++- tools/cabana/mainwin.h | 2 +- tools/cabana/messageswidget.cc | 3 +- tools/cabana/messageswidget.h | 2 +- tools/cabana/settings.cc | 6 +- tools/cabana/settings.h | 2 +- tools/cabana/signaledit.h | 2 +- .../abstractstream.cc} | 69 +++----------- tools/cabana/streams/abstractstream.h | 76 +++++++++++++++ tools/cabana/streams/livestream.cc | 71 ++++++++++++++ tools/cabana/streams/livestream.h | 31 ++++++ tools/cabana/streams/replaystream.cc | 54 +++++++++++ tools/cabana/streams/replaystream.h | 32 +++++++ tools/cabana/tools/findsimilarbits.cc | 2 +- tools/cabana/videowidget.cc | 10 +- tools/cabana/videowidget.h | 2 +- 27 files changed, 395 insertions(+), 238 deletions(-) delete mode 100644 tools/cabana/canmessages.h rename tools/cabana/{canmessages.cc => streams/abstractstream.cc} (64%) create mode 100644 tools/cabana/streams/abstractstream.h create mode 100644 tools/cabana/streams/livestream.cc create mode 100644 tools/cabana/streams/livestream.h create mode 100644 tools/cabana/streams/replaystream.cc create mode 100644 tools/cabana/streams/replaystream.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 6726a042ad..9b172a544f 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -20,8 +20,8 @@ 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', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', - 'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +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', '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 GetOption('test'): diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index b6a5fa75aa..8d28080790 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -6,7 +6,7 @@ #include #include -#include "tools/cabana/canmessages.h" +#include "tools/cabana/streams/abstractstream.h" // BinaryView diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 6a9db120e9..ce0cb443cb 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -4,6 +4,8 @@ #include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" +#include "tools/cabana/streams/livestream.h" +#include "tools/cabana/streams/replaystream.h" int main(int argc, char *argv[]) { QCoreApplication::setApplicationName("Cabana"); @@ -17,33 +19,40 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"demo", "use a demo route instead of providing your own"}); cmd_parser.addOption({"qcam", "load qcamera"}); cmd_parser.addOption({"ecam", "load wide road camera"}); + cmd_parser.addOption({"stream", "read can messages from live streaming"}); + 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.process(app); const QStringList args = cmd_parser.positionalArguments(); - if (args.empty() && !cmd_parser.isSet("demo")) { + if (args.empty() && !cmd_parser.isSet("demo") && !cmd_parser.isSet("stream")) { cmd_parser.showHelp(); } + std::unique_ptr op_prefix; + std::unique_ptr stream; - 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; - } else if (cmd_parser.isSet("qcam")) { - replay_flags |= REPLAY_FLAG_QCAMERA; - } - - // TODO: Remove when OpenpilotPrefix supports ZMQ + if (cmd_parser.isSet("stream")) { + stream.reset(new LiveStream(&app, cmd_parser.value("zmq"))); + } else { + // TODO: Remove when OpenpilotPrefix supports ZMQ #ifndef __APPLE__ - OpenpilotPrefix op_prefix; + op_prefix.reset(new OpenpilotPrefix()); #endif - - CANMessages p(&app); - int ret = 0; - if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { - MainWindow w; - w.show(); - ret = app.exec(); + 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; + } else if (cmd_parser.isSet("qcam")) { + replay_flags |= REPLAY_FLAG_QCAMERA; + } + auto replay_stream = new ReplayStream(&app); + stream.reset(replay_stream); + if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { + return 0; + } } - return ret; + + MainWindow w; + w.show(); + return app.exec(); } diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h deleted file mode 100644 index c30361af41..0000000000 --- a/tools/cabana/canmessages.h +++ /dev/null @@ -1,86 +0,0 @@ -#pragma once - -#include - -#include -#include -#include - -#include "opendbc/can/common_dbc.h" -#include "tools/cabana/settings.h" -#include "tools/replay/replay.h" - -struct CanData { - double ts = 0.; - uint8_t src = 0; - uint32_t address = 0; - uint32_t count = 0; - uint32_t freq = 0; - QByteArray dat; - QList colors; -}; - -class CANMessages : public QObject { - Q_OBJECT - -public: - CANMessages(QObject *parent); - ~CANMessages(); - bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); - void seekTo(double ts); - bool eventFilter(const Event *event); - - inline QString routeName() const { return replay->route()->name(); } - inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } - inline VisionStreamType visionStreamType() const { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } - inline double totalSeconds() const { return replay->totalSeconds(); } - inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } - inline double currentSec() const { return replay->currentSeconds(); } - inline QDateTime currentDateTime() const { return replay->currentDateTime(); } - inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } - - inline const Route* route() const { return replay->route(); } - inline const std::vector *events() const { return replay->events(); } - inline void setSpeed(float speed) { replay->setSpeed(speed); } - inline bool isPaused() const { return replay->isPaused(); } - void pause(bool pause); - inline const std::vector> getTimeline() { return replay->getTimeline(); } - -signals: - void paused(); - void resume(); - void seekedTo(double sec); - void streamStarted(); - void eventsMerged(); - void updated(); - void msgsReceived(const QHash *); - void received(QHash *); - -public: - QMap can_msgs; - -protected: - void process(QHash *); - void settingChanged(); - - Replay *replay = nullptr; - std::atomic counters_begin_sec = 0; - std::atomic processing = false; - QHash counters; -}; - -inline QString toHex(const QByteArray &dat) { - return dat.toHex(' ').toUpper(); -} -inline char toHex(uint value) { - return "0123456789ABCDEF"[value & 0xF]; -} - -inline const QString &getColor(int i) { - // TODO: add more colors - static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; - return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; -} - -// A global pointer referring to the unique CANMessages object -extern CANMessages *can; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 412365a15b..0a855b851b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -69,8 +69,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { column_count = settings.chart_column_count; QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); - QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); - QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); + QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::updateState); + QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); QObject::connect(show_all_values_btn, &QAction::triggered, this, &ChartsWidget::showAllData); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); @@ -83,27 +83,33 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { }); } -void ChartsWidget::eventsMerged() { - if (auto events = can->events(); events && !events->empty()) { - event_range.first = (events->front()->mono_time / (double)1e9) - can->routeStartTime(); - event_range.second = (events->back()->mono_time / (double)1e9) - can->routeStartTime(); - updateState(); - } -} - void ChartsWidget::updateDisplayRange() { - auto prev_range = display_range; - double current_sec = can->currentSec(); - if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) { - // reached the end, or seeked to a timestamp out of range. - display_range.first = current_sec - 5; - } - display_range.first = std::floor(std::max(display_range.first, event_range.first) * 10.0) / 10.0; - display_range.second = std::floor(std::min(display_range.first + max_chart_range, event_range.second) * 10.0) / 10.0; - if (prev_range != display_range) { - QFutureSynchronizer future_synchronizer; - for (auto c : charts) - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range)); + auto events = can->events(); + double min_event_sec = (events->front()->mono_time / (double)1e9) - can->routeStartTime(); + double max_event_sec = (events->back()->mono_time / (double)1e9) - can->routeStartTime(); + const double cur_sec = can->currentSec(); + if (!can->liveStreaming()) { + auto prev_range = display_range; + if (cur_sec < display_range.first || cur_sec >= (display_range.second - 5)) { + // reached the end, or seeked to a timestamp out of range. + display_range.first = cur_sec - 5; + } + display_range.first = std::floor(std::max(min_event_sec, display_range.first)); + display_range.second = std::floor(std::min(display_range.first + max_chart_range, max_event_sec)); + if (prev_range != display_range) { + QFutureSynchronizer future_synchronizer; + for (auto c : charts) { + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range)); + } + } + } else { + if (cur_sec >= (display_range.second - 5)) { + display_range.first = std::floor(std::max(min_event_sec, cur_sec - settings.max_chart_x_range / 2.0)); + } + display_range.second = std::floor(display_range.first + settings.max_chart_x_range); + for (auto c : charts) { + c->updateSeries(nullptr, events, false); + } } } @@ -151,7 +157,7 @@ void ChartsWidget::updateToolBar() { bool displaying_all = max_chart_range != min_range; show_all_values_btn->setText(tr("%1 minutes").arg(max_chart_range / 60)); show_all_values_btn->setToolTip(tr("Click to display %1 data").arg(displaying_all ? tr("%1 minutes").arg(min_range / 60) : tr("ALL cached"))); - show_all_values_btn->setVisible(!is_zoomed); + show_all_values_btn->setVisible(!is_zoomed && !can->liveStreaming()); remove_all_btn->setEnabled(!charts.isEmpty()); reset_zoom_btn->setEnabled(is_zoomed); range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); @@ -274,6 +280,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { chart->addAxis(axis_y, Qt::AlignLeft); chart->legend()->setShowToolTips(true); chart->layout()->setContentsMargins(0, 0, 0, 0); + chart->setMargins({20, 11, 11, 11}); QToolButton *remove_btn = new QToolButton(); remove_btn->setIcon(bootstrapPixmap("x")); @@ -293,7 +300,8 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { setChart(chart); setRenderHint(QPainter::Antialiasing); - setRubberBand(QChartView::HorizontalRubberBand); + // TODO: enable zoomIn/seekTo in live streaming mode. + setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); @@ -331,7 +339,6 @@ 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); - updateAxisY(); emit seriesAdded(msg_id, sig); } @@ -366,7 +373,6 @@ void ChartView::signalUpdated(const Signal *sig) { updateTitle(); // TODO: don't update series if only name changed. updateSeries(sig); - updateAxisY(); } } @@ -448,22 +454,21 @@ void ChartView::setDisplayRange(double min, double max) { } } -void ChartView::updateSeries(const Signal *sig) { - auto events = can->events(); +void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { + if (!events) events = can->events(); if (!events || sigs.isEmpty()) return; for (auto &s : sigs) { if (!sig || s.sig == sig) { - s.vals.clear(); - s.vals.reserve((events_range.second - events_range.first) * 1000); // [n]seconds * 1000hz - s.min_y = std::numeric_limits::max(); - s.max_y = std::numeric_limits::lowest(); - + if (clear) { + s.vals.clear(); + s.last_value_mono_time = 0; + } double route_start_time = can->routeStartTime(); - Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + events_range.first) * 1e9); - auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); - double end_ns = (route_start_time + events_range.second) * 1e9; - + uint64_t begin_ts = can->liveStreaming() ? s.last_value_mono_time : (route_start_time + events_range.first) * 1e9; + Event begin_event(cereal::Event::Which::INIT_DATA, begin_ts); + auto begin = std::upper_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); + uint64_t end_ns = can->liveStreaming() ? events->back()->mono_time : (route_start_time + events_range.second) * 1e9; for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { @@ -472,14 +477,20 @@ void ChartView::updateSeries(const Signal *sig) { double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds s.vals.push_back({ts, value}); - - if (value < s.min_y) s.min_y = value; - if (value > s.max_y) s.max_y = value; } } } } + if (!s.vals.isEmpty()) { + auto [min_v, max_v] = std::minmax_element(s.vals.begin(), s.vals.end(), [](auto &l, auto &r) { return l.y() < r.y(); }); + s.min_y = min_v->y(); + s.max_y = max_v->y(); + s.last_value_mono_time = events->back()->mono_time; + } else { + s.min_y = s.max_y = 0; + } s.series->replace(s.vals); + updateAxisY(); } } } @@ -490,7 +501,7 @@ void ChartView::updateAxisY() { double min_y = std::numeric_limits::max(); double max_y = std::numeric_limits::lowest(); - if (events_range == std::pair{axis_x->min(), axis_x->max()}) { + if (can->liveStreaming() || events_range == std::pair{axis_x->min(), axis_x->max()}) { for (auto &s : sigs) { if (s.min_y < min_y) min_y = s.min_y; if (s.max_y > max_y) max_y = s.max_y; @@ -583,7 +594,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { emit zoomIn(min, max); } event->accept(); - } else if (event->button() == Qt::RightButton) { + } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { emit zoomReset(); event->accept(); } else { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 54c84ad2db..9ba5ce5a30 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -12,8 +12,8 @@ #include #include -#include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" using namespace QtCharts; @@ -25,7 +25,7 @@ public: void addSeries(const QString &msg_id, const Signal *sig); void removeSeries(const QString &msg_id, const Signal *sig); bool hasSeries(const QString &msg_id, const Signal *sig) const; - void updateSeries(const Signal *sig = nullptr); + void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); void setEventsRange(const std::pair &range); void setDisplayRange(double min, double max); void setPlotAreaLeftPosition(int pos); @@ -40,6 +40,7 @@ public: double min_y = 0; double max_y = 0; QVector vals; + uint64_t last_value_mono_time = 0; }; signals: @@ -128,7 +129,6 @@ private: QList charts; uint32_t max_chart_range = 0; bool is_zoomed = false; - std::pair event_range; std::pair display_range; std::pair zoomed_range; bool use_dark_theme = false; diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 7ea1f66653..e46223d630 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -2,7 +2,6 @@ #include -#include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" class EditMsgCommand : public QUndoCommand { diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index c7675121bb..5db6737be8 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -28,9 +28,7 @@ public: static std::pair parseId(const QString &id); inline static std::vector allDBCNames() { return get_dbc_names(); } - inline std::map &allMsgs() { return msgs; } inline QString name() const { return dbc ? dbc->name.c_str() : ""; } - void updateMsg(const QString &id, const QString &name, uint32_t size); void removeMsg(const QString &id); inline const std::map &messages() const { return msgs; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 247111aaf4..78e5a6a6f6 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -8,9 +8,9 @@ #include #include "selfdrive/ui/qt/util.h" -#include "tools/cabana/canmessages.h" #include "tools/cabana/commands.h" #include "tools/cabana/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" // DetailWidget @@ -99,7 +99,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); }); - QObject::connect(can, &CANMessages::msgsReceived, this, &DetailWidget::updateState); + QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index c6ee7d9086..f0f40697b8 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -222,8 +222,13 @@ 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(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode); - QObject::connect(can, &CANMessages::seekedTo, model, &HistoryLogModel::refresh); - QObject::connect(can, &CANMessages::eventsMerged, model, &HistoryLogModel::segmentsMerged); + QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh); + QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged); + + if (can->liveStreaming()) { + dynamic_mode->setChecked(true); + dynamic_mode->setEnabled(false); + } } void LogsWidget::setMessage(const QString &message_id) { diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 1eea7e5eba..2ab204af15 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -7,8 +7,8 @@ #include #include -#include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" class HeaderView : public QHeaderView { public: diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 89876f4267..48c9ad3a56 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -58,8 +58,7 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); - QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); - QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint); + QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(detail_widget->undo_stack, &QUndoStack::indexChanged, [this](int index) { setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name())); @@ -123,9 +122,13 @@ void MainWindow::createDockWindows() { charts_layout->setContentsMargins(0, 0, 0, 0); charts_layout->addWidget(charts_widget); - video_widget = new VideoWidget(this); video_splitter = new QSplitter(Qt::Vertical,this); - video_splitter->addWidget(video_widget); + + if (!can->liveStreaming()) { + video_widget = new VideoWidget(this); + video_splitter->addWidget(video_widget); + QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); + } video_splitter->addWidget(charts_container); video_splitter->restoreState(settings.video_splitter_state); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index c1a5908a53..a38834b997 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -47,7 +47,7 @@ protected: void setOption(); void findSimilarBits(); - VideoWidget *video_widget; + VideoWidget *video_widget = nullptr; QDockWidget *video_dock; MessagesWidget *messages_widget; DetailWidget *detail_widget; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 5deac031a1..0d06604fdc 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -26,7 +26,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget->setItemDelegateForColumn(4, new MessageBytesDelegate(table_widget)); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); - table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); table_widget->setSortingEnabled(true); table_widget->sortByColumn(0, Qt::AscendingOrder); table_widget->setColumnWidth(0, 250); @@ -39,7 +38,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); - QObject::connect(can, &CANMessages::msgsReceived, model, &MessageListModel::msgsReceived); + QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 8b74f1427e..187e4715b9 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -4,7 +4,7 @@ #include #include -#include "tools/cabana/canmessages.h" +#include "tools/cabana/streams/abstractstream.h" class MessageListModel : public QAbstractTableModel { Q_OBJECT diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 0b0610edc9..7a25449c81 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -28,7 +28,7 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - cached_segment_limit = s.value("cached_segment", 3).toInt(); + cached_segment_limit = s.value("cached_segment", 5).toInt(); chart_height = s.value("chart_height", 200).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); @@ -51,13 +51,13 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { form_layout->addRow("FPS", fps); cached_segment = new QSpinBox(this); - cached_segment->setRange(3, 60); + cached_segment->setRange(5, 60); cached_segment->setSingleStep(1); cached_segment->setValue(settings.cached_segment_limit); form_layout->addRow(tr("Cached segments limit"), cached_segment); max_chart_x_range = new QSpinBox(this); - max_chart_x_range->setRange(1, 60); + max_chart_x_range->setRange(3, 60); max_chart_x_range->setSingleStep(1); max_chart_x_range->setValue(settings.max_chart_x_range / 60); form_layout->addRow(tr("Chart range (minutes)"), max_chart_x_range); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 924021eb94..ed0ba3a549 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,7 @@ public: void load(); int fps = 10; - int cached_segment_limit = 3; + int cached_segment_limit = 5; int chart_height = 200; int chart_column_count = 1; int max_chart_x_range = 3 * 60; // 3 minutes diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index a18f1d34f0..fcc27baeb1 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -7,8 +7,8 @@ #include #include "selfdrive/ui/qt/widgets/controls.h" -#include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" class SignalForm : public QWidget { Q_OBJECT diff --git a/tools/cabana/canmessages.cc b/tools/cabana/streams/abstractstream.cc similarity index 64% rename from tools/cabana/canmessages.cc rename to tools/cabana/streams/abstractstream.cc index 9b5f41c60a..6ae1900184 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,47 +1,13 @@ -#include "tools/cabana/canmessages.h" -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" -CANMessages *can = nullptr; +AbstractStream *can = nullptr; -CANMessages::CANMessages(QObject *parent) : QObject(parent) { +AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { can = this; - QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection); - QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged); + QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection); } -CANMessages::~CANMessages() { - replay->stop(); -} - -static bool event_filter(const Event *e, void *opaque) { - CANMessages *c = (CANMessages *)opaque; - return c->eventFilter(e); -} - -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); -} - -bool CANMessages::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); - replay->setSegmentCacheLimit(settings.cached_segment_limit); - replay->installEventFilter(event_filter, this); - QObject::connect(replay, &Replay::seekedTo, this, &CANMessages::seekedTo); - QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); - QObject::connect(replay, &Replay::streamStarted, this, &CANMessages::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; })) { - qWarning() << "no rlogs in route" << route; - return false; - } - replay->start(); - return true; - } - return false; -} - -void CANMessages::process(QHash *messages) { +void AbstractStream::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { can_msgs[it.key()] = it.value(); } @@ -51,7 +17,11 @@ void CANMessages::process(QHash *messages) { processing = false; } -bool CANMessages::eventFilter(const Event *event) { +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); +} + +bool AbstractStream::updateEvent(const Event *event) { static std::unique_ptr new_msgs = std::make_unique>(); static QHash prev_dat; static QHash> colors; @@ -59,7 +29,7 @@ bool CANMessages::eventFilter(const Event *event) { static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { - double current_sec = replay->currentSeconds(); + double current_sec = currentSec(); if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) { new_msgs->clear(); counters.clear(); @@ -79,7 +49,7 @@ bool CANMessages::eventFilter(const Event *event) { data.freq = data.count / delta; } - // Init colors + // Init colors if (colors[id].size() != data.dat.size()) { colors[id].clear(); for (int i = 0; i < data.dat.size(); i++){ @@ -146,18 +116,3 @@ bool CANMessages::eventFilter(const Event *event) { } return true; } - -void CANMessages::seekTo(double ts) { - replay->seekTo(std::max(double(0), ts), false); - counters_begin_sec = 0; - emit updated(); -} - -void CANMessages::pause(bool pause) { - replay->pause(pause); - emit (pause ? paused() : resume()); -} - -void CANMessages::settingChanged() { - replay->setSegmentCacheLimit(settings.cached_segment_limit); -} diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h new file mode 100644 index 0000000000..1fe90c8595 --- /dev/null +++ b/tools/cabana/streams/abstractstream.h @@ -0,0 +1,76 @@ +#pragma once + +#include + +#include +#include + +#include "tools/cabana/settings.h" +#include "tools/replay/replay.h" + +struct CanData { + double ts = 0.; + uint8_t src = 0; + uint32_t address = 0; + uint32_t count = 0; + uint32_t freq = 0; + QByteArray dat; + QList colors; +}; + +class AbstractStream : public QObject { + Q_OBJECT + +public: + AbstractStream(QObject *parent, bool is_live_streaming); + virtual ~AbstractStream() {}; + inline bool liveStreaming() const { return is_live_streaming; } + virtual void seekTo(double ts) {} + virtual QString routeName() const = 0; + virtual QString carFingerprint() const { return ""; } + virtual double totalSeconds() const { return 0; } + 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 VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } + virtual const Route *route() const { return nullptr; } + virtual const std::vector *events() const = 0; + virtual void setSpeed(float speed) {} + virtual bool isPaused() const { return false; } + virtual void pause(bool pause) {} + virtual const std::vector> getTimeline() { return {}; } + +signals: + void paused(); + void resume(); + void seekedTo(double sec); + void streamStarted(); + void eventsMerged(); + void updated(); + void msgsReceived(const QHash *); + void received(QHash *); + +public: + QMap can_msgs; + +protected: + void process(QHash *); + bool updateEvent(const Event *event); + + bool is_live_streaming = false; + std::atomic counters_begin_sec = 0; + std::atomic processing = false; + QHash counters; +}; + +inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } +inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } +inline const QString &getColor(int i) { + // TODO: add more colors + static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; + return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; +} + +// A global pointer referring to the unique AbstractStream object +extern AbstractStream *can; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc new file mode 100644 index 0000000000..bc5b811f44 --- /dev/null +++ b/tools/cabana/streams/livestream.cc @@ -0,0 +1,71 @@ +#include "tools/cabana/streams/livestream.h" + +LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { + if (!zmq_address.isEmpty()) { + setenv("ZMQ", "1", 1); + } + updateCachedNS(); + QObject::connect(&settings, &Settings::changed, this, &LiveStream::updateCachedNS); + stream_thread = new QThread(this); + QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); + QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); + stream_thread->start(); +} + +LiveStream::~LiveStream() { + stream_thread->requestInterruption(); + stream_thread->quit(); + stream_thread->wait(); + for (Event *e : can_events) ::delete e; + for (auto m : messages) delete m; +} + +void LiveStream::streamThread() { + std::unique_ptr context(Context::create()); + std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); + std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); + assert(sock != NULL); + sock->setTimeout(50); + + // run as fast as messages come in + while (!QThread::currentThread()->isInterruptionRequested()) { + Message *msg = sock->receive(true); + if (!msg) { + QThread::msleep(50); + continue; + } + AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer()); + Event *evt = ::new Event(buf->align(msg)); + delete msg; + + { + std::lock_guard lk(lock); + can_events.push_back(evt); + if ((evt->mono_time - can_events.front()->mono_time) > cache_ns) { + ::delete can_events.front(); + delete messages.front(); + can_events.pop_front(); + messages.pop_front(); + } + } + if (start_ts == 0) { + start_ts = evt->mono_time; + emit streamStarted(); + } + current_ts = evt->mono_time; + if (start_ts > current_ts) { + qDebug() << "stream is looping back to old time stamp"; + start_ts = current_ts.load(); + } + updateEvent(evt); + // TODO: write stream to log file to replay it with cabana --data_dir flag. + } +} + +const std::vector *LiveStream::events() const { + std::lock_guard lk(lock); + events_vector.clear(); + events_vector.reserve(can_events.size()); + std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector)); + return &events_vector; +} diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h new file mode 100644 index 0000000000..17301d48e7 --- /dev/null +++ b/tools/cabana/streams/livestream.h @@ -0,0 +1,31 @@ +#pragma once + +#include "tools/cabana/streams/abstractstream.h" + +class LiveStream : public AbstractStream { + Q_OBJECT + +public: + LiveStream(QObject *parent, QString address = {}); + ~LiveStream(); + inline QString routeName() const override { + return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); + } + inline double routeStartTime() const override { return start_ts / (double)1e9; } + inline double currentSec() const override { return (current_ts - start_ts) / (double)1e9; } + const std::vector *events() const override; + +protected: + void streamThread(); + void updateCachedNS() { cache_ns = (settings.cached_segment_limit * 60) * 1e9; } + + mutable std::mutex lock; + mutable std::vector events_vector; + std::deque can_events; + std::deque messages; + std::atomic start_ts = 0; + std::atomic current_ts = 0; + std::atomic cache_ns = 0; + const QString zmq_address; + QThread *stream_thread; +}; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc new file mode 100644 index 0000000000..97a3911adf --- /dev/null +++ b/tools/cabana/streams/replaystream.cc @@ -0,0 +1,54 @@ +#include "tools/cabana/streams/replaystream.h" + +#include "tools/cabana/dbcmanager.h" + +ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) { + QObject::connect(&settings, &Settings::changed, [this]() { + if (replay) replay->setSegmentCacheLimit(settings.cached_segment_limit); + }); +} + +ReplayStream::~ReplayStream() { + if (replay) replay->stop(); +} + +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); + replay->setSegmentCacheLimit(settings.cached_segment_limit); + 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); + 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; })) { + qWarning() << "no rlogs in route" << route; + return false; + } + replay->start(); + return true; + } + return false; +} + +bool ReplayStream::eventFilter(const Event *event) { + if (event->which == cereal::Event::Which::CAN) { + updateEvent(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 new file mode 100644 index 0000000000..1688915212 --- /dev/null +++ b/tools/cabana/streams/replaystream.h @@ -0,0 +1,32 @@ +#pragma once + +#include "opendbc/can/common_dbc.h" +#include "tools/cabana/streams/abstractstream.h" +#include "tools/cabana/settings.h" + +class ReplayStream : public AbstractStream { + Q_OBJECT + +public: + ReplayStream(QObject *parent); + ~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; + 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; } + inline double totalSeconds() const override { return replay->totalSeconds(); } + inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } + inline double currentSec() const override { return replay->currentSeconds(); } + inline QDateTime currentDateTime() const override { return replay->currentDateTime(); } + inline const Route *route() const override { return replay->route(); } + inline const std::vector *events() const override { return replay->events(); } + inline void setSpeed(float speed) override { replay->setSpeed(speed); } + inline bool isPaused() const override { return replay->isPaused(); } + void pause(bool pause) override; + inline const std::vector> getTimeline() override { return replay->getTimeline(); } + +private: + Replay *replay = nullptr; +}; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 8a05e3e236..63d01b152d 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -7,8 +7,8 @@ #include #include -#include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { setWindowTitle(tr("Find similar bits")); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 2f6aab249a..7d46769a47 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -70,10 +70,10 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); - QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); - QObject::connect(can, &CANMessages::paused, this, &VideoWidget::updatePlayBtnState); - QObject::connect(can, &CANMessages::resume, this, &VideoWidget::updatePlayBtnState); - QObject::connect(can, &CANMessages::streamStarted, [this]() { + QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); + QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); + QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState); + QObject::connect(can, &AbstractStream::streamStarted, [this]() { end_time_label->setText(formatTime(can->totalSeconds())); slider->setRange(0, can->totalSeconds() * 1000); }); @@ -130,7 +130,7 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { setMouseTracking(true); QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start())); - QObject::connect(can, &CANMessages::streamStarted, this, &Slider::streamStarted); + QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted); } void Slider::streamStarted() { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index e9899abbbf..6b4c02c573 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -11,7 +11,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" #include "selfdrive/ui/qt/widgets/controls.h" -#include "tools/cabana/canmessages.h" +#include "tools/cabana/streams/abstractstream.h" class Slider : public QSlider { Q_OBJECT From c1fcd63bba1797133309d94b360d98e147b69548 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 19 Jan 2023 18:42:34 -0800 Subject: [PATCH 032/124] cameraview: fix spaces in debug print --- selfdrive/ui/qt/widgets/cameraview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 16aad13437..4a7874b160 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -358,7 +358,7 @@ void CameraWidget::vipcThread() { while (!QThread::currentThread()->isInterruptionRequested()) { if (!vipc_client || cur_stream != requested_stream_type) { clearFrames(); - qDebug() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; + qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; cur_stream = requested_stream_type; vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); } From 1c128db8b07a1abf10b9a2f2cc6a7af22c9ae065 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 19 Jan 2023 20:54:50 -0800 Subject: [PATCH 033/124] Cabana: darken signal backgrounds on hover (#27010) * darker signal background when hovering * remove import * little better --- tools/cabana/binaryview.cc | 5 +++-- tools/cabana/signaledit.cc | 9 ++++++--- tools/cabana/signaledit.h | 1 + 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 8d28080790..84c2dd2a52 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -242,8 +242,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->fillRect(option.rect, selection_color); painter->setPen(option.palette.color(QPalette::BrightText)); } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) { - painter->fillRect(option.rect, item->bg_color); - painter->setPen(item->sigs.contains(bin_view->hovered_sig) ? option.palette.color(QPalette::BrightText) : Qt::black); + bool sig_hovered = item->sigs.contains(bin_view->hovered_sig); + painter->fillRect(option.rect, sig_hovered ? item->bg_color.darker(125) : item->bg_color); // 4/5x brightness + painter->setPen(sig_hovered ? option.palette.color(QPalette::BrightText) : Qt::black); } painter->drawText(option.rect, Qt::AlignCenter, item->val); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index e2025dcc82..cc57cf0f3e 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -89,6 +89,8 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa 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); @@ -142,7 +144,7 @@ void SignalEdit::setSignal(const QString &message_id, const Signal *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(getColor(form_idx))); + color_label->setStyleSheet(QString("color:black; background-color:%2").arg(bg_color.name())); title->setText(sig->name.c_str()); show(); } @@ -199,8 +201,9 @@ void SignalEdit::updateForm(bool visible) { } void SignalEdit::signalHovered(const Signal *s) { - auto color = sig == s ? "white" : "black"; - color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(getColor(form_idx))); + 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 SignalEdit::enterEvent(QEvent *event) { diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index fcc27baeb1..90df3fd3f4 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -54,5 +54,6 @@ protected: QLabel *color_label; QLabel *icon; int form_idx = 0; + QColor bg_color; QToolButton *plot_btn; }; From c408b7e30609ca64971a4278eab16643fbb123b3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 19 Jan 2023 23:06:18 -0800 Subject: [PATCH 034/124] UI: show experimental long available to release users (#26910) * UI: show experimental long available to release users * more description * cleanup * hide toggle * fix process replay * clear param * actually fix --- common/params.cc | 3 ++- selfdrive/car/car_helpers.py | 6 ++--- selfdrive/controls/controlsd.py | 8 +++---- selfdrive/manager/manager.py | 3 ++- .../test/process_replay/process_replay.py | 2 +- selfdrive/ui/qt/offroad/settings.cc | 20 ++++++++++++---- selfdrive/ui/translations/main_de.ts | 16 +++++++++---- selfdrive/ui/translations/main_ja.ts | 24 ++++++++++++------- selfdrive/ui/translations/main_ko.ts | 24 ++++++++++++------- selfdrive/ui/translations/main_pt-BR.ts | 24 ++++++++++++------- selfdrive/ui/translations/main_zh-CHS.ts | 24 ++++++++++++------- selfdrive/ui/translations/main_zh-CHT.ts | 24 ++++++++++++------- 12 files changed, 117 insertions(+), 61 deletions(-) diff --git a/common/params.cc b/common/params.cc index 8f6532bc79..35ceecfdc3 100644 --- a/common/params.cc +++ b/common/params.cc @@ -104,7 +104,7 @@ std::unordered_map keys = { {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, - {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB + {"ExperimentalLongitudinalEnabled", PERSISTENT}, {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, {"DongleId", PERSISTENT}, @@ -134,6 +134,7 @@ std::unordered_map keys = { {"IsRhdDetected", PERSISTENT}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, + {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"LaikadEphemeris", PERSISTENT | DONT_LOG}, diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 61e7a3d55d..88e8c72153 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -173,17 +173,15 @@ def fingerprint(logcan, sendcan, num_pandas): return car_fingerprint, finger, vin, car_fw, source, exact_match -def get_car(logcan, sendcan, num_pandas=1): +def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) if candidate is None: cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) candidate = "mock" - experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled") - CarInterface, CarController, CarState = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long) + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index ac36df7aa2..c0b01bfc99 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -99,7 +99,8 @@ class Controls: get_one_can(self.can_sock) num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas) + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch() + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) else: self.CI, self.CP = CI, CI.CP @@ -132,9 +133,6 @@ class Controls: safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] - if is_release_branch(): - self.CP.experimentalLongitudinalAvailable = False - # Write CarParams for radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) @@ -142,7 +140,7 @@ class Controls: put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params - if not self.CP.experimentalLongitudinalAvailable: + if not self.CP.experimentalLongitudinalAvailable or is_release_branch(): self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 369c529626..865966d6c5 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from system.swaglog import cloudlog, add_file_handler from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ - terms_version, training_version, is_tested_branch + terms_version, training_version, is_tested_branch, is_release_branch @@ -76,6 +76,7 @@ def manager_init() -> None: params.put("GitBranch", get_short_branch(default="")) params.put("GitRemote", get_origin(default="")) params.put_bool("IsTestedBranch", is_tested_branch()) + params.put_bool("IsReleaseBranch", is_release_branch()) # set dongle id reg_res = register(show_spinner=True) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 22ec099285..a7d53bf9da 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -188,7 +188,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint): canmsgs = [msg for msg in msgs if msg.which() == 'can'] for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) - _, CP = get_car(can, sendcan) + _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) Params().put("CarParams", CP.to_bytes()) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index bde8628dc4..63b87149d4 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -132,16 +132,17 @@ void TogglesPanel::updateToggles() { .arg(tr("New Driving Visualization")) .arg(tr("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.")); + const bool is_release = params.getBool("IsReleaseBranch"); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); - if (!CP.getExperimentalLongitudinalAvailable()) { + if (!CP.getExperimentalLongitudinalAvailable() || is_release) { params.remove("ExperimentalLongitudinalEnabled"); } - op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable()); + op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release); const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable(); const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled"); @@ -154,9 +155,18 @@ void TogglesPanel::updateToggles() { e2e_toggle->setEnabled(false); params.remove("ExperimentalMode"); - const QString no_long = tr("Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control."); - const QString exp_long = tr("Enable experimental longitudinal control to allow experimental mode."); - e2e_toggle->setDescription("" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "

" + e2e_description); + const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."); + + QString long_desc = unavailable + " " + \ + tr("openpilot longitudinal control may come in a future update."); + if (CP.getExperimentalLongitudinalAvailable()) { + if (is_release) { + long_desc = unavailable + " " + tr("An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); + } else { + long_desc = tr("Enable experimental longitudinal control to allow Experimental mode."); + } + } + e2e_toggle->setDescription("" + long_desc + "

" + e2e_description); } e2e_toggle->refresh(); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index ecb44557c9..987202a03f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1044,12 +1044,20 @@ location set Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt. - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar, da es den eingebauten adaptiven Tempomaten des Autos benutzt. + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + - Enable experimental longitudinal control to allow experimental mode. - Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. + openpilot longitudinal control may come in a future update. + + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable experimental longitudinal control to allow Experimental mode. + diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 8226dd59f9..aeeac6104b 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1017,14 +1017,6 @@ location set 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. openpilotはこの車の場合、車に内蔵されているACCを標準で利用します。この機能を有効にすることで実験段階のopenpilotによるアクセル制御を利用できます。実験モードと合わせて利用することをお勧めします。 - - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - この車のACCがアクセル制御を行うため、実験モードを利用することができません。 - - - Enable experimental longitudinal control to allow experimental mode. - 実験段階のopenpilotによるアクセル制御を有効にしてください。 - 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: openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。 @@ -1045,6 +1037,22 @@ location set 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. 新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。 + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + + + + openpilot longitudinal control may come in a future update. + + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable experimental longitudinal control to allow Experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index bda64c53ab..80cf61c2c3 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1017,14 +1017,6 @@ location set 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. 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤을 사용하려면 이 옵션을 활성화하세요. 실험적 openpilot 롱컨트롤을 사용하는 경우 실험적 모드를 활성화 하세요. - - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - 차량의 기본 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량에서는 실험적 모드를 사용할수 없습니다. - - - Enable experimental longitudinal control to allow experimental mode. - 실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요. - 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: openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 @@ -1045,6 +1037,22 @@ location set 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. 주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측상단에 표시됩니다. + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + + + + openpilot longitudinal control may come in a future update. + + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable experimental longitudinal control to allow Experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 105d6f77f0..3356372496 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1021,14 +1021,6 @@ trabalho definido 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. Neste carro o penpilot por padrão utiliza o ACC nativo do veículo ao invés de controlar longitudinalmente. Ative isto para mudar para o controle longitudinal do openpilot. Ativar o Modo Experimental é recomendado quando em uso do controle longitudinal experimental do openpilot. - - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - O Modo Experimental está atualmente indisponível para este carro, já que o ACC original do carro é usado para controle longitudinal. - - - Enable experimental longitudinal control to allow experimental mode. - Ative o controle longitudinal experimental para permitir o modo experimental. - 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: openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: @@ -1049,6 +1041,22 @@ trabalho definido 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. A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito. + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + + + + openpilot longitudinal control may come in a future update. + + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable experimental longitudinal control to allow Experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 31202e45f2..c0838e18f3 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1015,14 +1015,6 @@ location set 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. 针对此车辆，openpilot默认使用车辆自带的ACC，而非openpilot的纵向控制。启用此选项将切换到openpilot纵向控制。当使用试验性的openpilot纵向控制时，建议同时启用试验模式。 - - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - 由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。 - - - Enable experimental longitudinal control to allow experimental mode. - 启用试验性的纵向控制，以便允许使用试验模式。 - 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: openpilot 默认 <b>轻松模式</b>驾驶车辆。试验模式启用一些轻松模式之外的 <b>试验性功能</b>。试验性功能包括： @@ -1043,6 +1035,22 @@ location set 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. 当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。 + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + + + + openpilot longitudinal control may come in a future update. + + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable experimental longitudinal control to allow Experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0379e926c4..82e6cf0fc1 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1017,14 +1017,6 @@ location set 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. 在本車輛中，openpilot預設將使用原車內建的ACC系統，而非openpilot縱向控制。開啟此開關來啟用openpilot縱向控制，使用此選項時建議一併啟用實驗模式。 - - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - 因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。 - - - Enable experimental longitudinal control to allow experimental mode. - 啟用實驗性縱向控制以使用實驗模式。 - 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: openpilot 預設以 <b>輕鬆模式</b> 駕駛。 實驗模式啟用了尚未準備好進入輕鬆模式的 <b>alpha 級功能</b>。實驗功能如下： @@ -1045,6 +1037,22 @@ location set 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. 低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。 + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + + + + openpilot longitudinal control may come in a future update. + + + + An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable experimental longitudinal control to allow Experimental mode. + + Updater From 42b0ecc891cf34fc6a82af587889096b7ee3ce3c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 19 Jan 2023 23:32:16 -0800 Subject: [PATCH 035/124] Genesis: GV60 2023 Advanced: add missing camera FW (#27011) add new camera FW from c104d893f7c211bb|2023-01-19--20-13-10 --- 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 ec7605657b..31cbe68d13 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1544,6 +1544,7 @@ FW_VERSIONS = { CAR.GENESIS_GV60_EV_1ST_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', From 40cc43c076df7d0998b61a0a473b8127637fd07f Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Sat, 21 Jan 2023 03:43:14 +0900 Subject: [PATCH 036/124] Multilang: kor translation update (#27013) --- selfdrive/ui/translations/main_ko.ts | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 80cf61c2c3..f50d2d9b3f 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -501,7 +501,7 @@ location set Become a comma prime member at connect.comma.ai - connect.comma.ai에서 comma prime에 가입합니다 + connect.comma.ai 접속 comma prime 가입 PRIME FEATURES: @@ -1019,7 +1019,7 @@ location set 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: - openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 + openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다 🌮 End-to-End Longitudinal Control 🌮 @@ -1035,23 +1035,23 @@ location set 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. - 주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측상단에 표시됩니다. + 주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드의 로고도 우측상단에 표시됩니다. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - + 차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다. openpilot longitudinal control may come in a future update. - + 오픈파일럿 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다. An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 오픈파일럿 롱컨트롤의 실험 버전은 실험적 모드와 함께 릴리즈 되지 않은 브랜치에서 테스트할 수 있습니다. Enable experimental longitudinal control to allow Experimental mode. - + 실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요. From 21af68e3c36eef4a84b076a41305caabf76bd4a9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 21 Jan 2023 02:43:30 +0800 Subject: [PATCH 037/124] cabana: improve video splitter (#27012) --- tools/cabana/mainwin.cc | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 48c9ad3a56..d2e4ff9ca7 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -124,13 +124,20 @@ void MainWindow::createDockWindows() { video_splitter = new QSplitter(Qt::Vertical,this); + // splitter between video and charts + video_splitter = new QSplitter(Qt::Vertical, this); if (!can->liveStreaming()) { video_widget = new VideoWidget(this); video_splitter->addWidget(video_widget); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); } video_splitter->addWidget(charts_container); + video_splitter->setStretchFactor(1, 1); video_splitter->restoreState(settings.video_splitter_state); + if (!can->liveStreaming() && video_splitter->sizes()[0] == 0) { + // display video at minimum size. + video_splitter->setSizes({1, 1}); + } video_dock = new QDockWidget(can->routeName(), this); video_dock->setObjectName(tr("VideoPanel")); @@ -284,7 +291,9 @@ void MainWindow::closeEvent(QCloseEvent *event) { settings.geometry = saveGeometry(); settings.window_state = saveState(); - settings.video_splitter_state = video_splitter->saveState(); + if (!can->liveStreaming()) { + settings.video_splitter_state = video_splitter->saveState(); + } settings.save(); QWidget::closeEvent(event); } From da621245b2cc84dd972b0582bec077a008c8e871 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 20 Jan 2023 10:46:45 -0800 Subject: [PATCH 038/124] UI: update translations during scons build (#27009) * UI: update translation during scons build * all in scons * debug * precious * debug * add missing * Update release/check-dirty.sh Co-authored-by: Shane Smiskol --- release/files_common | 6 ++++++ selfdrive/ui/SConscript | 14 +++++++++++--- 2 files changed, 17 insertions(+), 3 deletions(-) diff --git a/release/files_common b/release/files_common index 0dc0e96226..edb37bc0de 100644 --- a/release/files_common +++ b/release/files_common @@ -320,6 +320,12 @@ selfdrive/ui/qt/widgets/*.cc selfdrive/ui/qt/widgets/*.h selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h +selfdrive/ui/qt/setup/*.cc +selfdrive/ui/qt/setup/*.h + +selfdrive/ui/installer/*.cc +selfdrive/ui/installer/*.h +selfdrive/ui/installer/*.cc system/camerad/SConscript system/camerad/main.cc diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 3ce7a0505d..0f28f5ccc3 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,4 +1,5 @@ import os +import json Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') @@ -67,11 +68,18 @@ if GetOption('test'): # build translation files -translation_sources = Glob("#selfdrive/ui/translations/*.ts", strings=True) +with open(File("translations/languages.json").abspath) as f: + languages = json.loads(f.read()) +translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()] translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] -lrelease = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' -qt_env.Command(translation_targets, translation_sources, f"{lrelease} $SOURCES") +lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' +lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py") +lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") +qt_env.Depends(lrelease, lupdate) +qt_env.NoClean(translation_sources) +qt_env.Precious(translation_sources) +qt_env.NoCache(lupdate) # setup and factory resetter if GetOption('extras'): From 986ec99f827f98e01290461e8e35ebb5b68dd0f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 20 Jan 2023 11:29:10 -0800 Subject: [PATCH 039/124] Multilang: add back some translations (#27019) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add back translations * 🤔 * actually shouldn't be a space --- selfdrive/ui/translations/main_de.ts | 4 ++-- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 5 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 987202a03f..2606df5efe 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1045,7 +1045,7 @@ location set Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - + Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. openpilot longitudinal control may come in a future update. @@ -1057,7 +1057,7 @@ location set Enable experimental longitudinal control to allow Experimental mode. - + Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index aeeac6104b..16f35dffaa 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1039,7 +1039,7 @@ location set Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - + この車のACCがアクセル制御を行うため実験モードを利用することができません。 openpilot longitudinal control may come in a future update. @@ -1051,7 +1051,7 @@ location set Enable experimental longitudinal control to allow Experimental mode. - + 実験段階のopenpilotによるアクセル制御を有効にしてください。 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 3356372496..2bbc1abace 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -388,7 +388,7 @@ Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai - Obtenha instruções passo a passo exibidas e muito mais com + Obtenha instruções passo a passo exibidas e muito mais com uma assinatura prime Inscreva-se agora: https://connect.comma.ai @@ -1043,7 +1043,7 @@ trabalho definido Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - + O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal. openpilot longitudinal control may come in a future update. @@ -1055,7 +1055,7 @@ trabalho definido Enable experimental longitudinal control to allow Experimental mode. - + Ative o controle longitudinal experimental para permitir o modo Experimental. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index c0838e18f3..792a918770 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1037,7 +1037,7 @@ location set Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - + 由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。 openpilot longitudinal control may come in a future update. @@ -1049,7 +1049,7 @@ location set Enable experimental longitudinal control to allow Experimental mode. - + 启用试验性的纵向控制，以便允许使用试验模式。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 82e6cf0fc1..e8e2ab6bd3 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1039,7 +1039,7 @@ location set Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - + 因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。 openpilot longitudinal control may come in a future update. @@ -1051,7 +1051,7 @@ location set Enable experimental longitudinal control to allow Experimental mode. - + 啟用實驗性縱向控制以使用實驗模式。 From 2c5a952a1c84a799b2951867943c4748618721d2 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 20 Jan 2023 16:33:05 -0300 Subject: [PATCH 040/124] Multilang: improve pt-BR translations (#26962) Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_pt-BR.ts | 28 ++++++++++++------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2bbc1abace..92bb552d3d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -132,19 +132,19 @@ Driver Camera - Câmera voltada para o Motorista + Câmera do Motorista PREVIEW - PREVISUAL + VER Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado) + Pré-visualizar a câmera voltada para o motorista para garantir que o monitoramento do sistema tenha uma boa visibilidade (veículo precisa estar desligado) Reset Calibration - Resetar Calibragem + Reinicializar Calibragem RESET @@ -200,7 +200,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, resetar raramente é necessário. + O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. Your device is pointed %1° %2 and %3° %4. @@ -389,7 +389,7 @@ Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Obtenha instruções passo a passo exibidas e muito mais com -uma assinatura prime Inscreva-se agora: https://connect.comma.ai +uma assinatura prime. Inscreva-se agora: https://connect.comma.ai No home @@ -502,7 +502,7 @@ trabalho definido Become a comma prime member at connect.comma.ai - Torne-se um membro comma prime em connect.comma.ai + Seja um membro comma prime em connect.comma.ai PRIME FEATURES: @@ -514,11 +514,11 @@ trabalho definido 1 year of storage - 1 ano de armazenamento + 1 ano na nuvem Developer perks - Benefícios para desenvolvedor + Benefícios para devs @@ -835,7 +835,7 @@ trabalho definido Current Version - Versao Atual + Versão Atual Download @@ -863,11 +863,11 @@ trabalho definido UNINSTALL - DESINSTAL + REMOVER Uninstall %1 - Desintalar o %1 + Desinstalar o %1 Are you sure you want to uninstall? @@ -987,7 +987,7 @@ trabalho definido Disengage on Accelerator Pedal - Desacionar Com Pedal Do Acelerador + Desacionar com Pedal do Acelerador When enabled, pressing the accelerator pedal will disengage openpilot. @@ -995,7 +995,7 @@ trabalho definido Show ETA in 24h Format - Mostrar ETA em formato 24h + Mostrar ETA em Formato 24h Use 24h format instead of am/pm From 3efb22e82bb77601fc86db8ba02eafd9cc7ead51 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 20 Jan 2023 11:46:02 -0800 Subject: [PATCH 041/124] release pre-commit: test translations (#27017) we should be able to run on the stripped dir now --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7cc45d23b9..a4f7c68573 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -61,7 +61,7 @@ jobs: cp .pylintrc $STRIPPED_DIR cp mypy.ini $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "SKIP=test_translations pre-commit run --all" + ${{ env.RUN }} "pre-commit run --all" build_all: name: build all From f0d22f88e183c381897a3d48c34bfac63feb63a3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 21 Jan 2023 03:47:29 +0800 Subject: [PATCH 042/124] cabana: add a slider to adjust chart range from 1 sec to max cached seconds. (#27005) * add slider to set chart range * set minumu to 1 sec * make chart work in any range * cleanup * rename to max_cached_minitues * more * dont draw out of plotarea * cleanup * updateLayout after chart removed * cleanup * fix clamp * usea same cur_sec to update all charts --- tools/cabana/chartswidget.cc | 187 ++++++++++++--------------- tools/cabana/chartswidget.h | 17 +-- tools/cabana/settings.cc | 29 ++--- tools/cabana/settings.h | 7 +- tools/cabana/streams/livestream.h | 2 +- tools/cabana/streams/replaystream.cc | 4 +- 6 files changed, 110 insertions(+), 136 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 0a855b851b..edca0e4d6a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -2,10 +2,11 @@ #include #include +#include #include -#include #include #include +#include #include #include #include @@ -24,10 +25,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { toolbar->setIconSize({16, 16}); toolbar->addWidget(title_label = new QLabel()); - title_label->setContentsMargins(0 ,0, 12, 0); + title_label->setContentsMargins(0, 0, 12, 0); columns_cb = new QComboBox(this); columns_cb->addItems({"1", "2", "3", "4"}); - columns_cb->setCurrentIndex(std::clamp(settings.chart_column_count - 1, 0, 3)); toolbar->addWidget(new QLabel(tr("Columns:"))); toolbar->addWidget(columns_cb); @@ -35,8 +35,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); toolbar->addWidget(stretch_label); - show_all_values_btn = toolbar->addAction(""); - toolbar->addWidget(range_label = new QLabel()); + toolbar->addWidget(new QLabel(tr("Range:"))); + toolbar->addWidget(range_lb = new QLabel(this)); + range_slider = new QSlider(Qt::Horizontal, this); + range_slider->setToolTip(tr("Set the chart range")); + range_slider->setRange(1, settings.max_cached_minutes * 60); + range_slider->setSingleStep(1); + 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->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), ""); @@ -48,8 +56,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QWidget *charts_container = new QWidget(this); QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container); charts_main_layout->setContentsMargins(0, 0, 0, 0); - charts_layout = new QGridLayout(charts_container); - charts_main_layout->addLayout(charts_layout); + charts_main_layout->addLayout(charts_layout = new QGridLayout); charts_main_layout->addStretch(0); QScrollArea *charts_scroll = new QScrollArea(this); @@ -58,20 +65,24 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); main_layout->addWidget(charts_scroll); - max_chart_range = settings.max_chart_x_range; - use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); - updateToolBar(); - align_charts_timer = new QTimer(this); align_charts_timer->setSingleShot(true); align_charts_timer->callOnTimeout(this, &ChartsWidget::alignCharts); - column_count = settings.chart_column_count; + + // init settings + use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > + QApplication::style()->standardPalette().color(QPalette::Background).value(); + column_count = std::clamp(settings.chart_column_count, 1, columns_cb->count()); + max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); + display_range = {0, max_chart_range}; + columns_cb->setCurrentIndex(column_count); + range_slider->setValue(max_chart_range); + updateToolBar(); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); - QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::updateState); + QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); - QObject::connect(show_all_values_btn, &QAction::triggered, this, &ChartsWidget::showAllData); + QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); QObject::connect(columns_cb, SIGNAL(activated(int)), SLOT(setColumnCount(int))); @@ -83,34 +94,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { }); } -void ChartsWidget::updateDisplayRange() { - auto events = can->events(); - double min_event_sec = (events->front()->mono_time / (double)1e9) - can->routeStartTime(); - double max_event_sec = (events->back()->mono_time / (double)1e9) - can->routeStartTime(); - const double cur_sec = can->currentSec(); - if (!can->liveStreaming()) { - auto prev_range = display_range; - if (cur_sec < display_range.first || cur_sec >= (display_range.second - 5)) { - // reached the end, or seeked to a timestamp out of range. - display_range.first = cur_sec - 5; - } - display_range.first = std::floor(std::max(min_event_sec, display_range.first)); - display_range.second = std::floor(std::min(display_range.first + max_chart_range, max_event_sec)); - if (prev_range != display_range) { - QFutureSynchronizer future_synchronizer; - for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range)); - } - } - } else { - if (cur_sec >= (display_range.second - 5)) { - display_range.first = std::floor(std::max(min_event_sec, cur_sec - settings.max_chart_x_range / 2.0)); - } - display_range.second = std::floor(display_range.first + settings.max_chart_x_range); +void ChartsWidget::eventsMerged() { + { + assert(!can->liveStreaming()); + QFutureSynchronizer future_synchronizer; + const auto events = can->events(); for (auto c : charts) { - c->updateSeries(nullptr, events, false); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, events, true)); } } + updateState(); } void ChartsWidget::zoomIn(double min, double max) { @@ -128,49 +121,61 @@ void ChartsWidget::zoomReset() { void ChartsWidget::updateState() { if (charts.isEmpty()) return; + if (can->liveStreaming()) { + // appends incoming events to the end of series + const auto events = can->events(); + for (auto c : charts) { + c->updateSeries(nullptr, events, false); + } + } + + const double cur_sec = can->currentSec(); if (!is_zoomed) { - updateDisplayRange(); - } else if (can->currentSec() < zoomed_range.first || can->currentSec() >= zoomed_range.second) { + double pos = (cur_sec - display_range.first) / max_chart_range; + if (pos > 0.8) { + const double min_event_sec = (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); + } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) { + // loop in zoommed range can->seekTo(zoomed_range.first); } - const auto &range = is_zoomed ? zoomed_range : display_range; setUpdatesEnabled(false); + const auto &range = is_zoomed ? zoomed_range : display_range; for (auto c : charts) { - c->setDisplayRange(range.first, range.second); - c->scene()->invalidate({}, QGraphicsScene::ForegroundLayer); + c->updatePlot(cur_sec, range.first, range.second); } setUpdatesEnabled(true); } -void ChartsWidget::showAllData() { - bool switch_to_show_all = max_chart_range == settings.max_chart_x_range; - max_chart_range = switch_to_show_all ? settings.cached_segment_limit * 60 - : settings.max_chart_x_range; - max_chart_range = std::min(max_chart_range, (uint32_t)can->totalSeconds()); +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(); + // 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))); + display_range.second = std::floor(display_range.first + max_chart_range); updateToolBar(); updateState(); } void ChartsWidget::updateToolBar() { - int min_range = std::min(settings.max_chart_x_range, (int)can->totalSeconds()); - bool displaying_all = max_chart_range != min_range; - show_all_values_btn->setText(tr("%1 minutes").arg(max_chart_range / 60)); - show_all_values_btn->setToolTip(tr("Click to display %1 data").arg(displaying_all ? tr("%1 minutes").arg(min_range / 60) : tr("ALL cached"))); - show_all_values_btn->setVisible(!is_zoomed && !can->liveStreaming()); - remove_all_btn->setEnabled(!charts.isEmpty()); - reset_zoom_btn->setEnabled(is_zoomed); - range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); - title_label->setText(charts.size() > 0 ? tr("Charts (%1)").arg(charts.size()) : tr("Charts")); + 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")); + remove_all_btn->setEnabled(!charts.isEmpty()); + reset_zoom_btn->setEnabled(is_zoomed); } void ChartsWidget::settingChanged() { + range_slider->setRange(1, settings.max_cached_minutes * 60); for (auto c : charts) { c->setFixedHeight(settings.chart_height); - columns_cb->setCurrentIndex(std::clamp(settings.chart_column_count - 1, 0, columns_cb->count() - 1)); - setColumnCount(settings.chart_column_count); } } @@ -189,11 +194,8 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo chart = new ChartView(this); chart->setFixedHeight(settings.chart_height); chart->setMinimumWidth(CHART_MIN_WIDTH); - chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); + chart->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); - chart->setEventsRange(display_range); - auto range = is_zoomed ? zoomed_range : display_range; - chart->setDisplayRange(range.first, range.second); QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); @@ -204,6 +206,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo updateLayout(); } chart->addSeries(id, sig); + updateState(); } else if (!show && chart) { chart->removeSeries(id, sig); } @@ -214,7 +217,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo void ChartsWidget::setColumnCount(int n) { n = std::clamp(n + 1, 1, columns_cb->count()); if (column_count != n) { - column_count = n; + column_count = settings.chart_column_count = n; updateLayout(); } } @@ -239,6 +242,7 @@ void ChartsWidget::removeChart(ChartView *chart) { chart->deleteLater(); updateToolBar(); alignCharts(); + updateLayout(); emit seriesChanged(); } @@ -440,36 +444,28 @@ void ChartView::updateTitle() { } } -void ChartView::setEventsRange(const std::pair &range) { - if (range != events_range) { - events_range = range; - updateSeries(); - } -} - -void ChartView::setDisplayRange(double min, double max) { +void ChartView::updatePlot(double cur, double min, double max) { + cur_sec = cur; if (min != axis_x->min() || max != axis_x->max()) { axis_x->setRange(min, max); updateAxisY(); } + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } -void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { - if (!events) events = can->events(); - if (!events || sigs.isEmpty()) return; - +void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { + events = events ? events : can->events(); for (auto &s : sigs) { if (!sig || s.sig == sig) { if (clear) { s.vals.clear(); + s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz s.last_value_mono_time = 0; } double route_start_time = can->routeStartTime(); - uint64_t begin_ts = can->liveStreaming() ? s.last_value_mono_time : (route_start_time + events_range.first) * 1e9; - Event begin_event(cereal::Event::Which::INIT_DATA, begin_ts); + Event begin_event(cereal::Event::Which::INIT_DATA, s.last_value_mono_time); auto begin = std::upper_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); - uint64_t end_ns = can->liveStreaming() ? events->back()->mono_time : (route_start_time + events_range.second) * 1e9; - for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { + for (auto it = begin; it != events->end(); ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { if (s.source == c.getSrc() && s.address == c.getAddress()) { @@ -481,13 +477,8 @@ void ChartView::updateSeries(const Signal *sig, const std::vector *event } } } - if (!s.vals.isEmpty()) { - auto [min_v, max_v] = std::minmax_element(s.vals.begin(), s.vals.end(), [](auto &l, auto &r) { return l.y() < r.y(); }); - s.min_y = min_v->y(); - s.max_y = max_v->y(); + if (events->size()) { s.last_value_mono_time = events->back()->mono_time; - } else { - s.min_y = s.max_y = 0; } s.series->replace(s.vals); updateAxisY(); @@ -501,18 +492,11 @@ void ChartView::updateAxisY() { double min_y = std::numeric_limits::max(); double max_y = std::numeric_limits::lowest(); - if (can->liveStreaming() || events_range == std::pair{axis_x->min(), axis_x->max()}) { - for (auto &s : sigs) { - if (s.min_y < min_y) min_y = s.min_y; - if (s.max_y > max_y) max_y = s.max_y; - } - } else { - 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; }); - for (auto it = begin; it != s.vals.end() && it->x() <= axis_x->max(); ++it) { - if (it->y() < min_y) min_y = it->y(); - if (it->y() > max_y) max_y = it->y(); - } + 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; }); + for (auto it = begin; it != s.vals.end() && it->x() <= axis_x->max(); ++it) { + if (it->y() < min_y) min_y = it->y(); + if (it->y() > max_y) max_y = it->y(); } } @@ -664,7 +648,8 @@ void ChartView::dropEvent(QDropEvent *event) { } void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { - qreal x = chart()->mapToPosition(QPointF{can->currentSec(), 0}).x(); + qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x(); + x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right()); qreal y1 = chart()->plotArea().top() - 2; qreal y2 = chart()->plotArea().bottom() + 2; painter->setPen(QPen(chart()->titleBrush().color(), 2)); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 9ba5ce5a30..94218918df 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -1,12 +1,12 @@ #pragma once #include -#include #include #include #include #include #include +#include #include #include #include @@ -26,8 +26,7 @@ public: void removeSeries(const QString &msg_id, const Signal *sig); bool hasSeries(const QString &msg_id, const Signal *sig) const; void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); - void setEventsRange(const std::pair &range); - void setDisplayRange(double min, double max); + void updatePlot(double cur, double min, double max); void setPlotAreaLeftPosition(int pos); qreal getYAsixLabelWidth() const; @@ -37,8 +36,6 @@ public: uint32_t address = 0; const Signal *sig = nullptr; QLineSeries *series = nullptr; - double min_y = 0; - double max_y = 0; QVector vals; uint64_t last_value_mono_time = 0; }; @@ -79,8 +76,8 @@ private: QPointF track_pt; QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; - std::pair events_range = {0, 0}; QList sigs; + double cur_sec = 0; const QString mime_type = "application/x-cabanachartview"; }; @@ -106,21 +103,21 @@ private: void removeChart(ChartView *chart); void eventsMerged(); void updateState(); - void updateDisplayRange(); void zoomIn(double min, double max); void zoomReset(); void updateToolBar(); void removeAll(); - void showAllData(); + void setMaxChartRange(int value); void updateLayout(); void settingChanged(); bool eventFilter(QObject *obj, QEvent *event) override; ChartView *findChart(const QString &id, const Signal *sig); QLabel *title_label; - QLabel *range_label; + QLabel *zoom_range_lb; + QLabel *range_lb; + QSlider *range_slider; bool docking = true; - QAction *show_all_values_btn; QAction *dock_btn; QAction *reset_zoom_btn; QAction *remove_all_btn; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 7a25449c81..8c26b265e0 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -15,9 +15,9 @@ Settings::Settings() { void Settings::save() { QSettings s("settings", QSettings::IniFormat); s.setValue("fps", fps); - s.setValue("cached_segment", cached_segment_limit); + s.setValue("max_cached_minutes", max_cached_minutes); s.setValue("chart_height", chart_height); - s.setValue("max_chart_x_range", max_chart_x_range); + s.setValue("chart_range", chart_range); s.setValue("chart_column_count", chart_column_count); s.setValue("last_dir", last_dir); s.setValue("window_state", window_state); @@ -28,9 +28,9 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - cached_segment_limit = s.value("cached_segment", 5).toInt(); + max_cached_minutes = s.value("cached_minutes", 5).toInt(); chart_height = s.value("chart_height", 200).toInt(); - max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); + 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(); window_state = s.value("window_state").toByteArray(); @@ -50,23 +50,17 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { fps->setValue(settings.fps); form_layout->addRow("FPS", fps); - cached_segment = new QSpinBox(this); - cached_segment->setRange(5, 60); - cached_segment->setSingleStep(1); - cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit"), cached_segment); - - max_chart_x_range = new QSpinBox(this); - max_chart_x_range->setRange(3, 60); - max_chart_x_range->setSingleStep(1); - max_chart_x_range->setValue(settings.max_chart_x_range / 60); - form_layout->addRow(tr("Chart range (minutes)"), max_chart_x_range); + cached_minutes = new QSpinBox(this); + cached_minutes->setRange(5, 60); + cached_minutes->setSingleStep(1); + cached_minutes->setValue(settings.max_cached_minutes); + form_layout->addRow(tr("Max Cached Minutes"), cached_minutes); chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart height"), chart_height); + form_layout->addRow(tr("Chart Height"), chart_height); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); form_layout->addRow(buttonBox); @@ -78,9 +72,8 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { void SettingsDlg::save() { settings.fps = fps->value(); - settings.cached_segment_limit = cached_segment->value(); + settings.max_cached_minutes = cached_minutes->value(); settings.chart_height = chart_height->value(); - settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); emit settings.changed(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index ed0ba3a549..86ebd73113 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,10 +14,10 @@ public: void load(); int fps = 10; - int cached_segment_limit = 5; + int max_cached_minutes = 5; int chart_height = 200; int chart_column_count = 1; - int max_chart_x_range = 3 * 60; // 3 minutes + int chart_range = 3 * 60; // e minutes QString last_dir; QByteArray geometry; QByteArray video_splitter_state; @@ -34,9 +34,8 @@ public: SettingsDlg(QWidget *parent); void save(); QSpinBox *fps; - QSpinBox *cached_segment; + QSpinBox *cached_minutes; QSpinBox *chart_height; - QSpinBox *max_chart_x_range; }; extern Settings settings; diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 17301d48e7..95c6e3811c 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -17,7 +17,7 @@ public: protected: void streamThread(); - void updateCachedNS() { cache_ns = (settings.cached_segment_limit * 60) * 1e9; } + void updateCachedNS() { cache_ns = (settings.max_cached_minutes * 60) * 1e9; } mutable std::mutex lock; mutable std::vector events_vector; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 97a3911adf..fd58f7a409 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -4,7 +4,7 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) { QObject::connect(&settings, &Settings::changed, [this]() { - if (replay) replay->setSegmentCacheLimit(settings.cached_segment_limit); + if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); }); } @@ -18,7 +18,7 @@ static bool event_filter(const Event *e, void *opaque) { 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); - replay->setSegmentCacheLimit(settings.cached_segment_limit); + 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); From c88853afaeab9c9ccf7f7c693c69d9d3e77ae6ac Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 21 Jan 2023 04:45:47 +0800 Subject: [PATCH 043/124] cabana: fix wrong column count displayed in combobox (#27020) fix wrong column count displayed in combobox --- tools/cabana/chartswidget.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index edca0e4d6a..d80ab7a2a0 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -75,7 +75,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { column_count = std::clamp(settings.chart_column_count, 1, columns_cb->count()); max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); display_range = {0, max_chart_range}; - columns_cb->setCurrentIndex(column_count); + columns_cb->setCurrentIndex(column_count - 1); range_slider->setValue(max_chart_range); updateToolBar(); From b8ec32103a4fab1ede5fc431eabc23118da82856 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 20 Jan 2023 13:03:02 -0800 Subject: [PATCH 044/124] boardd: include SPI panda in list (#27018) * boardd: include SPI panda in list * hexlify * fix hexlify * cleanup * little more Co-authored-by: Comma Device --- selfdrive/boardd/panda.cc | 23 ++++++++++++++++++++++- selfdrive/boardd/panda_comms.h | 5 ++--- 2 files changed, 24 insertions(+), 4 deletions(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index d4d53aa230..b12b26fb62 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -3,7 +3,9 @@ #include #include +#include #include +#include #include "cereal/messaging/messaging.h" #include "common/swaglog.h" @@ -40,7 +42,26 @@ bool Panda::comms_healthy() { } std::vector Panda::list() { - return PandaUsbHandle::list(); + std::vector serials = PandaUsbHandle::list(); + + // check SPI + const int uid_len = 12; + uint8_t uid[uid_len] = {0}; + PandaSpiHandle spi_handle("/dev/spidev0.0"); + int ret = spi_handle.control_read(0xc3, 0, 0, uid, uid_len); + if (ret == uid_len) { + std::stringstream stream; + for (int i = 0; i < uid_len; i++) { + stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); + } + + // might be on USB too + if (std::find(serials.begin(), serials.end(), stream.str()) == serials.end()) { + serials.push_back(stream.str()); + } + } + + return serials; } void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index bd262dfa0e..9d1f69e671 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -30,9 +30,6 @@ public: virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0; virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; - -protected: - std::recursive_mutex hw_lock; }; class PandaUsbHandle : public PandaCommsHandle { @@ -50,6 +47,7 @@ public: private: libusb_context *ctx = NULL; libusb_device_handle *dev_handle = NULL; + std::recursive_mutex hw_lock; void handle_usb_issue(int err, const char func[]); }; @@ -69,6 +67,7 @@ private: int spi_fd = -1; uint8_t tx_buf[SPI_BUF_SIZE]; uint8_t rx_buf[SPI_BUF_SIZE]; + inline static std::recursive_mutex hw_lock; int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len); From 75fd2e119946d2e5a850f924b5f33945435cad3f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 20 Jan 2023 13:11:51 -0800 Subject: [PATCH 045/124] skip lupdate on device --- selfdrive/ui/SConscript | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 0f28f5ccc3..2fb7227f63 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -74,12 +74,13 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' -lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py") lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") -qt_env.Depends(lrelease, lupdate) -qt_env.NoClean(translation_sources) -qt_env.Precious(translation_sources) -qt_env.NoCache(lupdate) +if arch != 'larch64': + lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py") + qt_env.Depends(lrelease, lupdate) + qt_env.NoClean(translation_sources) + qt_env.Precious(translation_sources) + qt_env.NoCache(lupdate) # setup and factory resetter if GetOption('extras'): From e883976a32a4190123d891f51cc567dfd77e6c85 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 20 Jan 2023 14:11:43 -0800 Subject: [PATCH 046/124] set path for extra qt bins on device (#27022) * set path for extra qt bins on device * no print Co-authored-by: Comma Device --- SConstruct | 1 + selfdrive/ui/SConscript | 11 +++++------ 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/SConstruct b/SConstruct index 8864164f15..31aa6ecced 100644 --- a/SConstruct +++ b/SConstruct @@ -311,6 +311,7 @@ else: qt_libs = [f"Qt5{m}" for m in qt_modules] if arch == "larch64": qt_libs += ["GLESv2", "wayland-client"] + qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath) elif arch != "Darwin": qt_libs += ["GL"] diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 2fb7227f63..0f28f5ccc3 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -74,13 +74,12 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' +lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py") lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") -if arch != 'larch64': - lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py") - qt_env.Depends(lrelease, lupdate) - qt_env.NoClean(translation_sources) - qt_env.Precious(translation_sources) - qt_env.NoCache(lupdate) +qt_env.Depends(lrelease, lupdate) +qt_env.NoClean(translation_sources) +qt_env.Precious(translation_sources) +qt_env.NoCache(lupdate) # setup and factory resetter if GetOption('extras'): From e507830a1c21490701d53093777bd2b5727202ca Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 20 Jan 2023 20:28:48 -0300 Subject: [PATCH 047/124] Multilang: new pt-BR translations (#27021) * improve pt-BR translations * update pt-BR translation Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 92bb552d3d..445de72fc3 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1047,11 +1047,11 @@ trabalho definido openpilot longitudinal control may come in a future update. - + O controle longitudinal openpilot pode vir em uma atualização futura. An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + Uma versão experimental do controle longitudinal openpilot pode ser testada, juntamente com o modo Experimental, em branches de desenvolvimento. Enable experimental longitudinal control to allow Experimental mode. From fa6e6a4eb52010466efb5a65d3b9ee7b59e86a58 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 21 Jan 2023 07:43:42 +0800 Subject: [PATCH 048/124] cabana: add no-vipc flag (#26999) --- tools/cabana/cabana.cc | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index ce0cb443cb..fc6c37fb72 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -22,6 +22,7 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"stream", "read can messages from live streaming"}); 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.process(app); const QStringList args = cmd_parser.positionalArguments(); if (args.empty() && !cmd_parser.isSet("demo") && !cmd_parser.isSet("stream")) { @@ -44,6 +45,8 @@ int main(int argc, char *argv[]) { replay_flags |= REPLAY_FLAG_ECAM; } else if (cmd_parser.isSet("qcam")) { replay_flags |= REPLAY_FLAG_QCAMERA; + } else if (cmd_parser.isSet("no-vipc")) { + replay_flags |= REPLAY_FLAG_NO_VIPC; } auto replay_stream = new ReplayStream(&app); stream.reset(replay_stream); From e710dc1b7ed5fb3c30263bd81e844a03e0889049 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Fri, 20 Jan 2023 21:07:01 -0600 Subject: [PATCH 049/124] lower spi log level --- selfdrive/boardd/spi.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 8a6bf8be7f..2779494ae4 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -214,7 +214,7 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { // handle timeout if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) { - LOGE("SPI: timed out waiting for ACK"); + LOGD("SPI: timed out waiting for ACK"); return -1; } } From 027c27cd690120d8ff8823f0b53cc2c9d6af7df3 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 20 Jan 2023 23:19:01 -0700 Subject: [PATCH 050/124] Laikad: add test (#27028) * add laikad tropo test Co-authored-by: Kurt Nistelberger --- selfdrive/locationd/test/test_laikad.py | 34 +++++++++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 6059eab68f..d89f521228 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -22,7 +22,24 @@ def get_log(segs=range(0)): logs = [] for i in segs: logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - return [m for m in logs if m.which() == 'ubloxGnss'] + + all_logs = [m for m in logs if m.which() == 'ubloxGnss'] + low_gnss = [] + for m in all_logs: + if m.ubloxGnss.which() != 'measurementReport': + continue + + MAX_MEAS = 7 + if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: + mb = m.as_builder() + mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS + mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] + mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 + low_gnss.append(mb.as_reader()) + else: + low_gnss.append(m) + + return all_logs, low_gnss def verify_messages(lr, laikad, return_one_success=False): @@ -59,8 +76,9 @@ class TestLaikad(unittest.TestCase): @classmethod def setUpClass(cls): - logs = get_log(range(1)) + logs, low_gnss = get_log(range(1)) cls.logs = logs + cls.low_gnss = low_gnss first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -254,6 +272,18 @@ class TestLaikad(unittest.TestCase): # Verify orbit data is not downloaded mock_method.assert_not_called() + def test_low_gnss_meas(self): + cnt = 0 + laikad = Laikad() + for m in self.low_gnss: + msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) + if msg is None: + continue + gm = msg.gnssMeasurements + if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: + cnt += 1 + self.assertEqual(cnt, 554) + def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) From 945d0c7696e79fd1889743f112d68060c0b67650 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 22 Jan 2023 04:41:55 +0800 Subject: [PATCH 051/124] cabana: new chart on top (#27031) --- 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 d80ab7a2a0..a9b1d66fb9 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -224,11 +224,11 @@ void ChartsWidget::setColumnCount(int n) { void ChartsWidget::updateLayout() { int n = column_count; - for (; n >= 1; --n) { + for (; n > 1; --n) { if ((n * (CHART_MIN_WIDTH + charts_layout->spacing())) < rect().width()) break; } for (int i = 0; i < charts.size(); ++i) { - charts_layout->addWidget(charts[i], i / n, i % n); + charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n); } } From 51cb45e7a88d1f0cf908292df2438c23df35d523 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 21 Jan 2023 16:07:58 -0500 Subject: [PATCH 052/124] VW MQB: Add FW for 2015 Volkswagen Passat (#27032) --- 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 6ae4969cc0..51161f2972 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -568,6 +568,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', + b'\xf1\x8704L906026DP\xf1\x891538', b'\xf1\x8704L906026ET\xf1\x891990', b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', @@ -586,6 +587,7 @@ FW_VERSIONS = { ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', + b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', @@ -596,6 +598,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', @@ -604,6 +607,7 @@ FW_VERSIONS = { b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572A \xf1\x890126', b'\xf1\x873Q0907572A \xf1\x890130', b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572C \xf1\x890195', From 35a943030ba67b89a13bdf95257e0b349ffb0ef7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 22 Jan 2023 08:00:39 +0800 Subject: [PATCH 053/124] cabana: add new plot btn to create chart (#27023) --- tools/cabana/chartswidget.cc | 48 ++++++++++++++++++++++++------------ tools/cabana/chartswidget.h | 4 ++- 2 files changed, 35 insertions(+), 17 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a9b1d66fb9..ca52e44474 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -24,6 +24,8 @@ 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"), ""); + new_plot_btn->setToolTip(tr("New Plot")); toolbar->addWidget(title_label = new QLabel()); title_label->setContentsMargins(0, 0, 12, 0); columns_cb = new QComboBox(this); @@ -83,6 +85,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); + QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); QObject::connect(columns_cb, SIGNAL(activated(int)), SLOT(setColumnCount(int))); @@ -185,26 +188,28 @@ ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) { return nullptr; } +ChartView *ChartsWidget::createChart() { + auto chart = new ChartView(this); + chart->setFixedHeight(settings.chart_height); + chart->setMinimumWidth(CHART_MIN_WIDTH); + chart->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); + QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); + QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); + QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); + QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); + QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); + QObject::connect(chart, &ChartView::axisYUpdated, [this]() { align_charts_timer->start(100); }); + charts.push_back(chart); + updateLayout(); + return chart; +} + void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bool merge) { setUpdatesEnabled(false); ChartView *chart = findChart(id, sig); if (show && !chart) { - chart = merge && charts.size() > 0 ? charts.back() : nullptr; - if (!chart) { - chart = new ChartView(this); - chart->setFixedHeight(settings.chart_height); - chart->setMinimumWidth(CHART_MIN_WIDTH); - chart->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); - chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); - QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); - QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); - QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); - QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::axisYUpdated, [this]() { align_charts_timer->start(100); }); - charts.push_back(chart); - updateLayout(); - } + chart = merge && charts.size() > 0 ? charts.back() : createChart(); chart->addSeries(id, sig); updateState(); } else if (!show && chart) { @@ -237,6 +242,17 @@ void ChartsWidget::resizeEvent(QResizeEvent *event) { updateLayout(); } +void ChartsWidget::newChart() { + SeriesSelector dlg(this); + if (dlg.exec() == QDialog::Accepted) { + QList series_list = dlg.series(); + if (!series_list.isEmpty()) { + auto c = createChart(); + c->addSeries(series_list); + } + } +} + void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 94218918df..f134136323 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -23,6 +23,7 @@ class ChartView : public QChartView { public: ChartView(QWidget *parent = nullptr); void addSeries(const QString &msg_id, const Signal *sig); + void addSeries(const QList &series_list); void removeSeries(const QString &msg_id, const Signal *sig); bool hasSeries(const QString &msg_id, const Signal *sig) const; void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); @@ -69,7 +70,6 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; void applyNiceNumbers(qreal min, qreal max); qreal niceNumber(qreal x, bool ceiling); - void addSeries(const QList &series_list); QValueAxis *axis_x; QValueAxis *axis_y; @@ -100,6 +100,8 @@ signals: private: void resizeEvent(QResizeEvent *event) override; void alignCharts(); + void newChart(); + ChartView * createChart(); void removeChart(ChartView *chart); void eventsMerged(); void updateState(); From d7bcbfd54bd4a2ba34423222557181ff50d55134 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 21 Jan 2023 17:28:56 -0800 Subject: [PATCH 054/124] rawgpsd: enable gps power (#27034) --- selfdrive/sensord/rawgps/rawgpsd.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 1c65051665..3fa5e927a2 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -11,7 +11,9 @@ from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging +from common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime +from system.hardware.tici.pins import GPIO from system.swaglog import cloudlog from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, @@ -182,6 +184,7 @@ def main() -> NoReturn: def cleanup(sig, frame): cloudlog.warning(f"caught sig {sig}, disabling quectel gps") + gpio_set(GPIO.UBLOX_PWR_EN, False) teardown_quectel(diag) cloudlog.warning("quectel cleanup done") sys.exit(0) @@ -190,6 +193,8 @@ def main() -> NoReturn: setup_quectel(diag) cloudlog.warning("quectel setup done") + gpio_init(GPIO.UBLOX_PWR_EN, True) + gpio_set(GPIO.UBLOX_PWR_EN, True) pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) From 66ff2de0a29438c80e8834ac78a696ca21b30601 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 21 Jan 2023 19:42:10 -0800 Subject: [PATCH 055/124] boardd: connect to SPI panda by UID (#27035) * move list * connect by serial * cleanup hw serial * little more * rm excessive print Co-authored-by: Comma Device --- selfdrive/boardd/boardd.cc | 4 +-- selfdrive/boardd/panda.cc | 31 ++++++++------------ selfdrive/boardd/panda.h | 2 +- selfdrive/boardd/panda_comms.cc | 2 +- selfdrive/boardd/panda_comms.h | 1 + selfdrive/boardd/spi.cc | 50 +++++++++++++++++++++++++-------- 6 files changed, 54 insertions(+), 36 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index e626882191..bc454aa54e 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -225,9 +225,9 @@ void can_send_thread(std::vector pandas, bool fake_send) { //Dont send if older than 1 second if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { for (const auto& panda : pandas) { - LOGT("sending sendcan to panda: %s", (panda->hw_serial).c_str()); + LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str()); panda->can_send(event.getSendcan()); - LOGT("sendcan sent to panda: %s", (panda->hw_serial).c_str()); + LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); } } } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index b12b26fb62..600a46c809 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -3,20 +3,18 @@ #include #include -#include #include -#include #include "cereal/messaging/messaging.h" #include "common/swaglog.h" #include "common/util.h" Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { - // TODO: support SPI here one day... - if (serial.find("spi") != std::string::npos) { - handle = std::make_unique(serial); - } else { + // try USB first, then SPI + try { handle = std::make_unique(serial); + } catch (std::exception &e) { + handle = std::make_unique(serial); } hw_type = get_hw_type(); @@ -41,23 +39,16 @@ bool Panda::comms_healthy() { return handle->comms_healthy; } +std::string Panda::hw_serial() { + return handle->hw_serial; +} + std::vector Panda::list() { std::vector serials = PandaUsbHandle::list(); - // check SPI - const int uid_len = 12; - uint8_t uid[uid_len] = {0}; - PandaSpiHandle spi_handle("/dev/spidev0.0"); - int ret = spi_handle.control_read(0xc3, 0, 0, uid, uid_len); - if (ret == uid_len) { - std::stringstream stream; - for (int i = 0; i < uid_len; i++) { - stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); - } - - // might be on USB too - if (std::find(serials.begin(), serials.end(), stream.str()) == serials.end()) { - serials.push_back(stream.str()); + for (auto s : PandaSpiHandle::list()) { + if (std::find(serials.begin(), serials.end(), s) == serials.end()) { + serials.push_back(s); } } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 156efe7ef3..69df2e2b66 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -48,13 +48,13 @@ private: public: Panda(std::string serial="", uint32_t bus_offset=0); - std::string hw_serial; cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; bool has_rtc = false; const uint32_t bus_offset; bool connected(); bool comms_healthy(); + std::string hw_serial(); // Static functions static std::vector list(); diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc index e73cb69318..120d2f67d5 100644 --- a/selfdrive/boardd/panda_comms.cc +++ b/selfdrive/boardd/panda_comms.cc @@ -44,7 +44,7 @@ PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); if (ret < 0) { goto fail; } - auto hw_serial = std::string((char *)desc_serial, ret); + hw_serial = std::string((char *)desc_serial, ret); if (serial.empty() || serial == hw_serial) { break; } diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index 9d1f69e671..b669d77e7f 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -21,6 +21,7 @@ public: virtual ~PandaCommsHandle() {}; virtual void cleanup() = 0; + std::string hw_serial; std::atomic connected = true; std::atomic comms_healthy = true; static std::vector list(); diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 2779494ae4..bcc446b050 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -5,6 +5,8 @@ #include #include #include +#include +#include #include "common/util.h" #include "common/timing.h" @@ -28,6 +30,7 @@ struct __attribute__((packed)) spi_header { const int SPI_MAX_RETRIES = 5; const int SPI_ACK_TIMEOUT = 50; // milliseconds +const std::string SPI_DEVICE = "/dev/spidev0.0"; class LockEx { public: @@ -48,38 +51,56 @@ private: PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { - LOGD("opening SPI panda: %s", serial.c_str()); + int ret; + const int uid_len = 12; + uint8_t uid[uid_len] = {0}; - int err; uint32_t spi_mode = SPI_MODE_0; uint32_t spi_speed = 30000000; uint8_t spi_bits_per_word = 8; - spi_fd = open(serial.c_str(), O_RDWR); + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); if (spi_fd < 0) { - LOGE("failed opening SPI device %d", err); + LOGE("failed opening SPI device %d", spi_fd); goto fail; } // SPI settings - err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode); - if (err < 0) { - LOGE("failed setting SPI mode %d", err); + ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode); + if (ret < 0) { + LOGE("failed setting SPI mode %d", ret); goto fail; } - err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); - if (err < 0) { + ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); + if (ret < 0) { LOGE("failed setting SPI speed"); goto fail; } - err = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word); - if (err < 0) { + ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word); + if (ret < 0) { LOGE("failed setting SPI bits per word"); goto fail; } + // get hw UID/serial + ret = control_read(0xc3, 0, 0, uid, uid_len); + if (ret == uid_len) { + std::stringstream stream; + for (int i = 0; i < uid_len; i++) { + stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); + } + hw_serial = stream.str(); + } else { + LOGD("failed to get serial %d", ret); + goto fail; + } + + if (!serial.empty() && (serial != hw_serial)) { + goto fail; + } + return; fail: @@ -163,7 +184,12 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t } std::vector PandaSpiHandle::list() { - // TODO: list all pandas available over SPI + try { + PandaSpiHandle sh(""); + return {sh.hw_serial}; + } catch (std::exception &e) { + // no panda on SPI + } return {}; } From 3018d1c8ff93c15edf37aa8ab8c745438133b200 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 21 Jan 2023 19:43:38 -0800 Subject: [PATCH 056/124] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index e83b2189c1..4750449f3c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e83b2189c148499b8ba430433886791217f3389a +Subproject commit 4750449f3cc41e2dc8141b4818025c5c538dad17 From 1e4721ad62d8953ed2e55ebcb4c02d7e06d393df Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 23 Jan 2023 05:20:20 +0800 Subject: [PATCH 057/124] cabana: fix memory corruption in live stream (#27037) --- tools/cabana/streams/livestream.cc | 33 ++++++++++++++++++++---------- tools/cabana/streams/livestream.h | 5 +++-- 2 files changed, 25 insertions(+), 13 deletions(-) diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index bc5b811f44..b0af9f3281 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -4,8 +4,11 @@ LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), if (!zmq_address.isEmpty()) { setenv("ZMQ", "1", 1); } - updateCachedNS(); - QObject::connect(&settings, &Settings::changed, this, &LiveStream::updateCachedNS); + + timer = new QTimer(this); + timer->callOnTimeout(this, &LiveStream::removeExpiredEvents); + timer->start(3 * 1000); + stream_thread = new QThread(this); QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); @@ -37,23 +40,17 @@ void LiveStream::streamThread() { AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer()); Event *evt = ::new Event(buf->align(msg)); delete msg; - { std::lock_guard lk(lock); can_events.push_back(evt); - if ((evt->mono_time - can_events.front()->mono_time) > cache_ns) { - ::delete can_events.front(); - delete messages.front(); - can_events.pop_front(); - messages.pop_front(); - } } + if (start_ts == 0) { start_ts = evt->mono_time; emit streamStarted(); } current_ts = evt->mono_time; - if (start_ts > current_ts) { + if (current_ts < start_ts) { qDebug() << "stream is looping back to old time stamp"; start_ts = current_ts.load(); } @@ -62,9 +59,23 @@ void LiveStream::streamThread() { } } -const std::vector *LiveStream::events() const { +void LiveStream::removeExpiredEvents() { std::lock_guard lk(lock); + if (can_events.size() > 0) { + const uint64_t max_ns = settings.max_cached_minutes * 60 * 1e9; + const uint64_t last_ns = can_events.back()->mono_time; + while (!can_events.empty() && (last_ns - can_events.front()->mono_time) > max_ns) { + ::delete can_events.front(); + delete messages.front(); + can_events.pop_front(); + messages.pop_front(); + } + } +} + +const std::vector *LiveStream::events() const { events_vector.clear(); + std::lock_guard lk(lock); events_vector.reserve(can_events.size()); std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector)); return &events_vector; diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 95c6e3811c..db1638d761 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,5 +1,6 @@ #pragma once +#include #include "tools/cabana/streams/abstractstream.h" class LiveStream : public AbstractStream { @@ -17,7 +18,7 @@ public: protected: void streamThread(); - void updateCachedNS() { cache_ns = (settings.max_cached_minutes * 60) * 1e9; } + void removeExpiredEvents(); mutable std::mutex lock; mutable std::vector events_vector; @@ -25,7 +26,7 @@ protected: std::deque messages; std::atomic start_ts = 0; std::atomic current_ts = 0; - std::atomic cache_ns = 0; const QString zmq_address; QThread *stream_thread; + QTimer *timer; }; From a0f91b0a8b1f9e8d14adfb32691c8dec66807d13 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 23 Jan 2023 05:20:40 +0800 Subject: [PATCH 058/124] cabana: fix chart range not updated when replay is seeking back. (#27036) --- tools/cabana/chartswidget.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index ca52e44474..2965ae0476 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -135,7 +135,7 @@ void ChartsWidget::updateState() { const double cur_sec = can->currentSec(); if (!is_zoomed) { double pos = (cur_sec - display_range.first) / max_chart_range; - if (pos > 0.8) { + if (pos < 0 || pos > 0.8) { const double min_event_sec = (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)); } From 42937056481be5959664d00c8dd0a78220574695 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Sun, 22 Jan 2023 16:26:55 -0600 Subject: [PATCH 059/124] test manager: use ensure_running to start relevant procs --- selfdrive/manager/process.py | 6 +++++- selfdrive/manager/test/test_manager.py | 27 +++++++++++++------------- 2 files changed, 19 insertions(+), 14 deletions(-) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index dabfbe4ee0..ce18073d9b 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -290,10 +290,11 @@ class DaemonProcess(ManagerProcess): def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, - not_run: Optional[List[str]]=None) -> None: + not_run: Optional[List[str]]=None) -> List[ManagerProcess]: if not_run is None: not_run = [] + running = [] for p in procs: # Conditions that make a process run run = any(( @@ -311,7 +312,10 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None if run: p.start() + running.append(p) else: p.stop(block=False) p.check_watchdog(started) + + return running diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 6d4df0423a..8712c9478e 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -4,17 +4,17 @@ import signal import time import unittest +from cereal import car from common.params import Params import selfdrive.manager.manager as manager -from selfdrive.manager.process import DaemonProcess +from selfdrive.manager.process import ensure_running, DaemonProcess from selfdrive.manager.process_config import managed_processes from system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" MAX_STARTUP_TIME = 3 -ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['pandad', ])] - +BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] class TestManager(unittest.TestCase): def setUp(self): @@ -47,24 +47,25 @@ class TestManager(unittest.TestCase): HARDWARE.set_power_save(False) manager.manager_init() manager.manager_prepare() - for p in ALL_PROCESSES: - managed_processes[p].start() + + CP = car.CarParams.new_message() + procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) time.sleep(10) - for p in reversed(ALL_PROCESSES): - with self.subTest(proc=p): - state = managed_processes[p].get_process_state_msg() - self.assertTrue(state.running, f"{p} not running") - exit_code = managed_processes[p].stop(retry=False) + for p in procs: + with self.subTest(proc=p.name): + state = p.get_process_state_msg() + self.assertTrue(state.running, f"{p.name} not running") + exit_code = p.stop(retry=False) - self.assertTrue(exit_code is not None, f"{p} failed to exit") + self.assertTrue(exit_code is not None, f"{p.name} failed to exit") # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code exit_codes = [0, 1] - if managed_processes[p].sigkill: + if p.sigkill: exit_codes = [-signal.SIGKILL] - self.assertIn(exit_code, exit_codes, f"{p} died with {exit_code}") + self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}") if __name__ == "__main__": From 100fe10c7c326f3d22685ca8a0ebb486c57c85cf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 22 Jan 2023 15:08:36 -0800 Subject: [PATCH 060/124] jenkins: tmp disable sim test due to ZMQ bug (#27043) --- Jenkinsfile | 2 ++ selfdrive/manager/test/test_manager.py | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index bd138bed76..1841c68bba 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -81,6 +81,7 @@ pipeline { parallel { + /* stage('simulator') { agent { dockerfile { @@ -108,6 +109,7 @@ pipeline { } } } + */ stage('build') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 8712c9478e..889ab3d279 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -7,7 +7,7 @@ import unittest from cereal import car from common.params import Params import selfdrive.manager.manager as manager -from selfdrive.manager.process import ensure_running, DaemonProcess +from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes from system.hardware import HARDWARE From f5d253764cc3219fae26361af07bf5de9bf94b0a Mon Sep 17 00:00:00 2001 From: "Michael G. Inso" <68110223+MiChaelinzo@users.noreply.github.com> Date: Mon, 23 Jan 2023 20:49:48 +0300 Subject: [PATCH 061/124] Update cell.sh (#27055) You can combine the two nmcli commands into a single command by specifying both ipv4 and ipv6 options at the same time. You can use the nmcli command with the --wait option to wait for the connection to be fully established before exiting. You can use nmcli command with the --ask option to prompt the user to confirm the action before proceeding. --- scripts/cell.sh | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/scripts/cell.sh b/scripts/cell.sh index cae701eccc..3623fe5b16 100755 --- a/scripts/cell.sh +++ b/scripts/cell.sh @@ -1,5 +1,3 @@ #!/usr/bin/bash - -nmcli connection modify --temporary lte ipv4.route-metric 1 -nmcli connection modify --temporary lte ipv6.route-metric 1 -nmcli con up lte +nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1 +nmcli con up --wait --ask lte From e49c7fa2bf3bbc2eb6aa851c51d82f1cfd6b9212 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 24 Jan 2023 02:16:11 +0800 Subject: [PATCH 062/124] cabana: fix slider crash on exit if loadThumbnails is running (#27052) --- tools/cabana/videowidget.cc | 5 +++++ tools/cabana/videowidget.h | 1 + 2 files changed, 6 insertions(+) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 7d46769a47..729302adaa 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -133,6 +133,11 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted); } +Slider::~Slider() { + abort_load_thumbnail = true; + thumnail_future.waitForFinished(); +} + void Slider::streamStarted() { abort_load_thumbnail = true; thumnail_future.waitForFinished(); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 6b4c02c573..392db23512 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -18,6 +18,7 @@ class Slider : public QSlider { public: Slider(QWidget *parent); + ~Slider(); private: void mousePressEvent(QMouseEvent *e) override; From b2c6d5d34a1cc194aaf98c4963677a5581bf0a94 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 23 Jan 2023 20:16:50 -0800 Subject: [PATCH 063/124] Honda: merge Passport platform into Pilot (#27061) * Move Passport FW versions to Pilot * lol, all duplicates already in pilot * No Passport * Better params for both --- selfdrive/car/honda/carstate.py | 2 +- selfdrive/car/honda/interface.py | 8 ++-- selfdrive/car/honda/values.py | 55 +++++++-------------------- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/tests/test_models.py | 2 +- selfdrive/car/torque_data/params.yaml | 1 - 6 files changed, 21 insertions(+), 49 deletions(-) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index a37667fd3a..16880d1b1f 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -274,7 +274,7 @@ class CarState(CarStateBase): ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"]) # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models - if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE): + if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE): if ret.brake > 0.1: ret.brakePressed = True diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 990238ae5d..da921ccda7 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -231,11 +231,11 @@ class CarInterface(CarInterfaceBase): else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - elif candidate in (CAR.PILOT, CAR.PASSPORT): - ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight - ret.wheelbase = 2.82 + elif candidate == CAR.PILOT: + ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG # average weight + ret.wheelbase = 2.86 ret.centerToFront = ret.wheelbase * 0.428 - ret.steerRatio = 17.25 # as spec + ret.steerRatio = 16.0 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 2906b23bda..1455609226 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -91,7 +91,6 @@ class CAR: ACURA_RDX = "ACURA RDX 2018" ACURA_RDX_3G = "ACURA RDX 2020" PILOT = "HONDA PILOT 2017" - PASSPORT = "HONDA PASSPORT 2021" RIDGELINE = "HONDA RIDGELINE 2017" INSIGHT = "HONDA INSIGHT 2019" HONDA_E = "HONDA E 2020" @@ -142,8 +141,10 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.PILOT: [ + HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), + ], CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), @@ -1067,6 +1068,8 @@ FW_VERSIONS = { b'28101-5EZ-A060\x00\x00', b'28101-5EZ-A100\x00\x00', b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A600\x00\x00', + b'28101-5EZ-A430\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-RLV-4060\x00\x00', @@ -1078,6 +1081,9 @@ FW_VERSIONS = { b'37805-RLV-C520\x00\x00', b'37805-RLV-C530\x00\x00', b'37805-RLV-C910\x00\x00', + b'37805-RLV-B220\x00\x00', + b'37805-RLV-B210\x00\x00', + b'37805-RLV-L160\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', @@ -1110,6 +1116,7 @@ FW_VERSIONS = { b'36161-TGS-A130\x00\x00', b'36161-TGT-A030\x00\x00', b'36161-TGT-A130\x00\x00', + b'36161-TGS-A030\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TG7-A020\x00\x00', @@ -1147,6 +1154,9 @@ FW_VERSIONS = { b'78109-TGS-AP20\x00\x00', b'78109-TGT-AJ20\x00\x00', b'78109-TGT-AK30\x00\x00', + b'78109-TGS-AT20\x00\x00', + b'78109-TGS-AX20\x00\x00', + b'78109-TGS-AJ20\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TG7-A130\x00\x00', @@ -1163,42 +1173,6 @@ FW_VERSIONS = { b'57114-TGT-A530\x00\x00', ], }, - CAR.PASSPORT: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-RLV-B220\x00\x00', - b'37805-RLV-B210\x00\x00', - b'37805-RLV-L160\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TGS-A230\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TGS-A030\x00\x00', - b'36161-TGS-A130\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TG7-A040\x00\x00', - b'38897-TG7-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TGS-A010\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TG7-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5EZ-A600\x00\x00', - b'28101-5EZ-A430\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TGS-AT20\x00\x00', - b'78109-TGS-AX20\x00\x00', - b'78109-TGS-AJ20\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TGS-A530\x00\x00', - ], - }, CAR.ACURA_RDX: { (Ecu.vsa, 0x18da28f1, None): [ b'57114-TX5-A220\x00\x00', @@ -1499,7 +1473,6 @@ DBC = { CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.PASSPORT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None), @@ -1514,7 +1487,7 @@ STEER_THRESHOLD = { HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, - CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE} + CAR.PILOT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index ac0521cc68..29cea9c030 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -72,7 +72,7 @@ routes = [ CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL), CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT), CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT), - CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT), + CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT), # Passport CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH), CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b6f78c4b47..4627b9a570 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -245,7 +245,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: remove this exception once this mismatch is resolved brake_pressed = CS.brakePressed if CS.brakePressed and not self.safety.get_brake_pressed_prev(): - if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05: + if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05: brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index eb1a04cee6..397b29525d 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -22,7 +22,6 @@ HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281] HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] -HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284] 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] From 7090a8841935d3a1c67fd915e4898a9880c237b5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Jan 2023 00:04:56 -0800 Subject: [PATCH 064/124] Fix fuzz_fw_fingerprint.py script --- selfdrive/debug/internal/fuzz_fw_fingerprint.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py index 1ea133cc19..a18390fef3 100755 --- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py @@ -28,7 +28,7 @@ if __name__ == "__main__": for candidate, fws in FWS.items(): fw_dict = {} for (tp, addr, subaddr), fw_list in fws.items(): - fw_dict[(addr, subaddr)] = random.choice(fw_list) + fw_dict[(addr, subaddr)] = [random.choice(fw_list)] matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate) From 75f6dc385d86f587504ad2b8d676dcf5a3f40ddd Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 24 Jan 2023 14:10:31 +0100 Subject: [PATCH 065/124] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 4750449f3c..687676be40 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4750449f3cc41e2dc8141b4818025c5c538dad17 +Subproject commit 687676be4025d9caf9520be89cb328d6a3cc3e10 From b2675cef9a9d4993859b0cd924a1ca74281024f9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 25 Jan 2023 03:36:40 +0800 Subject: [PATCH 066/124] cabana: colorful logs based on activity (#27008) * color logs * remove space * update in updateColors --- tools/cabana/SConscript | 2 +- tools/cabana/historylog.cc | 34 +++++++-- tools/cabana/historylog.h | 7 +- tools/cabana/messageswidget.cc | 46 +----------- tools/cabana/messageswidget.h | 7 -- tools/cabana/streams/abstractstream.cc | 62 +--------------- tools/cabana/streams/abstractstream.h | 11 +-- tools/cabana/util.cc | 99 ++++++++++++++++++++++++++ tools/cabana/util.h | 38 ++++++++++ 9 files changed, 176 insertions(+), 130 deletions(-) create mode 100644 tools/cabana/util.cc create mode 100644 tools/cabana/util.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 9b172a544f..fbf3c03d36 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', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + '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 GetOption('test'): diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index f0f40697b8..4a975afc4d 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -16,16 +16,16 @@ void HistoryLogModel::setDisplayType(HistoryLogModel::DisplayType type) { QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { const bool display_signals = display_type == HistoryLogModel::Signals; + const auto &m = messages[index.row()]; if (role == Qt::DisplayRole) { - const auto &m = messages[index.row()]; if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return display_signals ? QString::number(m.sig_values[index.column() - 1]) : m.data; - } else if (role == Qt::FontRole && index.column() == 1 && !display_signals) { - return QFontDatabase::systemFont(QFontDatabase::FixedFont); + return display_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); } else if (role == Qt::ToolTipRole && index.column() > 0 && display_signals) { return tr("double click to open the chart"); + } else if (role == Qt::UserRole && index.column() == 1 && !display_signals) { + return HexColors::toVariantList(m.colors); } return {}; } @@ -45,6 +45,7 @@ void HistoryLogModel::refresh() { beginResetModel(); last_fetch_time = 0; messages.clear(); + hex_colors.clear(); updateState(); endResetModel(); } @@ -91,6 +92,7 @@ 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; @@ -103,11 +105,29 @@ 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_type == HistoryLogModel::Hex) { + 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; @@ -124,7 +144,7 @@ std::deque HistoryLogModel::fetchData(InputIt first, I if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { auto &m = msgs.emplace_back(); m.mono_time = (*it)->mono_time; - m.data = toHex(QByteArray((char *)dat.begin(), dat.size())); + m.data = QByteArray((char *)dat.begin(), dat.size()); m.sig_values = values; if (msgs.size() >= batch_size && min_time == 0) return msgs; @@ -135,6 +155,7 @@ std::deque HistoryLogModel::fetchData(InputIt first, I } return msgs; } + template std::deque HistoryLogModel::fetchData<>(std::vector::iterator first, std::vector::iterator last, uint64_t min_time); template std::deque HistoryLogModel::fetchData<>(std::vector::reverse_iterator first, std::vector::reverse_iterator last, uint64_t min_time); @@ -183,6 +204,7 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); verticalHeader()->setVisible(false); + setItemDelegateForColumn(1, new MessageBytesDelegate(this)); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); } @@ -225,8 +247,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh); QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged); + dynamic_mode->setChecked(true); if (can->liveStreaming()) { - dynamic_mode->setChecked(true); dynamic_mode->setEnabled(false); } } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 2ab204af15..34af713fd3 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -41,12 +41,14 @@ public: } void setDynamicMode(int state); void segmentsMerged(); + void updateColors(); void refresh(); struct Message { uint64_t mono_time = 0; QVector sig_values; - QString data; + QByteArray data; + QVector colors; }; template @@ -54,6 +56,7 @@ public: std::deque fetchData(uint64_t from_time, uint64_t min_time = 0); QString msg_id; + HexColors hex_colors; bool has_more_data = true; const int batch_size = 50; int filter_sig_idx = -1; @@ -62,7 +65,7 @@ public: std::function filter_cmp = nullptr; std::deque messages; std::vector sigs; - bool dynamic_mode = false; + bool dynamic_mode = true; DisplayType display_type = HistoryLogModel::Signals; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 0d06604fdc..353fe26340 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -79,15 +79,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { case 3: return can_data.count; case 4: return toHex(can_data.dat); } - } else if (role == Qt::FontRole && index.column() == columnCount() - 1) { - return QFontDatabase::systemFont(QFontDatabase::FixedFont); } else if (role == Qt::UserRole && index.column() == 4) { - - QList colors; - for (int i = 0; i < can_data.dat.size(); i++){ - colors.append(can_data.colors[i]); - } - return colors; + return HexColors::toVariantList(can_data.colors); } return {}; } @@ -174,40 +167,3 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { sortMessages(); } } - - -MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { -} - -void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - QList colors = index.data(Qt::UserRole).toList(); - - QStyleOptionViewItemV4 opt = option; - initStyleOption(&opt, index); - - const QFont font = index.data(Qt::FontRole).value(); - painter->setFont(font); - - QRect rect = opt.rect; - QString bytes = QString(opt.text); - - QRect pos = rect; - QRect space = painter->boundingRect(pos, opt.displayAlignment, " "); - pos.setX(pos.x() + space.width()); - - if ((option.state & QStyle::State_Selected) && (option.state & QStyle::State_Active)) { - painter->setPen(option.palette.color(QPalette::HighlightedText)); - } else { - painter->setPen(option.palette.color(QPalette::Text)); - } - - int i = 0; - for (auto &byte : bytes.split(" ")) { - QRect sz = painter->boundingRect(pos, opt.displayAlignment, byte); - const int m = space.width() / 2; - painter->fillRect(sz.marginsAdded(QMargins(m + 1, m, m, m)), colors[i].value()); - painter->drawText(pos, opt.displayAlignment, byte); - pos.setX(pos.x() + sz.width() + space.width()); - i++; - } -} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 187e4715b9..49f57b78e6 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -42,10 +42,3 @@ protected: QString current_msg_id; MessageListModel *model; }; - -class MessageBytesDelegate : public QStyledItemDelegate { - Q_OBJECT -public: - MessageBytesDelegate(QObject *parent); - void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; -}; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 6ae1900184..b188c41826 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -17,15 +17,9 @@ void AbstractStream::process(QHash *messages) { processing = false; } -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); -} - bool AbstractStream::updateEvent(const Event *event) { static std::unique_ptr new_msgs = std::make_unique>(); - static QHash prev_dat; - static QHash> colors; - static QHash> last_change_t; + static QHash hex_colors; static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { @@ -48,59 +42,7 @@ bool AbstractStream::updateEvent(const Event *event) { if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = data.count / delta; } - - // Init colors - if (colors[id].size() != data.dat.size()) { - colors[id].clear(); - for (int i = 0; i < data.dat.size(); i++){ - colors[id].append(QColor(0, 0, 0, 0)); - } - } - - // Init last_change_t - if (last_change_t[id].size() != data.dat.size()) { - last_change_t[id].clear(); - for (int i = 0; i < data.dat.size(); i++){ - last_change_t[id].append(data.ts); - } - } - - // Compute background color for the bytes based on changes - if (prev_dat[id].size() == data.dat.size()) { - for (int i = 0; i < data.dat.size(); i++){ - uint8_t last = prev_dat[id][i]; - uint8_t cur = data.dat[i]; - - const int periodic_threshold = 10; - const int start_alpha = 128; - const float fade_time = 2.0; - - if (last != cur) { - double delta_t = data.ts - last_change_t[id][i]; - - if (delta_t * data.freq > periodic_threshold) { - // Last change was while ago, choose color based on delta up or down - if (cur > last) { - colors[id][i] = QColor(0, 187, 255, start_alpha); // Cyan - } else { - colors[id][i] = QColor(255, 0, 0, start_alpha); // Red - } - } else { - // Periodic changes - colors[id][i] = blend(colors[id][i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue - } - - last_change_t[id][i] = data.ts; - } else { - // Fade out - float alpha_delta = 1.0 / (data.freq + 1) / fade_time; - colors[id][i].setAlphaF(std::max(0.0, colors[id][i].alphaF() - alpha_delta)); - } - } - } - - data.colors = colors[id]; - prev_dat[id] = data.dat; + data.colors = hex_colors[id].compute(data.dat, data.ts, data.freq); } double ts = millis_since_boot(); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 1fe90c8595..9a0187da5e 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -6,6 +6,7 @@ #include #include "tools/cabana/settings.h" +#include "tools/cabana/util.h" #include "tools/replay/replay.h" struct CanData { @@ -15,7 +16,7 @@ struct CanData { uint32_t count = 0; uint32_t freq = 0; QByteArray dat; - QList colors; + QVector colors; }; class AbstractStream : public QObject { @@ -64,13 +65,5 @@ protected: QHash counters; }; -inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } -inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } -inline const QString &getColor(int i) { - // TODO: add more colors - static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; - return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; -} - // A global pointer referring to the unique AbstractStream object extern AbstractStream *can; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc new file mode 100644 index 0000000000..0684d3c59a --- /dev/null +++ b/tools/cabana/util.cc @@ -0,0 +1,99 @@ +#include "tools/cabana/util.h" + +#include +#include + +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) { + if (prev_dat.size() != dat.size()) { + colors.resize(dat.size()); + last_change_t.resize(dat.size()); + std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0)); + std::fill(last_change_t.begin(), last_change_t.end(), ts); + } else { + for (int i = 0; i < dat.size(); ++i) { + const uint8_t last = prev_dat[i]; + const uint8_t cur = dat[i]; + + if (last != cur) { + double delta_t = ts - last_change_t[i]; + if (delta_t * freq > periodic_threshold) { + // Last change was while ago, choose color based on delta up or down + if (cur > last) { + colors[i] = QColor(0, 187, 255, start_alpha); // Cyan + } else { + colors[i] = QColor(255, 0, 0, start_alpha); // Red + } + } else { + // Periodic changes + colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue + } + + last_change_t[i] = ts; + } else { + // Fade out + float alpha_delta = 1.0 / (freq + 1) / fade_time; + colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta)); + } + } + } + + prev_dat = dat; + return colors; +} + +void HexColors::clear() { + prev_dat.clear(); + last_change_t.clear(); + colors.clear(); +} + +QList HexColors::toVariantList(const QVector &colors) { + QList ret; + ret.reserve(colors.size()); + for (auto &c : colors) ret.append(c); + return ret; +} + +// MessageBytesDelegate + +MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { + fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); +} + +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); + + if ((option.state & QStyle::State_Selected) && (option.state & QStyle::State_Active)) { + painter->setPen(option.palette.color(QPalette::HighlightedText)); + } else { + painter->setPen(option.palette.color(QPalette::Text)); + } + + painter->setFont(fixed_font); + QRect space = painter->boundingRect(opt.rect, opt.displayAlignment, " "); + QRect pos = painter->boundingRect(opt.rect, opt.displayAlignment, "00"); + pos.moveLeft(pos.x() + space.width()); + + int m = space.width() / 2; + const QMargins margins(m + 1, m, m, m); + + int i = 0; + for (auto &byte : opt.text.split(" ")) { + if (i < colors.size()) { + painter->fillRect(pos.marginsAdded(margins), colors[i].value()); + } + painter->drawText(pos, opt.displayAlignment, byte); + pos.moveLeft(pos.right() + space.width()); + i++; + } +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h new file mode 100644 index 0000000000..146410d7c6 --- /dev/null +++ b/tools/cabana/util.h @@ -0,0 +1,38 @@ +#pragma once + +#include +#include +#include +#include +#include + +class HexColors { +public: + const QVector &compute(const QByteArray &dat, double ts, uint32_t freq); + static QList toVariantList(const QVector &colors); + void clear(); + +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 { + Q_OBJECT +public: + MessageBytesDelegate(QObject *parent); + void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QFont fixed_font; +}; + +inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } +inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } +inline const QString &getColor(int i) { + // TODO: add more colors + static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; + return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; +} From 690999a2a6138368a93e818cbcebc984c7e58b91 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 24 Jan 2023 11:42:32 -0800 Subject: [PATCH 067/124] CI: increase submodule fetch depth --- release/check-submodules.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release/check-submodules.sh b/release/check-submodules.sh index 182042e6b4..bc85a43c57 100755 --- a/release/check-submodules.sh +++ b/release/check-submodules.sh @@ -1,7 +1,7 @@ #!/bin/bash while read hash submodule ref; do - git -C $submodule fetch --depth 100 origin master + git -C $submodule fetch --depth 200 origin master git -C $submodule branch -r --contains $hash | grep "origin/master" if [ "$?" -eq 0 ]; then echo "$submodule ok" From 64ed44e3b51524ee3412600f647223dc9e7d6f87 Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Tue, 24 Jan 2023 14:06:56 -0800 Subject: [PATCH 068/124] tinygrad: update to new version (#27067) * tinygrad: bump and retain OPENCL behavior * add graph.py to release, bump tiny * update files_common and read from it in scons * bump with typo fix * switch tinygrad backend to GPU * update ref commit Co-authored-by: Comma Device --- release/files_common | 14 +++----- selfdrive/modeld/SConscript | 32 +++++-------------- .../process_replay/model_replay_ref_commit | 2 +- tinygrad_repo | 2 +- 4 files changed, 15 insertions(+), 35 deletions(-) diff --git a/release/files_common b/release/files_common index edb37bc0de..547bb58144 100644 --- a/release/files_common +++ b/release/files_common @@ -580,17 +580,13 @@ opendbc/tesla_can.dbc opendbc/tesla_radar.dbc opendbc/tesla_powertrain.dbc -tinygrad_repo/openpilot/compile.py tinygrad_repo/accel/opencl/* +tinygrad_repo/tinygrad/llops/ops_opencl.py +tinygrad_repo/openpilot/compile.py tinygrad_repo/extra/onnx.py tinygrad_repo/extra/thneed.py tinygrad_repo/extra/utils.py tinygrad_repo/tinygrad/llops/ops_gpu.py -tinygrad_repo/tinygrad/llops/ops_opencl.py -tinygrad_repo/tinygrad/helpers.py -tinygrad_repo/tinygrad/mlops.py -tinygrad_repo/tinygrad/ops.py -tinygrad_repo/tinygrad/shapetracker.py -tinygrad_repo/tinygrad/tensor.py -tinygrad_repo/tinygrad/nn/__init__.py -tinygrad_repo/tinygrad/nn/optim.py +tinygrad_repo/tinygrad/shape/* +tinygrad_repo/tinygrad/nn/* +tinygrad_repo/tinygrad/*.py diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 82338e456b..7bbc1b3477 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -70,30 +70,14 @@ lenv.Program('_dmonitoringmodeld', [ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath - if GetOption('pc_thneed'): - cmd = f"cd {Dir('#').abspath}/tinygrad_repo && GPU=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" - else: - cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 MATMUL=1 PYOPENCL_NO_CACHE=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" + tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"] + if not GetOption('pc_thneed'): + # use FLOAT16 on device for speed + don't cache the CL kernels for space + tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed" - # is there a better way then listing all of tinygrad? - lenv.Command(fn + ".thneed", [fn + ".onnx", - "#tinygrad_repo/openpilot/compile.py", - "#tinygrad_repo/accel/opencl/conv.cl", - "#tinygrad_repo/accel/opencl/matmul.cl", - "#tinygrad_repo/accel/opencl/ops_opencl.py", - "#tinygrad_repo/accel/opencl/preprocessing.py", - "#tinygrad_repo/extra/onnx.py", - "#tinygrad_repo/extra/thneed.py", - "#tinygrad_repo/extra/utils.py", - "#tinygrad_repo/tinygrad/llops/ops_gpu.py", - "#tinygrad_repo/tinygrad/llops/ops_opencl.py", - "#tinygrad_repo/tinygrad/helpers.py", - "#tinygrad_repo/tinygrad/mlops.py", - "#tinygrad_repo/tinygrad/ops.py", - "#tinygrad_repo/tinygrad/shapetracker.py", - "#tinygrad_repo/tinygrad/tensor.py", - "#tinygrad_repo/tinygrad/nn/__init__.py" - ], cmd) + tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], []) + lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) llenv = lenv.Clone() if GetOption('pc_thneed'): @@ -116,4 +100,4 @@ llenv.Program('_modeld', [ lenv.Program('_navmodeld', [ "navmodeld.cc", "models/nav.cc", - ]+common_model, LIBS=libs + transformations) \ No newline at end of file + ]+common_model, LIBS=libs + transformations) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 22e021dcaf..9eefc73792 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -db587bfef2317c5a3471632ac47381457e1be853 \ No newline at end of file +8233a12f97f483645e7691b8c54552a2f861a7ad diff --git a/tinygrad_repo b/tinygrad_repo index 8e22d5ee67..2e1d47b166 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 8e22d5ee675277181e1eff644dde9e844fc40fce +Subproject commit 2e1d47b16625ff343516287cdd9e4bcb26f5c4ef From 544ad25a0b9af70e2b22f3ec4e0fd8788929fd2d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 25 Jan 2023 07:07:11 +0800 Subject: [PATCH 069/124] cabana: support pause and slow motion playback in live stream mode (#27051) * support pause and slow motion playback in live stream mode * override * virtual functions * move to function fix * lock handleEvent * show speed controls in video widget * fix pause signal * set margins * cleanup --- tools/cabana/mainwin.cc | 11 +++--- tools/cabana/streams/livestream.cc | 53 ++++++++++++++++++-------- tools/cabana/streams/livestream.h | 15 ++++++-- tools/cabana/videowidget.cc | 61 +++++++++++++++++++----------- tools/cabana/videowidget.h | 1 + 5 files changed, 93 insertions(+), 48 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d2e4ff9ca7..e49148160d 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -126,15 +126,14 @@ void MainWindow::createDockWindows() { // splitter between video and charts video_splitter = new QSplitter(Qt::Vertical, this); - if (!can->liveStreaming()) { - video_widget = new VideoWidget(this); - video_splitter->addWidget(video_widget); - QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); - } + video_widget = new VideoWidget(this); + video_splitter->addWidget(video_widget); + QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); + video_splitter->addWidget(charts_container); video_splitter->setStretchFactor(1, 1); video_splitter->restoreState(settings.video_splitter_state); - if (!can->liveStreaming() && video_splitter->sizes()[0] == 0) { + if (can->liveStreaming() || video_splitter->sizes()[0] == 0) { // display video at minimum size. video_splitter->setSizes({1, 1}); } diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index b0af9f3281..3edd2a7758 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,10 +1,6 @@ #include "tools/cabana/streams/livestream.h" LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { - if (!zmq_address.isEmpty()) { - setenv("ZMQ", "1", 1); - } - timer = new QTimer(this); timer->callOnTimeout(this, &LiveStream::removeExpiredEvents); timer->start(3 * 1000); @@ -24,12 +20,14 @@ LiveStream::~LiveStream() { } void LiveStream::streamThread() { + if (!zmq_address.isEmpty()) { + setenv("ZMQ", "1", 1); + } std::unique_ptr context(Context::create()); std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); assert(sock != NULL); sock->setTimeout(50); - // run as fast as messages come in while (!QThread::currentThread()->isInterruptionRequested()) { Message *msg = sock->receive(true); @@ -40,22 +38,40 @@ void LiveStream::streamThread() { AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer()); Event *evt = ::new Event(buf->align(msg)); delete msg; - { - std::lock_guard lk(lock); - can_events.push_back(evt); - } - if (start_ts == 0) { - start_ts = evt->mono_time; - emit streamStarted(); - } - current_ts = evt->mono_time; + handleEvent(evt); + // TODO: write stream to log file to replay it with cabana --data_dir flag. + } +} + +void LiveStream::handleEvent(Event *evt) { + std::lock_guard lk(lock); + can_events.push_back(evt); + + current_ts = evt->mono_time; + if (start_ts == 0 || current_ts < start_ts) { if (current_ts < start_ts) { qDebug() << "stream is looping back to old time stamp"; - start_ts = current_ts.load(); + } + start_ts = current_ts.load(); + emit streamStarted(); + } + + if (!pause_) { + if (speed_ < 1 && last_update_ts > 0) { + auto it = std::upper_bound(can_events.begin(), can_events.end(), last_update_event_ts, [](uint64_t ts, auto &e) { + return ts < e->mono_time; + }); + + if (it != can_events.end() && + (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) { + return; + } + evt = (*it); } updateEvent(evt); - // TODO: write stream to log file to replay it with cabana --data_dir flag. + last_update_event_ts = evt->mono_time; + last_update_ts = nanos_since_boot(); } } @@ -80,3 +96,8 @@ const std::vector *LiveStream::events() const { std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector)); return &events_vector; } + +void LiveStream::pause(bool pause) { + pause_ = pause; + emit paused(); +} diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index db1638d761..ba20032b67 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -8,17 +8,21 @@ class LiveStream : public AbstractStream { public: LiveStream(QObject *parent, QString address = {}); - ~LiveStream(); + virtual ~LiveStream(); inline QString routeName() const override { return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); } inline double routeStartTime() const override { return start_ts / (double)1e9; } inline double currentSec() const override { return (current_ts - start_ts) / (double)1e9; } + void setSpeed(float speed) override { speed_ = std::min(1.0, speed); } + bool isPaused() const override { return pause_; } + void pause(bool pause) override; const std::vector *events() const override; protected: - void streamThread(); - void removeExpiredEvents(); + virtual void handleEvent(Event *evt); + virtual void streamThread(); + virtual void removeExpiredEvents(); mutable std::mutex lock; mutable std::vector events_vector; @@ -26,6 +30,11 @@ protected: std::deque messages; std::atomic start_ts = 0; std::atomic current_ts = 0; + std::atomic speed_ = 1; + std::atomic pause_ = false; + uint64_t last_update_event_ts = 0; + uint64_t last_update_ts = 0; + const QString zmq_address; QThread *stream_thread; QTimer *timer; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 729302adaa..445a21c755 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -27,8 +27,41 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(frame); QVBoxLayout *frame_layout = new QVBoxLayout(frame); + if (!can->liveStreaming()) { + frame_layout->addWidget(createCameraWidget()); + } + + // btn controls + QHBoxLayout *control_layout = new QHBoxLayout(); + play_btn = new QPushButton(); + control_layout->addWidget(play_btn); + + QButtonGroup *group = new QButtonGroup(this); + group->setExclusive(true); + for (float speed : {0.1, 0.5, 1., 2.}) { + if (can->liveStreaming() && speed > 1) continue; + + QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); + btn->setCheckable(true); + QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); }); + control_layout->addWidget(btn); + group->addButton(btn); + if (speed == 1.0) btn->setChecked(true); + } + frame_layout->addLayout(control_layout); + + QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); + QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); + QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState); + updatePlayBtnState(); +} + +QWidget *VideoWidget::createCameraWidget() { + QWidget *w = new QWidget(this); + QVBoxLayout *l = new QVBoxLayout(w); + l->setContentsMargins(0, 0, 0, 0); cam_widget = new CameraWidget("camerad", can->visionStreamType(), false); - frame_layout->addWidget(cam_widget); + l->addWidget(cam_widget); // slider controls slider_layout = new QHBoxLayout(); @@ -42,24 +75,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { end_time_label = new QLabel(this); slider_layout->addWidget(end_time_label); - frame_layout->addLayout(slider_layout); - - // btn controls - QHBoxLayout *control_layout = new QHBoxLayout(); - play_btn = new QPushButton(); - control_layout->addWidget(play_btn); - - QButtonGroup *group = new QButtonGroup(this); - group->setExclusive(true); - for (float speed : {0.1, 0.5, 1., 2.}) { - QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); - btn->setCheckable(true); - QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); }); - control_layout->addWidget(btn); - group->addButton(btn); - if (speed == 1.0) btn->setChecked(true); - } - frame_layout->addLayout(control_layout); + l->addLayout(slider_layout); cam_widget->setMinimumHeight(100); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); @@ -69,15 +85,12 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); - QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); - QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); - QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState); QObject::connect(can, &AbstractStream::streamStarted, [this]() { end_time_label->setText(formatTime(can->totalSeconds())); slider->setRange(0, can->totalSeconds() * 1000); }); - updatePlayBtnState(); + return w; } void VideoWidget::timeLabelClicked() { @@ -101,6 +114,8 @@ void VideoWidget::timeLabelClicked() { } void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { + if (can->liveStreaming()) return; + if (!is_zoomed) { min = 0; max = can->totalSeconds(); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 392db23512..51197eedd6 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -49,6 +49,7 @@ protected: void updateState(); void updatePlayBtnState(); void timeLabelClicked(); + QWidget *createCameraWidget(); CameraWidget *cam_widget; QLabel *end_time_label; From 500e379b4343fb3c3bd017106683636467517cc3 Mon Sep 17 00:00:00 2001 From: Ryan Date: Tue, 24 Jan 2023 18:40:38 -0500 Subject: [PATCH 070/124] VW MQB: Add FW for 2021 Volkswagen Tiguan. (#26966) Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 51161f2972..bdb43c542a 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -710,10 +710,12 @@ FW_VERSIONS = { b'\xf1\x875N0906259 \xf1\x890002', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x8783A907115B \xf1\x890005', + b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', + b'\xf1\x8709G927158FM\xf1\x893757', b'\xf1\x8709G927158GC\xf1\x893821', b'\xf1\x8709G927158GD\xf1\x893820', b'\xf1\x870D9300043 \xf1\x895202', From d1c87faedc3f93327aa890e2b5155df9596bb971 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue, 24 Jan 2023 19:11:12 -0500 Subject: [PATCH 071/124] Hyundai: Add FW Versions for Elantra 2023 (#27026) * Hyundai: Add FW Versions for Elantra 2023 * only short where possible * regen Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 8 +++++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 0d4c53ac01..4a46360d4f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -57,7 +57,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Hyundai|Elantra 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 K|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 31cbe68d13..b3cb46699a 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -145,7 +145,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e), ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + 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.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), @@ -1322,25 +1322,26 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106', b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', - b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', - b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', ], @@ -1358,6 +1359,7 @@ FW_VERSIONS = { b'\xf1\x81HM6M2_0a0_FF0', b'\xf1\x82CNCVD0AMFCXCSFFB', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', ], }, CAR.ELANTRA_HEV_2021: { From 81956649c8fad46beb6668009f2136b341260434 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 25 Jan 2023 08:14:08 +0800 Subject: [PATCH 072/124] cabana: improve layout (#27039) improve layout --- tools/cabana/binaryview.cc | 7 ++++++- tools/cabana/binaryview.h | 1 + tools/cabana/detailwidget.cc | 1 - tools/cabana/detailwidget.h | 1 + tools/cabana/mainwin.cc | 1 - 5 files changed, 8 insertions(+), 3 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 84c2dd2a52..eaa33724e8 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -11,6 +11,7 @@ // BinaryView const int CELL_HEIGHT = 36; +const int VERTICAL_HEADER_WIDTH = 30; inline int get_bit_index(const QModelIndex &index, bool little_endian) { return index.row() * 8 + (little_endian ? 7 - index.column() : index.column()); @@ -33,6 +34,10 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } +QSize BinaryView::minimumSizeHint() const { + return {horizontalHeader()->minimumSectionSize() * 9 + VERTICAL_HEADER_WIDTH + 2, 0}; +} + void BinaryView::highlight(const Signal *sig) { if (sig != hovered_sig) { hovered_sig = sig; @@ -215,7 +220,7 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i if (orientation == Qt::Vertical) { switch (role) { case Qt::DisplayRole: return section; - case Qt::SizeHintRole: return QSize(30, 0); + case Qt::SizeHintRole: return QSize(VERTICAL_HEADER_WIDTH, 0); case Qt::TextAlignmentRole: return Qt::AlignCenter; } } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index e936efc658..55de71572e 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -60,6 +60,7 @@ public: void highlight(const Signal *sig); QSet getOverlappingSignals() const; inline void updateState() { model->updateState(); } + QSize minimumSizeHint() const override; signals: void signalClicked(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 78e5a6a6f6..7f59087643 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -16,7 +16,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { undo_stack = new QUndoStack(this); - setMinimumWidth(500); QWidget *main_widget = new QWidget(this); QVBoxLayout *main_layout = new QVBoxLayout(main_widget); main_layout->setContentsMargins(0, 0, 0, 0); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 18c58ab6bf..b07629084a 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -31,6 +31,7 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); void dbcMsgChanged(int show_form_idx = -1); + QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } QUndoStack *undo_stack = nullptr; private: diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index e49148160d..bd32cfdfcc 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -24,7 +24,6 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const MainWindow::MainWindow() : QMainWindow() { createDockWindows(); detail_widget = new DetailWidget(charts_widget, this); - detail_widget->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred); setCentralWidget(detail_widget); createActions(); createStatusBar(); From e2e780e7c650878c2b3305531efe8239d6a99933 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 24 Jan 2023 16:34:41 -0800 Subject: [PATCH 073/124] ci: intra-camera timing check (#27069) * test frame time * 1 is still much tighter than 5 --- system/camerad/test/test_camerad.py | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 34411e4ef1..f03c531b20 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import time import unittest +import numpy as np from collections import defaultdict import cereal.messaging as messaging @@ -12,6 +13,8 @@ from system.hardware import TICI TEST_TIMESPAN = 30 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame +FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, + log.FrameData.ImageSensor.ox03c10: 1.0} CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') @@ -36,10 +39,16 @@ class TestCamerad(unittest.TestCase): managed_processes['camerad'].stop() cls.log_by_frame_id = defaultdict(list) + cls.sensor_type = None for cam, msgs in cls.logs.items(): + if cls.sensor_type is None: + cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw expected_frames = service_list[cam].frequency * TEST_TIMESPAN assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" + dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency) + assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" + for m in msgs: cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m) @@ -64,17 +73,16 @@ class TestCamerad(unittest.TestCase): assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}" def test_frame_sync(self): - sensor_type = [getattr(msgs[0], msgs[0].which()).sensor for frame_id, msgs in self.log_by_frame_id.items()][0].raw frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} def get_desc(fid, diff): cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] return (diff, cam_times) - laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[sensor_type]} + laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]} def in_tol(diff): - return 50 - LAG_FRAME_TOLERANCE[sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[sensor_type] + return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type] if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames): print("TODO: handle camera out of sync") else: From 1e9ac45221104923708a08a9198d35099a1df23d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Jan 2023 18:37:00 -0800 Subject: [PATCH 074/124] Honda Nidec: gather available ECUs from camera (#27071) Query bus 0 for Nidec data collection --- selfdrive/car/honda/values.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 1455609226..1e0d22379c 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -155,6 +155,13 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [StdQueries.UDS_VERSION_REQUEST], [StdQueries.UDS_VERSION_RESPONSE], + bus=1, + ), + # Query Nidec PT bus from camera for data collection + Request( + [StdQueries.UDS_VERSION_REQUEST], + [StdQueries.UDS_VERSION_RESPONSE], + bus=0, ), ], ) From 7ba8e56e877e8d0332def1fb4fedc09945776132 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 24 Jan 2023 19:22:13 -0800 Subject: [PATCH 075/124] [RAM 1500 5TH GEN] Update offline torque parameters and enable torqued (#27072) * make run torque learnable * update ram offline values * add ram 1500 to torqued * update refs --- selfdrive/car/torque_data/override.yaml | 1 - selfdrive/car/torque_data/params.yaml | 1 + selfdrive/locationd/torqued.py | 18 +++++++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 15 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 3a9f92c046..6238c6ff99 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -21,7 +21,6 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 397b29525d..6a607f3a8a 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -56,6 +56,7 @@ LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117] LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +RAM 1500 5TH GEN: [1.550848, 2.0, 0.132261] SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 588bca1578..cb8101bbd4 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -22,7 +22,9 @@ FIT_POINTS_TOTAL_QLOG = 600 MIN_VEL = 15 # m/s FRICTION_FACTOR = 1.5 # ~85% of data coverage FACTOR_SANITY = 0.3 +FACTOR_SANITY_QLOG = 0.5 FRICTION_SANITY = 0.5 +FRICTION_SANITY_QLOG = 0.8 STEER_MIN_THRESHOLD = 0.02 MIN_FILTER_DECAY = 50 MAX_FILTER_DECAY = 250 @@ -35,6 +37,7 @@ MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches ALLOWED_CARS = ['toyota', 'hyundai'] +ALLOWED_PLATFORMS = ['RAM 1500 5TH GEN'] # for adding individual platforms from a brand without torqued def slope2rot(slope): @@ -100,15 +103,20 @@ class TorqueEstimator: self.min_bucket_points = MIN_BUCKET_POINTS / 10 self.min_points_total = MIN_POINTS_TOTAL_QLOG self.fit_points = FIT_POINTS_TOTAL_QLOG + self.factor_sanity = FACTOR_SANITY_QLOG + self.friction_sanity = FRICTION_SANITY_QLOG + else: self.min_bucket_points = MIN_BUCKET_POINTS self.min_points_total = MIN_POINTS_TOTAL self.fit_points = FIT_POINTS_TOTAL + self.factor_sanity = FACTOR_SANITY + self.friction_sanity = FRICTION_SANITY self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = CP.carName in ALLOWED_CARS + self.use_params = (CP.carName in ALLOWED_CARS) or (CP.carFingerprint in ALLOWED_PLATFORMS) if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction @@ -123,10 +131,10 @@ class TorqueEstimator: 'points': [] } self.decay = MIN_FILTER_DECAY - self.min_lataccel_factor = (1.0 - FACTOR_SANITY) * self.offline_latAccelFactor - self.max_lataccel_factor = (1.0 + FACTOR_SANITY) * self.offline_latAccelFactor - self.min_friction = (1.0 - FRICTION_SANITY) * self.offline_friction - self.max_friction = (1.0 + FRICTION_SANITY) * self.offline_friction + self.min_lataccel_factor = (1.0 - self.factor_sanity) * self.offline_latAccelFactor + self.max_lataccel_factor = (1.0 + self.factor_sanity) * self.offline_latAccelFactor + self.min_friction = (1.0 - self.friction_sanity) * self.offline_friction + self.max_friction = (1.0 + self.friction_sanity) * self.offline_friction # try to restore cached params params = Params() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1aa3aa6f1e..fb714b6f57 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -acc5655633af6ade096ad41f680fd8a28c2e3790 \ No newline at end of file +3639e42ed538ee5d94ec2572cf27af6260633fad \ No newline at end of file From a68633283f7269bb6ab2c2670cce0473512992ec Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Jan 2023 20:36:44 -0800 Subject: [PATCH 076/124] Civic 2022: add camera versions (#27073) * Add fwdRadar for Honda Civic 2022 * remove debug cmt --- selfdrive/car/honda/values.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 1e0d22379c..e3448b31be 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1441,6 +1441,12 @@ FW_VERSIONS = { b'78108-T21-A230\x00\x00', b'78108-T22-A020\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', + ], (Ecu.vsa, 0x18DA28F1, None): [ b'57114-T20-AB40\x00\x00', b'57114-T43-JB30\x00\x00', From 95d45a8d64f5e7bd54cd3e96aec83f44177a0fa7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Jan 2023 21:24:33 -0800 Subject: [PATCH 077/124] Honda Civic 2022: gather FW versions for unknown ECU (#27074) * Add unknown civic 2022 extra ecu * Update selfdrive/car/honda/values.py --- selfdrive/car/honda/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index e3448b31be..d10ec0a7e6 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -164,6 +164,10 @@ FW_QUERY_CONFIG = FwQueryConfig( bus=0, ), ], + extra_ecus=[ + # The only other ECU on PT bus accessible by camera on radarless Civic + (Ecu.unknown, 0x18DAB3F1, None), + ], ) FW_VERSIONS = { From f2966e9ef4548c6365715f8e5bd55f4e4838dcdc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Jan 2023 22:30:29 -0800 Subject: [PATCH 078/124] Honda FPv2: log extra UDS identifier (#27076) * Add debugging uds ID * add comment * remove spaces * try chaining the queries (temp debug) this works * works! - Revert "try chaining the queries (temp debug)" This reverts commit c53d0f64aecdbd6224b0fd524f96637d29320cd1. --- selfdrive/car/honda/values.py | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index d10ec0a7e6..07eed0cfc2 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -4,9 +4,10 @@ from typing import Dict, List, Optional, Union from cereal import car from common.conversions import Conversions as CV +from panda.python import uds from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -150,13 +151,27 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), } +HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xF112) +HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xF112) + FW_QUERY_CONFIG = FwQueryConfig( requests=[ + # Currently used to fingerprint Request( [StdQueries.UDS_VERSION_REQUEST], [StdQueries.UDS_VERSION_RESPONSE], bus=1, ), + + # Data collection requests: + # Log extra identifiers for current ECUs + Request( + [HONDA_VERSION_REQUEST], + [HONDA_VERSION_RESPONSE], + bus=1, + ), # Query Nidec PT bus from camera for data collection Request( [StdQueries.UDS_VERSION_REQUEST], From 01fa0ca69dd7d6633bab754c3122efe0bc5a330c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Jan 2023 23:34:55 -0800 Subject: [PATCH 079/124] Hyundai: clean up fingerprint test (#27079) * Clean up Hyundai test * fine --- selfdrive/car/hyundai/tests/test_hyundai.py | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index a52027f448..6ecfa03796 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,24 +2,19 @@ import unittest from cereal import car -from selfdrive.car.car_helpers import get_interface_attr -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS -from selfdrive.car.hyundai.values import CANFD_CAR +from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS Ecu = car.CarParams.Ecu - ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} -VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) class TestHyundaiFingerprint(unittest.TestCase): def test_auxiliary_request_ecu_whitelist(self): # Asserts only auxiliary Ecus can exist in database for CAN-FD cars - config = FW_QUERY_CONFIGS['hyundai'] - whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3} + whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3} for car_model in CANFD_CAR: - ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()} + ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} ecus_not_in_whitelist = ecus - whitelisted_ecus ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist]) self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}') From 845a63d884ae30f03831e112e636c8d3b06dcaeb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 25 Jan 2023 00:10:22 -0800 Subject: [PATCH 080/124] Honda: test all FW is in correct format (#27078) * test honda FW is expected * fix static --- selfdrive/car/honda/tests/test_honda.py | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) create mode 100755 selfdrive/car/honda/tests/test_honda.py diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py new file mode 100755 index 0000000000..7a8c86fb0a --- /dev/null +++ b/selfdrive/car/honda/tests/test_honda.py @@ -0,0 +1,20 @@ +#!/usr/bin/env python3 +import re +import unittest + +from selfdrive.car.honda.values import FW_VERSIONS + +HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" + + +class TestHondaFingerprint(unittest.TestCase): + def test_fw_version_format(self): + # Asserts all FW versions follow an expected format + for fw_by_ecu in FW_VERSIONS.values(): + for fws in fw_by_ecu.values(): + for fw in fws: + self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw) + + +if __name__ == "__main__": + unittest.main() From 0756c7f374d26945ae27b0cfcabdede9f2060e87 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 25 Jan 2023 10:46:06 -0800 Subject: [PATCH 081/124] make process replay more reliable --- selfdrive/test/process_replay/process_replay.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index a7d53bf9da..06af4469f2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -568,7 +568,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None): resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg) for s in resp_sockets: - response = messaging.recv_one(sockets[s]) + response = messaging.recv_one_retry(sockets[s]) if response is None: print(f"Warning, no response received {i}") From 892835da7ad02d109794c5dc8e79ec938eebd572 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 26 Jan 2023 02:51:31 +0800 Subject: [PATCH 082/124] cabana: fix a wrong settings key (#27085) fix wrong key --- tools/cabana/settings.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 8c26b265e0..e06d149831 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -28,7 +28,7 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - max_cached_minutes = s.value("cached_minutes", 5).toInt(); + max_cached_minutes = s.value("max_cached_minutes", 5).toInt(); chart_height = s.value("chart_height", 200).toInt(); chart_range = s.value("chart_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); From 2de2bab2864eeaea8104ac0cbb619c5c25b8b4d6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 26 Jan 2023 02:59:05 +0800 Subject: [PATCH 083/124] cabana: fix divde by zero for std::log10 (#27077) fix divde by zero for std::log10 --- tools/cabana/chartswidget.cc | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 2965ae0476..5d0e5d7a52 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -332,6 +332,9 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { } qreal ChartView::getYAsixLabelWidth() const { + if (axis_y->max() <= axis_y->min() || axis_y->tickCount() <= 1) { + return 0; + } QFontMetrics fm(axis_y->labelsFont()); int n = qMax(int(-qFloor(std::log10((axis_y->max() - axis_y->min()) / (axis_y->tickCount() - 1)))), 0) + 1; return qMax(fm.width(QString::number(axis_y->min(), 'f', n)), fm.width(QString::number(axis_y->max(), 'f', n))) + 20; From dd2e44232cfc3028d19875e971c6feb036ae6890 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 25 Jan 2023 19:18:24 -0800 Subject: [PATCH 084/124] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 687676be40..ae051c94a3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 687676be4025d9caf9520be89cb328d6a3cc3e10 +Subproject commit ae051c94a393550ab8d70c594fc9dfb49bc9aed8 From 3cd60a47244905c069de8bf0aa7a20b38b7ccb62 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 25 Jan 2023 20:21:14 -0800 Subject: [PATCH 085/124] Ford cleanup (#27090) * fordcan cleanup Co-authored-by: Cameron Clough * no fordcan Co-authored-by: Cameron Clough * more Co-authored-by: Cameron Clough * these weren't even used in CS, follow rest of the brands * we won't use this * rename to more standard powertrain can bus * no arguments for lka anymore * Revert "rename to more standard powertrain can bus" This reverts commit 0bc3f79f9bad2218c48a350bbf5ec6f726e0a028. Co-authored-by: Shane Smiskol --- selfdrive/car/ford/carcontroller.py | 23 +++++----- selfdrive/car/ford/carstate.py | 2 +- selfdrive/car/ford/fordcan.py | 66 +++++++++++++++-------------- selfdrive/car/ford/interface.py | 9 ++-- selfdrive/car/ford/values.py | 3 -- 5 files changed, 50 insertions(+), 53 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 8c391bb276..8164a8a970 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,7 +2,7 @@ import math from cereal import car from common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from selfdrive.car.ford import fordcan +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.values import CANBUS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -46,16 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True)) - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True)) - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True)) - + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### if CC.latActive: @@ -84,21 +83,19 @@ class CarController: precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable) self.apply_angle_last = apply_angle - can_sends.append(fordcan.create_lka_command(self.packer, 0, 0)) - can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, - 0, path_angle, 0, 0)) - + can_sends.append(create_lka_msg(self.packer)) + can_sends.append(create_lat_ctl_msg(self.packer, lca_rq, ramp_type, precision, 0, path_angle, 0, 0)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui command at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui command at 20Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) + can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) self.main_on_last = main_on self.lkas_enabled_last = CC.latActive diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 2276b1208a..215900fef6 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -118,7 +118,7 @@ class CarState(CarStateBase): ("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left ("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver - ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthru the remaining buttons + ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons ("WiprFront_D_Stat", "Steering_Data_FD1"), ("LghtAmb_D_Sns", "Steering_Data_FD1"), ("AccButtnGapDecPress", "Steering_Data_FD1"), diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 373ce096c6..af80894ff8 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -4,9 +4,9 @@ from selfdrive.car.ford.values import CANBUS HUDControl = car.CarControl.HUDControl -def create_lka_command(packer, angle_deg: float, curvature: float): +def create_lka_msg(packer): """ - Creates a CAN message for the Ford LKAS Command. + Creates a CAN message for the Ford LKA Command. This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. @@ -16,52 +16,54 @@ def create_lka_command(packer, angle_deg: float, curvature: float): values = { "LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] "LkaActvStats_D2_Req": 0, # action [0|7] - "LaRefAng_No_Req": angle_deg, # angle [-102.4|102.3] degrees + "LaRefAng_No_Req": 0, # angle [-102.4|102.3] degrees "LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick - "LaCurvature_No_Calc": curvature, # curvature [-0.01024|0.01023] 1/meter + "LaCurvature_No_Calc": 0, # curvature [-0.01024|0.01023] 1/meter "LdwActvStats_D_Req": 0, # LDW status [0|7] "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength } return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values) -def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float): +def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, + curvature: float, curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. - This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam - assist and highway driving. It is not subject to the PSCM lockout. + This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway + driving. It is not subject to the PSCM lockout. - Ford lane centering command uses a third order polynomial to describe the road centerline. The - polynomial is defined by the following coefficients: - c0: lateral offset between the vehicle and the centerline - c1: heading angle between the vehicle and the centerline - c2: curvature of the centerline + Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined + by the following coefficients: + c0: lateral offset between the vehicle and the centerline (positive is right) + c1: heading angle between the vehicle and the centerline (positive is right) + c2: curvature of the centerline (positive is left) c3: rate of change of curvature of the centerline - As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and - speed, the steering angle cannot be easily controlled. + As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering + angle cannot be easily controlled. - The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. - This can be done using tools such as Forscan. + The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done + using tools such as Forscan. Frequency is 20Hz. """ values = { - "LatCtlRng_L_Max": 0, # Unknown [0|126] meter - "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] - "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians - "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 - "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter + "LatCtlRng_L_Max": 0, # Unknown [0|126] meter + "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] + "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, + # 3=InterventionRight, 4-7=NotUsed [0|7] + "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter + "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians + "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 + "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) -def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): +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. @@ -107,16 +109,15 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo values = { **stock_values, - "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] - "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed + "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] + "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed } return packer.make_can_msg("IPMA_Data", CANBUS.main, values) -def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): +def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam - assist status. + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. Stock functionality is maintained by passing through unmodified signals. @@ -148,7 +149,8 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, sto return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) -def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus: int = CANBUS.camera): +def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, + bus: int = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index f3d77bc05a..b0e97677b5 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -2,10 +2,11 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter +from selfdrive.car.ford.values import CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase -CarParams = car.CarParams +TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @@ -13,10 +14,10 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "ford" ret.dashcamOnly = True - ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] # Angle-based steering - ret.steerControlType = CarParams.SteerControlType.angle + ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 0e6ef464b3..87cb98878d 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -9,9 +9,6 @@ from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu -TransmissionType = car.CarParams.TransmissionType -GearShifter = car.CarState.GearShifter - AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) From d410206f14fc7a0207464905a1ff2f684bd3ed39 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 25 Jan 2023 20:56:03 -0800 Subject: [PATCH 086/124] Ford: add Bronco Sport 2021-22 (#27092) * cleanup * add Ford Bronco Sport 2021 fw VIN: 3FMCR9B61MRA17853 62241b0c7fea4589|2022-10-25--13-40-05--0 * add test route * add Ford Bronco Sport 2022 fw VIN: 3FMCR9B69NRD15990 54827bf84c38b14f|2023-01-23--14-58-23--0 --- selfdrive/car/ford/interface.py | 12 +++++++++--- selfdrive/car/ford/values.py | 26 +++++++++++++++++++++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 37 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index b0e97677b5..3139aec9b1 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -13,15 +13,21 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "ford" - ret.dashcamOnly = True ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] - # Angle-based steering + # These cars are dashcam only until the port is finished + ret.dashcamOnly = True + ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 - if candidate == CAR.ESCAPE_MK4: + if candidate == CAR.BRONCO_SPORT_MK1: + ret.wheelbase = 2.67 + ret.steerRatio = 17.7 # learned + ret.mass = 1625 + STD_CARGO_KG + + elif candidate == CAR.ESCAPE_MK4: ret.wheelbase = 2.71 ret.steerRatio = 14.3 # Copied from Focus ret.mass = 1750 + STD_CARGO_KG diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 87cb98878d..0124a9134f 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -40,6 +40,7 @@ class CANBUS: class CAR: + BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN" ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" EXPLORER_MK6 = "FORD EXPLORER 6TH GEN" FOCUS_MK4 = "FORD FOCUS 4TH GEN" @@ -60,6 +61,7 @@ class FordCarInfo(CarInfo): CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { + CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.ESCAPE_MK4: [ FordCarInfo("Ford Escape 2020-21"), FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), @@ -85,6 +87,30 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.BRONCO_SPORT_MK1: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7E0, None): [ + b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.shiftByWire, 0x732, None): [ + b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, CAR.ESCAPE_MK4: { (Ecu.eps, 0x730, None): [ b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 29cea9c030..3e0a95a38f 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -42,6 +42,7 @@ routes = [ CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500), CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), + CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1), CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 6238c6ff99..1506b4176f 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -12,6 +12,7 @@ TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] # Guess +FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan] FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] From 23298615561b5c8d41df009ba27ac01845c2abe5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 25 Jan 2023 21:01:32 -0800 Subject: [PATCH 087/124] Ford: send empty LKA message (#27094) Eradication --- selfdrive/car/ford/fordcan.py | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index af80894ff8..c3f6e74651 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -6,23 +6,14 @@ HUDControl = car.CarControl.HUDControl def create_lka_msg(packer): """ - Creates a CAN message for the Ford LKA Command. + Creates an empty CAN message for the Ford LKA Command. This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. Frequency is 20Hz. """ - values = { - "LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] - "LkaActvStats_D2_Req": 0, # action [0|7] - "LaRefAng_No_Req": 0, # angle [-102.4|102.3] degrees - "LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick - "LaCurvature_No_Calc": 0, # curvature [-0.01024|0.01023] 1/meter - "LdwActvStats_D_Req": 0, # LDW status [0|7] - "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength - } - return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values) + return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, From cf69653440a308c6e7abb7d56847b389b64c819f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 25 Jan 2023 21:18:35 -0800 Subject: [PATCH 088/124] Ford: add Maverick 2022 (#27093) * Ford: add Maverick 2022 VIN: 3FTTW8E36NRA74219 a6427650bff6b419|2022-09-19--10-51-30 * Ford: add missing Maverick 2022 FW VIN: 3FTTW8F98NRA75889 c845bd8c366e6f3d|2022-12-03--18-57-00--0 * steer ratio --- selfdrive/car/ford/interface.py | 5 +++++ selfdrive/car/ford/values.py | 23 +++++++++++++++++++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 30 insertions(+) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 3139aec9b1..ce4e3e30aa 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -42,6 +42,11 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.8 # learned ret.mass = 1350 + STD_CARGO_KG + elif candidate == CAR.MAVERICK_MK1: + ret.wheelbase = 3.076 + ret.steerRatio = 17.0 + ret.mass = 1650 + STD_CARGO_KG + else: raise ValueError(f"Unsupported car: {candidate}") diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 0124a9134f..1348073801 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -44,6 +44,7 @@ class CAR: ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" EXPLORER_MK6 = "FORD EXPLORER 6TH GEN" FOCUS_MK4 = "FORD FOCUS 4TH GEN" + MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" class RADAR: @@ -68,6 +69,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { ], CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), + CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"), } FW_QUERY_CONFIG = FwQueryConfig( @@ -186,4 +188,25 @@ FW_VERSIONS = { (Ecu.shiftByWire, 0x732, None): [ ], }, + CAR.MAVERICK_MK1: { + (Ecu.eps, 0x730, None): [ + b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7E0, None): [ + b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.shiftByWire, 0x732, None): [ + b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 3e0a95a38f..d1b73afcf6 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -18,6 +18,7 @@ from selfdrive.car.body.values import CAR as COMMA non_tested_cars = [ FORD.ESCAPE_MK4, FORD.FOCUS_MK4, + FORD.MAVERICK_MK1, GM.CADILLAC_ATS, GM.HOLDEN_ASTRA, GM.MALIBU, diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 1506b4176f..733aa34343 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -16,6 +16,7 @@ FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan] FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] +FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] ### # No steering wheel From 2bdce2d92ec859398aaa749037d1fa58d3b5eec7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 25 Jan 2023 21:39:46 -0800 Subject: [PATCH 089/124] Ford: use curvature signal for lateral control (#27091) * do carcontroller Co-authored-by: Cameron Clough * values done * just send latActive in, cleaner * Update selfdrive/car/ford/values.py * fix a crash * adjust ramp as well Co-authored-by: Cameron Clough --- selfdrive/car/ford/carcontroller.py | 49 ++++++++++------------------- selfdrive/car/ford/fordcan.py | 4 +-- selfdrive/car/ford/values.py | 13 ++++---- 3 files changed, 26 insertions(+), 40 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 8164a8a970..99a6648ff9 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,28 +1,14 @@ import math from cereal import car -from common.numpy_fast import clip, interp +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.values import CANBUS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert -def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo): - # rate limit - steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) - rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN - max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points) - apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff)) - - # absolute limit (LatCtlPath_An_Actl) - apply_path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO - apply_path_angle = clip(apply_path_angle, -0.5, 0.5235) - apply_angle = math.degrees(apply_path_angle) * CarControllerParams.LKAS_STEER_RATIO - - return apply_angle - - class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -30,7 +16,7 @@ class CarController: self.packer = CANPacker(dbc_name) self.frame = 0 - self.apply_angle_last = 0 + self.apply_curvature_last = 0 self.main_on_last = False self.lkas_enabled_last = False self.steer_alert_last = False @@ -57,34 +43,33 @@ class CarController: can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### - if CC.latActive: - lca_rq = 1 - apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo) - else: - lca_rq = 0 - apply_angle = 0. - # send steering commands at 20Hz if (self.frame % CarControllerParams.STEER_STEP) == 0: - # use LatCtlPath_An_Actl to actuate steering - path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO + if CC.latActive: + # apply limits to curvature + apply_curvature = -self.VM.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0) + apply_curvature = apply_std_steer_angle_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) + # clip to signal range + apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + else: + apply_curvature = 0. # set slower ramp type when small steering angle change # 0=Slow, 1=Medium, 2=Fast, 3=Immediately steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg) - if steer_change < 2.0: + if steer_change < 2.5: ramp_type = 0 - elif steer_change < 4.0: + elif steer_change < 5.0: ramp_type = 1 - elif steer_change < 6.0: + elif steer_change < 7.5: ramp_type = 2 else: ramp_type = 3 precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable) - self.apply_angle_last = apply_angle + self.apply_curvature_last = apply_curvature can_sends.append(create_lka_msg(self.packer)) - can_sends.append(create_lat_ctl_msg(self.packer, lca_rq, ramp_type, precision, 0, path_angle, 0, 0)) + can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, ramp_type, precision, 0., 0., -apply_curvature, 0.)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) @@ -102,7 +87,7 @@ class CarController: self.steer_alert_last = steer_alert new_actuators = actuators.copy() - new_actuators.steeringAngleDeg = self.apply_angle_last + new_actuators.curvature = self.apply_curvature_last self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index c3f6e74651..dcda59bce2 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -16,7 +16,7 @@ def create_lka_msg(packer): return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) -def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, +def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. @@ -42,7 +42,7 @@ def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path values = { "LatCtlRng_L_Max": 0, # Unknown [0|126] meter "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] - "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, + "LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, # 3=InterventionRight, 4-7=NotUsed [0|7] "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 1348073801..550224e791 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -9,7 +9,7 @@ from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu -AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) +CurvatureLimit = namedtuple('CurvatureLimit', ['speed_points', 'max_angle_diff_points']) class CarControllerParams: @@ -22,12 +22,13 @@ class CarControllerParams: # Message: Steering_Data_FD1, but send twice as fast BUTTONS_STEP = 10 / 2 - LKAS_STEER_RATIO = 2.75 # Approximate ratio between LatCtlPath_An_Actl and steering angle in radians - # TODO: remove this once we understand how the EPS calculates the steering angle better - STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold in Nm + CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 + STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold, Nm - RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15]) - RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4]) + # Curvature rate limits + # TODO: unify field names used by curvature and angle control cars + ANGLE_RATE_LIMIT_UP = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.005, 0.00056, 0.0002]) + ANGLE_RATE_LIMIT_DOWN = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.008, 0.00089, 0.00032]) def __init__(self, CP): pass From e90571eea1c4be8de848b043ada7f9812a9754a7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 25 Jan 2023 21:42:24 -0800 Subject: [PATCH 090/124] Ford: disable radar parser (#27096) The radar parser caused many false positive FCWs. --- selfdrive/car/ford/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 550224e791..2ae0d3643e 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -53,7 +53,7 @@ class RADAR: DELPHI_MRR = 'FORD_CADS' -DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", None)) @dataclass From c7790d0e071255ca304638877e0f45edd6a9d372 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 25 Jan 2023 22:03:00 -0800 Subject: [PATCH 091/124] Ford: params fixup (#27097) * reduce steer actuator delay to 0.25s * update steer ratio --- selfdrive/car/ford/interface.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index ce4e3e30aa..cea39d8b00 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -19,27 +19,27 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = True ret.steerControlType = car.CarParams.SteerControlType.angle - ret.steerActuatorDelay = 0.4 + ret.steerActuatorDelay = 0.25 ret.steerLimitTimer = 1.0 if candidate == CAR.BRONCO_SPORT_MK1: ret.wheelbase = 2.67 - ret.steerRatio = 17.7 # learned + ret.steerRatio = 17.7 ret.mass = 1625 + STD_CARGO_KG elif candidate == CAR.ESCAPE_MK4: ret.wheelbase = 2.71 - ret.steerRatio = 14.3 # Copied from Focus + ret.steerRatio = 16.7 ret.mass = 1750 + STD_CARGO_KG elif candidate == CAR.EXPLORER_MK6: ret.wheelbase = 3.025 - ret.steerRatio = 16.8 # learned + ret.steerRatio = 16.8 ret.mass = 2050 + STD_CARGO_KG elif candidate == CAR.FOCUS_MK4: ret.wheelbase = 2.7 - ret.steerRatio = 13.8 # learned + ret.steerRatio = 15.0 ret.mass = 1350 + STD_CARGO_KG elif candidate == CAR.MAVERICK_MK1: From 71c21eff724c1ab6cbba955d572b916612615551 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 25 Jan 2023 22:03:41 -0800 Subject: [PATCH 092/124] Ford: add missing Maverick 2022 XLT FW (#27098) Ford: add Maverick 2022 XLT fw VIN: `3FTTW8E39NRB00148` 933ad9d04ac82693|2023-01-04--17-31-33--0 --- selfdrive/car/ford/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 2ae0d3643e..acb625b7cc 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -203,6 +203,7 @@ FW_VERSIONS = { b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], From c7c0f1e33c46d0ffbf3f748c108b5ebca559c00d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 00:37:13 -0800 Subject: [PATCH 093/124] Ford: fix curvature rate limits --- selfdrive/car/ford/values.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index acb625b7cc..dc0f4bbb2e 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,12 +4,11 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict +from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu -CurvatureLimit = namedtuple('CurvatureLimit', ['speed_points', 'max_angle_diff_points']) class CarControllerParams: @@ -27,8 +26,8 @@ class CarControllerParams: # Curvature rate limits # TODO: unify field names used by curvature and angle control cars - ANGLE_RATE_LIMIT_UP = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.005, 0.00056, 0.0002]) - ANGLE_RATE_LIMIT_DOWN = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.008, 0.00089, 0.00032]) + 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]) def __init__(self, CP): pass From ad6ee2669cb41d20b691b3c139bd04beb60290ce Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 00:47:29 -0800 Subject: [PATCH 094/124] fix static analysis --- selfdrive/car/ford/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index dc0f4bbb2e..b93be61448 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,4 +1,4 @@ -from collections import defaultdict, namedtuple +from collections import defaultdict from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union From 4d231a9d96a54ba0ed163e4aa487876f811a97cb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 00:48:59 -0800 Subject: [PATCH 095/124] Ram 1500: more generic EPS steer to zero check (#27086) more generic check --- selfdrive/car/chrysler/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 2f058165ac..c8504d6fb1 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -58,9 +58,9 @@ class CarInterface(CarInterfaceBase): ret.mass = 2493. + STD_CARGO_KG CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) ret.minSteerSpeed = 14.5 - for fw in car_fw: - if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")): - ret.minSteerSpeed = 0. + # Older EPS FW allow steer to zero + if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw): + ret.minSteerSpeed = 0. elif candidate == CAR.RAM_HD: ret.steerActuatorDelay = 0.2 From 1d5d57a3847285af4bcce934dad49ffa65397fc1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 27 Jan 2023 03:02:17 +0800 Subject: [PATCH 096/124] cabana: fix video_splitter created twice (#27101) --- tools/cabana/mainwin.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index bd32cfdfcc..1468073017 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -121,8 +121,6 @@ void MainWindow::createDockWindows() { charts_layout->setContentsMargins(0, 0, 0, 0); charts_layout->addWidget(charts_widget); - video_splitter = new QSplitter(Qt::Vertical,this); - // splitter between video and charts video_splitter = new QSplitter(Qt::Vertical, this); video_widget = new VideoWidget(this); From e90c7a487b109aba0a0856f0c1b586ab0900bdfa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Rados=C5=82aw=20Chybicki?= Date: Thu, 26 Jan 2023 21:30:46 +0100 Subject: [PATCH 097/124] Santa Fe HEV 2022: add missing FW versions (#27050) * Santa Fe Hev 2022 Fingerprint * Concatenated second value for transmission * fixes Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b3cb46699a..dbac8033d8 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -766,19 +766,23 @@ FW_VERSIONS = { }, CAR.SANTA_FE_HEV_2022: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x87391312MTC1', + b'\xf1\x87391312MTE0', ], }, CAR.SANTA_FE_PHEV_2022: { From 27e8f8ff3e3336fe4d5737cf7c766d16725706bc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 27 Jan 2023 04:32:25 +0800 Subject: [PATCH 098/124] cabana: improve detail view (#27099) * improve detailview * cleanup layout --- tools/cabana/detailwidget.cc | 39 ++++++++++++++++-------------------- tools/cabana/detailwidget.h | 2 +- 2 files changed, 18 insertions(+), 23 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 7f59087643..233bc493df 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -19,7 +19,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QWidget *main_widget = new QWidget(this); QVBoxLayout *main_layout = new QVBoxLayout(main_widget); main_layout->setContentsMargins(0, 0, 0, 0); - main_layout->setSpacing(0); // tabbar tabbar = new QTabBar(this); @@ -29,10 +28,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tabbar->setContextMenuPolicy(Qt::CustomContextMenu); main_layout->addWidget(tabbar); - QFrame *title_frame = new QFrame(this); - QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); - title_frame->setFrameShape(QFrame::StyledPanel); - // message title toolbar = new QToolBar(this); toolbar->setIconSize({16, 16}); @@ -48,21 +43,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart toolbar->addAction(bootstrapPixmap("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); remove_msg_act = toolbar->addAction(bootstrapPixmap("x-lg"), "", this, &DetailWidget::removeMsg); remove_msg_act->setToolTip(tr("Remove Message")); - toolbar->setVisible(false); - frame_layout->addWidget(toolbar); + main_layout->addWidget(toolbar); // warning warning_widget = new QWidget(this); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); - warning_hlayout->setContentsMargins(0, 0, 0, 0); - QLabel *warning_icon = new QLabel(this); - warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning).scaledToWidth(24, Qt::SmoothTransformation)); - warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); - warning_label = new QLabel(this); - warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); + warning_hlayout->addWidget(warning_icon = new QLabel(this), 0, Qt::AlignTop); + warning_hlayout->addWidget(warning_label = new QLabel(this), 1, Qt::AlignLeft); warning_widget->hide(); - frame_layout->addWidget(warning_widget); - main_layout->addWidget(title_frame); + main_layout->addWidget(warning_widget); // msg widget QWidget *msg_widget = new QWidget(this); @@ -85,9 +74,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget = new QTabWidget(this); tab_widget->setTabPosition(QTabWidget::South); - tab_widget->addTab(scroll, "&Msg"); + tab_widget->addTab(scroll, bootstrapPixmap("file-earmark-ruled"), "&Msg"); history_log = new LogsWidget(this); - tab_widget->addTab(history_log, "&Logs"); + tab_widget->addTab(history_log, bootstrapPixmap("stopwatch"), "&Logs"); main_layout->addWidget(tab_widget); stacked_layout = new QStackedLayout(this); @@ -174,8 +163,14 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { form->setChartOpened(charts->hasSignal(msg_id, sig)); ++i; } - if (msg->size != can->lastMessage(msg_id).dat.size()) + if (msg->size != can->lastMessage(msg_id).dat.size()) { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); + } + for (auto s : binary_view->getOverlappingSignals()) { + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); + } + } else { + warnings.push_back(tr("Drag-Select in binary view to create new signal.")); } for (/**/; i < signal_list.size(); ++i) signal_list[i]->hide(); @@ -184,10 +179,10 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { remove_msg_act->setEnabled(msg != nullptr); name_label->setText(msgName(msg_id)); - for (auto s : binary_view->getOverlappingSignals()) - warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); - - warning_label->setText(warnings.join('\n')); + if (!warnings.isEmpty()) { + warning_label->setText(warnings.join('\n')); + warning_icon->setPixmap(bootstrapPixmap(msg ? "exclamation-triangle" : "info-circle")); + } warning_widget->setVisible(!warnings.isEmpty()); setUpdatesEnabled(true); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index b07629084a..c59a6fca50 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -47,7 +47,7 @@ private: void updateState(const QHash * msgs = nullptr); QString msg_id; - QLabel *name_label, *time_label, *warning_label; + QLabel *name_label, *time_label, *warning_icon, *warning_label; QWidget *warning_widget; QVBoxLayout *signals_layout; QTabBar *tabbar; From 0f37ff6c0284b91881984ce5cf2d74c48bdf7e68 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 27 Jan 2023 04:37:04 +0800 Subject: [PATCH 099/124] cabana: cleanup historylog and fix some known issues (#27100) improve history logs --- tools/cabana/historylog.cc | 152 +++++++++++-------------------------- tools/cabana/historylog.h | 35 +++------ 2 files changed, 58 insertions(+), 129 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 4a975afc4d..970aafd342 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,30 +1,20 @@ #include "tools/cabana/historylog.h" -#include #include #include #include // HistoryLogModel -void HistoryLogModel::setDisplayType(HistoryLogModel::DisplayType type) { - if (display_type != type) { - display_type = type; - refresh(); - } -} - QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { - const bool display_signals = display_type == HistoryLogModel::Signals; + const bool show_signals = display_signals_mode && sigs.size() > 0; const auto &m = messages[index.row()]; if (role == Qt::DisplayRole) { if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return display_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); - } else if (role == Qt::ToolTipRole && index.column() > 0 && display_signals) { - return tr("double click to open the chart"); - } else if (role == Qt::UserRole && index.column() == 1 && !display_signals) { + 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 {}; @@ -36,7 +26,6 @@ void HistoryLogModel::setMessage(const QString &message_id) { if (auto dbc_msg = dbc()->msg(msg_id)) { sigs = dbc_msg->getSignals(); } - display_type = !sigs.empty() ? HistoryLogModel::Signals : HistoryLogModel::Hex; filter_cmp = nullptr; refresh(); } @@ -51,17 +40,15 @@ void HistoryLogModel::refresh() { } QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { - const bool display_signals = display_type == HistoryLogModel::Signals && !sigs.empty(); if (orientation == Qt::Horizontal) { + const bool show_signals = display_signals_mode && !sigs.empty(); if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { if (section == 0) { return "Time"; } - return display_signals ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; - } else if (role == Qt::BackgroundRole && section > 0 && display_signals) { + return show_signals ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; + } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { return QBrush(QColor(getColor(section - 1))); - } else if (role == Qt::ForegroundRole && section > 0 && display_signals) { - return QBrush(Qt::black); } } return {}; @@ -72,6 +59,11 @@ void HistoryLogModel::setDynamicMode(int state) { refresh(); } +void HistoryLogModel::setDisplayType(int type) { + display_signals_mode = type == 0; + refresh(); +} + void HistoryLogModel::segmentsMerged() { if (!dynamic_mode) { has_more_data = true; @@ -114,7 +106,7 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) { } void HistoryLogModel::updateColors() { - if (display_type == HistoryLogModel::Hex) { + 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) { @@ -162,10 +154,9 @@ template std::deque HistoryLogModel::fetchData<>(std:: std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { auto events = can->events(); if (dynamic_mode) { - auto it = std::lower_bound(events->rbegin(), events->rend(), from_time, [=](auto &e, uint64_t ts) { - return e->mono_time > ts; + auto it = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { + return e->mono_time < ts; }); - if (it != events->rend()) ++it; return fetchData(it, events->rend(), min_time); } else { assert(min_time == 0); @@ -189,128 +180,77 @@ QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const { auto bg_role = model()->headerData(logicalIndex, Qt::Horizontal, Qt::BackgroundRole); if (bg_role.isValid()) { - QPen pen(model()->headerData(logicalIndex, Qt::Horizontal, Qt::ForegroundRole).value(), 1); - painter->setPen(pen); painter->fillRect(rect, bg_role.value()); } QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString(); painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text); } -// HistoryLog - -HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { - setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); - horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); - horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); - verticalHeader()->setVisible(false); - setItemDelegateForColumn(1, new MessageBytesDelegate(this)); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); -} - // LogsWidget LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); QHBoxLayout *h = new QHBoxLayout(); + filters_widget = new QWidget(this); + QHBoxLayout *filter_layout = new QHBoxLayout(filters_widget); + filter_layout->setContentsMargins(0, 0, 0, 0); + filter_layout->addWidget(display_type_cb = new QComboBox(this)); + filter_layout->addWidget(signals_cb = new QComboBox(this)); + filter_layout->addWidget(comp_box = new QComboBox(this)); + filter_layout->addWidget(value_edit = new QLineEdit(this)); + h->addWidget(filters_widget); + h->addStretch(0); + h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight); - display_type_cb = new QComboBox(); - display_type_cb->addItems({"Signal value", "Hex value"}); - h->addWidget(display_type_cb); - - signals_cb = new QComboBox(this); - signals_cb->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Preferred); - h->addWidget(signals_cb); - comp_box = new QComboBox(); + display_type_cb->addItems({"Signal Value", "Hex Value"}); comp_box->addItems({">", "=", "!=", "<"}); - h->addWidget(comp_box); - value_edit = new QLineEdit(this); value_edit->setClearButtonEnabled(true); value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); - h->addWidget(value_edit); - dynamic_mode = new QCheckBox(tr("Dynamic")); - h->addWidget(dynamic_mode, 0, Qt::AlignRight); + dynamic_mode->setChecked(true); + dynamic_mode->setEnabled(!can->liveStreaming()); + main_layout->addLayout(h); + main_layout->addWidget(logs = new QTableView(this)); + logs->setModel(model = new HistoryLogModel(this)); + logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this)); + logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); + logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); + logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); + logs->verticalHeader()->setVisible(false); - model = new HistoryLogModel(this); - logs = new HistoryLog(this); - logs->setModel(model); - main_layout->addWidget(logs); - - QObject::connect(logs, &QTableView::doubleClicked, this, &LogsWidget::doubleClicked); - QObject::connect(display_type_cb, SIGNAL(activated(int)), this, SLOT(displayTypeChanged())); + QObject::connect(display_type_cb, SIGNAL(activated(int)), model, SLOT(setDisplayType(int))); + QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode); QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter); - QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode); QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh); QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged); - - dynamic_mode->setChecked(true); - if (can->liveStreaming()) { - dynamic_mode->setEnabled(false); - } } void LogsWidget::setMessage(const QString &message_id) { model->setMessage(message_id); - cur_filter_text = ""; - value_edit->setText(""); - signals_cb->clear(); - comp_box->setCurrentIndex(0); - bool has_signals = model->sigs.size() > 0; - if (has_signals) { + bool has_signal = model->sigs.size(); + if (has_signal) { + signals_cb->clear(); for (auto s : model->sigs) { signals_cb->addItem(s->name.c_str()); } } - display_type_cb->setCurrentIndex(has_signals ? 0 : 1); - display_type_cb->setVisible(has_signals); - comp_box->setVisible(has_signals); - value_edit->setVisible(has_signals); - signals_cb->setVisible(has_signals); + value_edit->clear(); + comp_box->setCurrentIndex(0); + filters_widget->setVisible(has_signal); } -static bool not_equal(double l, double r) { return l != r; } - void LogsWidget::setFilter() { - if (cur_filter_text.isEmpty() && value_edit->text().isEmpty()) { - return; - } + if (value_edit->text().isEmpty() && !value_edit->isModified()) return; - std::function cmp; + std::function cmp = nullptr; switch (comp_box->currentIndex()) { case 0: cmp = std::greater{}; break; case 1: cmp = std::equal_to{}; break; - case 2: cmp = not_equal; break; + case 2: cmp = [](double l, double r) { return l != r; }; break; // not equal case 3: cmp = std::less{}; break; } model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); - cur_filter_text = value_edit->text(); -} - -void LogsWidget::displayTypeChanged() { - model->setDisplayType(display_type_cb->currentIndex() == 0 ? HistoryLogModel::Signals : HistoryLogModel::Hex); -} - -void LogsWidget::showEvent(QShowEvent *event) { - if (dynamic_mode->isChecked()) { - model->refresh(); - } -} - -void LogsWidget::updateState() { - if (dynamic_mode->isChecked()) { - model->updateState(); - } -} - -void LogsWidget::doubleClicked(const QModelIndex &index) { - if (index.isValid()) { - if (model->display_type == HistoryLogModel::Signals && model->sigs.size() > 0 && index.column() > 0) { - emit openChart(model->msg_id, model->sigs[index.column()-1]); - } - can->seekTo(model->messages[index.row()].mono_time / (double)1e9 - can->routeStartTime()); - } } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 34af713fd3..83b5f623ea 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -21,29 +21,27 @@ class HistoryLogModel : public QAbstractTableModel { Q_OBJECT public: - enum DisplayType { - Signals, - Hex - }; - HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} void setMessage(const QString &message_id); void updateState(); void setFilter(int sig_idx, const QString &value, std::function cmp); - void setDisplayType(DisplayType type); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; void fetchMore(const QModelIndex &parent) override; inline bool canFetchMore(const QModelIndex &parent) const override { return has_more_data; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); } int columnCount(const QModelIndex &parent = QModelIndex()) const override { - return display_type == HistoryLogModel::Hex ? 2 : std::max(1ul, sigs.size()) + 1; + return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2; } - void setDynamicMode(int state); - void segmentsMerged(); void updateColors(); void refresh(); +public slots: + void setDisplayType(int type); + void setDynamicMode(int state); + void segmentsMerged(); + +public: struct Message { uint64_t mono_time = 0; QVector sig_values; @@ -66,13 +64,7 @@ public: std::deque messages; std::vector sigs; bool dynamic_mode = true; - DisplayType display_type = HistoryLogModel::Signals; -}; - -class HistoryLog : public QTableView { -public: - HistoryLog(QWidget *parent); - int sizeHintForColumn(int column) const override { return -1; }; + bool display_signals_mode = true; }; class LogsWidget : public QWidget { @@ -81,23 +73,20 @@ class LogsWidget : public QWidget { public: LogsWidget(QWidget *parent); void setMessage(const QString &message_id); - void updateState(); + 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(); - void displayTypeChanged(); private: - void doubleClicked(const QModelIndex &index); - void showEvent(QShowEvent *event) override; - - HistoryLog *logs; + QTableView *logs; HistoryLogModel *model; QCheckBox *dynamic_mode; QComboBox *signals_cb, *comp_box, *display_type_cb; QLineEdit *value_edit; - QString cur_filter_text; + QWidget *filters_widget; }; From de5f792b3e893711a47c8f4db04162ab259ef286 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 27 Jan 2023 04:41:17 +0800 Subject: [PATCH 100/124] cabana: only repaint changed cells in BinaryView::highlight (#27046) dont update all cells on highlight --- tools/cabana/binaryview.cc | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index eaa33724e8..010fe0fc88 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -40,8 +40,14 @@ QSize BinaryView::minimumSizeHint() const { void BinaryView::highlight(const Signal *sig) { if (sig != hovered_sig) { + for (int i = 0; i < model->items.size(); ++i) { + auto &item_sigs = model->items[i].sigs; + if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) { + auto index = model->index(i / model->columnCount(), i % model->columnCount()); + emit model->dataChanged(index, index, {Qt::DisplayRole}); + } + } hovered_sig = sig; - model->dataChanged(model->index(0, 0), model->index(model->rowCount() - 1, model->columnCount() - 1)); emit signalHovered(hovered_sig); } } From 752b4edb928f9c9efb4d00429cdb7213c940159b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 12:54:53 -0800 Subject: [PATCH 101/124] HKG: Update Genesis GV60 harnesses (#27033) * Update values.py * generate --- 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 4a46360d4f..390d2bf349 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. -# 223 Supported Cars +# 224 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -32,7 +32,8 @@ A supported vehicle is one that just works when you install a comma three. All s |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|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 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|| +|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|| |Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| |GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index dbac8033d8..c0cf23b50d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -225,7 +225,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], # Genesis - CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k), + CAR.GENESIS_GV60_EV_1ST_GEN: [ + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness=Harness.hyundai_a), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness=Harness.hyundai_k), + ], 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), From 08060e42c4bab39b85a64707f8eb801580ed2245 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 27 Jan 2023 04:56:38 +0800 Subject: [PATCH 102/124] cabana: saving & restoring columns widths (#27080) saving & restoring columns widths --- tools/cabana/mainwin.cc | 4 ++++ tools/cabana/messageswidget.cc | 1 - tools/cabana/messageswidget.h | 3 +++ tools/cabana/settings.cc | 2 ++ tools/cabana/settings.h | 1 + 5 files changed, 10 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 1468073017..517d0b1b73 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -29,11 +29,13 @@ MainWindow::MainWindow() : QMainWindow() { createStatusBar(); createShortcuts(); + // restore states restoreGeometry(settings.geometry); if (isMaximized()) { setGeometry(QApplication::desktop()->availableGeometry(this)); } restoreState(settings.window_state); + messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); qRegisterMetaType("ReplyMsgType"); @@ -285,11 +287,13 @@ void MainWindow::closeEvent(QCloseEvent *event) { if (floating_window) floating_window->deleteLater(); + // save states settings.geometry = saveGeometry(); settings.window_state = saveState(); if (!can->liveStreaming()) { settings.video_splitter_state = video_splitter->saveState(); } + settings.message_header_state = messages_widget->saveHeaderState(); settings.save(); QWidget::closeEvent(event); } diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 353fe26340..69c6d298c0 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,7 +1,6 @@ #include "tools/cabana/messageswidget.h" #include -#include #include #include #include diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 49f57b78e6..69fdd26170 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -33,6 +34,8 @@ class MessagesWidget : public QWidget { public: MessagesWidget(QWidget *parent); 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); } signals: void msgSelectionChanged(const QString &message_id); diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index e06d149831..7d34d5dec0 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -23,6 +23,7 @@ void Settings::save() { s.setValue("window_state", window_state); s.setValue("geometry", geometry); s.setValue("video_splitter_state", video_splitter_state); + s.setValue("message_header_state", message_header_state); } void Settings::load() { @@ -36,6 +37,7 @@ void Settings::load() { window_state = s.value("window_state").toByteArray(); geometry = s.value("geometry").toByteArray(); video_splitter_state = s.value("video_splitter_state").toByteArray(); + message_header_state = s.value("message_header_state").toByteArray(); } // SettingsDlg diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 86ebd73113..7b0cbc9f5d 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -22,6 +22,7 @@ public: QByteArray geometry; QByteArray video_splitter_state; QByteArray window_state; + QByteArray message_header_state; signals: void changed(); From 9201267fb7ba0080a3c508a6a258f76cbc265079 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 26 Jan 2023 14:48:46 -0800 Subject: [PATCH 103/124] torqued: Update reset logic (#27103) * update reset logic * bugfix --- selfdrive/locationd/torqued.py | 32 ++++++++++---------------------- 1 file changed, 10 insertions(+), 22 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index cb8101bbd4..5449152686 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -31,8 +31,6 @@ MAX_FILTER_DECAY = 250 LAT_ACC_THRESHOLD = 1 STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)] MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) -MAX_RESETS = 5.0 -MAX_INVALID_THRESHOLD = 10 MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches @@ -173,7 +171,6 @@ class TorqueEstimator: def reset(self): self.resets += 1.0 - self.invalid_values_tracker = 0.0 self.decay = MIN_FILTER_DECAY self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len)) self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total) @@ -198,12 +195,6 @@ class TorqueEstimator: self.filtered_params[param].update(value) self.filtered_params[param].update_alpha(self.decay) - def is_sane(self, latAccelFactor, latAccelOffset, friction): - if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, friction]]): - return False - return (self.max_friction >= friction >= self.min_friction) and\ - (self.max_lataccel_factor >= latAccelFactor >= self.min_lataccel_factor) - def handle_log(self, t, which, msg): if which == "carControl": self.raw_points["carControl_t"].append(t + self.lag) @@ -233,23 +224,20 @@ class TorqueEstimator: liveTorqueParameters.useParams = self.use_params if self.filtered_points.is_valid(): - latAccelFactor, latAccelOffset, friction_coeff = self.estimate_params() + latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params() liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor) liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) - liveTorqueParameters.frictionCoefficientRaw = float(friction_coeff) + liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff) - if self.is_sane(latAccelFactor, latAccelOffset, friction_coeff): - liveTorqueParameters.liveValid = True - self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': friction_coeff}) - self.invalid_values_tracker = max(0.0, self.invalid_values_tracker - 0.5) - else: - cloudlog.exception("Live torque parameters are outside acceptable bounds.") + if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]]): + cloudlog.exception("Live torque parameters are invalid.") liveTorqueParameters.liveValid = False - self.invalid_values_tracker += 1.0 - # Reset when ~10 invalid over 5 secs - if self.invalid_values_tracker > MAX_INVALID_THRESHOLD: - # Do not reset the filter as it may cause a drastic jump, just reset points - self.reset() + self.reset() + else: + liveTorqueParameters.liveValid = True + latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor) + frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction) + self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff}) else: liveTorqueParameters.liveValid = False From 6f0d35a09f54866ff2c7a76993c2f11e96fdf869 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 26 Jan 2023 18:25:15 -0700 Subject: [PATCH 104/124] Glonass ephemeris support (#27088) * add glonass kaitai parsing * add kaita generated files * remove glonass from build * add string non immediate type * fix kaitai bug * add patch file * fix scons order * Update selfdrive/locationd/SConscript Co-authored-by: Adeeb Shihadeh Co-authored-by: Kurt Nistelberger Co-authored-by: Adeeb Shihadeh --- selfdrive/locationd/SConscript | 5 + selfdrive/locationd/generated/glonass.cpp | 201 +++++++++++++++++++ selfdrive/locationd/generated/glonass.h | 232 ++++++++++++++++++++++ selfdrive/locationd/generated/gps.cpp | 6 +- selfdrive/locationd/generated/gps.h | 4 +- selfdrive/locationd/generated/ubx.cpp | 8 +- selfdrive/locationd/glonass.ksy | 107 ++++++++++ selfdrive/locationd/glonass_fix.patch | 13 ++ selfdrive/locationd/gps.ksy | 2 +- 9 files changed, 566 insertions(+), 12 deletions(-) create mode 100644 selfdrive/locationd/generated/glonass.cpp create mode 100644 selfdrive/locationd/generated/glonass.h create mode 100644 selfdrive/locationd/glonass.ksy create mode 100644 selfdrive/locationd/glonass_fix.patch diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 4b7fba19b6..7024196efd 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -7,6 +7,11 @@ if GetOption('kaitai'): cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) + glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) + + # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 + patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') + env.Depends(patch, glonass) env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs) diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp new file mode 100644 index 0000000000..149134fbb5 --- /dev/null +++ b/selfdrive/locationd/generated/glonass.cpp @@ -0,0 +1,201 @@ +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "glonass.h" + +glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = this; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::_read() { + m_idle_chip = m__io->read_bits_int_be(1); + m_string_number = m__io->read_bits_int_be(4); + //m__io->align_to_byte(); + switch (string_number()) { + case 4: { + m_data = new string_4_t(m__io, this, m__root); + break; + } + case 1: { + m_data = new string_1_t(m__io, this, m__root); + break; + } + case 3: { + m_data = new string_3_t(m__io, this, m__root); + break; + } + case 2: { + m_data = new string_2_t(m__io, this, m__root); + break; + } + default: { + m_data = new string_non_immediate_t(m__io, this, m__root); + break; + } + } + m_hamming_code = m__io->read_bits_int_be(8); + m_pad_1 = m__io->read_bits_int_be(11); + m_superframe_number = m__io->read_bits_int_be(16); + m_pad_2 = m__io->read_bits_int_be(8); + m_frame_number = m__io->read_bits_int_be(8); +} + +glonass_t::~glonass_t() { + _clean_up(); +} + +void glonass_t::_clean_up() { + if (m_data) { + delete m_data; m_data = 0; + } +} + +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; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +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_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); + m_f_t = m__io->read_bits_int_be(4); + m_not_used_2 = m__io->read_bits_int_be(3); + m_n_t = m__io->read_bits_int_be(11); + m_n = m__io->read_bits_int_be(5); + m_m = m__io->read_bits_int_be(2); +} + +glonass_t::string_4_t::~string_4_t() { + _clean_up(); +} + +void glonass_t::string_4_t::_clean_up() { +} + +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; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_non_immediate_t::_read() { + m_data_1 = m__io->read_bits_int_be(64); + m_data_2 = m__io->read_bits_int_be(8); +} + +glonass_t::string_non_immediate_t::~string_non_immediate_t() { + _clean_up(); +} + +void glonass_t::string_non_immediate_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; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +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); +} + +glonass_t::string_1_t::~string_1_t() { + _clean_up(); +} + +void glonass_t::string_1_t::_clean_up() { +} + +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; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void glonass_t::string_2_t::_read() { + m_b_n = m__io->read_bits_int_be(3); + 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); +} + +glonass_t::string_2_t::~string_2_t() { + _clean_up(); +} + +void glonass_t::string_2_t::_clean_up() { +} + +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; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +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_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); +} + +glonass_t::string_3_t::~string_3_t() { + _clean_up(); +} + +void glonass_t::string_3_t::_clean_up() { +} diff --git a/selfdrive/locationd/generated/glonass.h b/selfdrive/locationd/generated/glonass.h new file mode 100644 index 0000000000..48bdabfe96 --- /dev/null +++ b/selfdrive/locationd/generated/glonass.h @@ -0,0 +1,232 @@ +#ifndef GLONASS_H_ +#define GLONASS_H_ + +// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +#include "kaitai/kaitaistruct.h" +#include + +#if KAITAI_STRUCT_VERSION < 9000L +#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" +#endif + +class glonass_t : public kaitai::kstruct { + +public: + class string_4_t; + class string_non_immediate_t; + class string_1_t; + class string_2_t; + class string_3_t; + + glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, glonass_t* p__root = 0); + +private: + void _read(); + void _clean_up(); + +public: + ~glonass_t(); + + class string_4_t : public kaitai::kstruct { + + public: + + string_4_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_4_t(); + + private: + uint64_t m_tau_n; + uint64_t m_delta_tau_n; + uint64_t m_e_n; + uint64_t m_not_used_1; + bool m_p4; + uint64_t m_f_t; + uint64_t m_not_used_2; + uint64_t m_n_t; + uint64_t m_n; + uint64_t m_m; + glonass_t* m__root; + 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; } + 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; } + uint64_t f_t() const { return m_f_t; } + uint64_t not_used_2() const { return m_not_used_2; } + uint64_t n_t() const { return m_n_t; } + uint64_t n() const { return m_n; } + uint64_t m() const { return m_m; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_non_immediate_t : public kaitai::kstruct { + + public: + + string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_non_immediate_t(); + + private: + uint64_t m_data_1; + uint64_t m_data_2; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t data_1() const { return m_data_1; } + uint64_t data_2() const { return m_data_2; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_1_t : public kaitai::kstruct { + + public: + + string_1_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_1_t(); + + 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; + glonass_t* m__root; + glonass_t* m__parent; + + 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; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_2_t : public kaitai::kstruct { + + public: + + string_2_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_2_t(); + + 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; + glonass_t* m__root; + glonass_t* m__parent; + + public: + uint64_t b_n() const { return m_b_n; } + 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; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + + class string_3_t : public kaitai::kstruct { + + public: + + string_3_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~string_3_t(); + + private: + bool m_p3; + uint64_t m_gamma_n; + 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; + 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 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; } + glonass_t* _root() const { return m__root; } + glonass_t* _parent() const { return m__parent; } + }; + +private: + bool m_idle_chip; + uint64_t m_string_number; + kaitai::kstruct* m_data; + uint64_t m_hamming_code; + uint64_t m_pad_1; + uint64_t m_superframe_number; + uint64_t m_pad_2; + uint64_t m_frame_number; + glonass_t* m__root; + kaitai::kstruct* m__parent; + +public: + bool idle_chip() const { return m_idle_chip; } + uint64_t string_number() const { return m_string_number; } + kaitai::kstruct* data() const { return m_data; } + uint64_t hamming_code() const { return m_hamming_code; } + uint64_t pad_1() const { return m_pad_1; } + uint64_t superframe_number() const { return m_superframe_number; } + uint64_t pad_2() const { return m_pad_2; } + uint64_t frame_number() const { return m_frame_number; } + glonass_t* _root() const { return m__root; } + kaitai::kstruct* _parent() const { return m__parent; } +}; + +#endif // GLONASS_H_ diff --git a/selfdrive/locationd/generated/gps.cpp b/selfdrive/locationd/generated/gps.cpp index 9b020735bb..8e1cb85b95 100644 --- a/selfdrive/locationd/generated/gps.cpp +++ b/selfdrive/locationd/generated/gps.cpp @@ -274,9 +274,9 @@ gps_t::tlm_t::tlm_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : } void gps_t::tlm_t::_read() { - m_magic = m__io->read_bytes(1); - if (!(magic() == std::string("\x8B", 1))) { - throw kaitai::validation_not_equal_error(std::string("\x8B", 1), magic(), _io(), std::string("/types/tlm/seq/0")); + m_preamble = m__io->read_bytes(1); + if (!(preamble() == std::string("\x8B", 1))) { + throw kaitai::validation_not_equal_error(std::string("\x8B", 1), preamble(), _io(), std::string("/types/tlm/seq/0")); } m_tlm = m__io->read_bits_int_be(14); m_integrity_status = m__io->read_bits_int_be(1); diff --git a/selfdrive/locationd/generated/gps.h b/selfdrive/locationd/generated/gps.h index 293e2e4a05..9dfc5031f5 100644 --- a/selfdrive/locationd/generated/gps.h +++ b/selfdrive/locationd/generated/gps.h @@ -273,7 +273,7 @@ public: ~tlm_t(); private: - std::string m_magic; + std::string m_preamble; uint64_t m_tlm; bool m_integrity_status; bool m_reserved; @@ -281,7 +281,7 @@ public: gps_t* m__parent; public: - std::string magic() const { return m_magic; } + std::string preamble() const { return m_preamble; } uint64_t tlm() const { return m_tlm; } bool integrity_status() const { return m_integrity_status; } bool reserved() const { return m_reserved; } diff --git a/selfdrive/locationd/generated/ubx.cpp b/selfdrive/locationd/generated/ubx.cpp index 5e743e1ee7..34fe1e52ca 100644 --- a/selfdrive/locationd/generated/ubx.cpp +++ b/selfdrive/locationd/generated/ubx.cpp @@ -89,13 +89,10 @@ void ubx_t::rxm_rawx_t::_read() { m_num_meas = m__io->read_u1(); m_rec_stat = m__io->read_u1(); m_reserved1 = m__io->read_bytes(3); - int l_measurements = num_meas(); m__raw_measurements = new std::vector(); - m__raw_measurements->reserve(l_measurements); m__io__raw_measurements = new std::vector(); - m__io__raw_measurements->reserve(l_measurements); m_measurements = new std::vector(); - m_measurements->reserve(l_measurements); + const int l_measurements = num_meas(); for (int i = 0; i < l_measurements; i++) { m__raw_measurements->push_back(m__io->read_bytes(32)); kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1)); @@ -184,9 +181,8 @@ void ubx_t::rxm_sfrbx_t::_read() { m_reserved2 = m__io->read_bytes(1); m_version = m__io->read_u1(); m_reserved3 = m__io->read_bytes(1); - int l_body = num_words(); m_body = new std::vector(); - m_body->reserve(l_body); + const int l_body = num_words(); for (int i = 0; i < l_body; i++) { m_body->push_back(m__io->read_u4le()); } diff --git a/selfdrive/locationd/glonass.ksy b/selfdrive/locationd/glonass.ksy new file mode 100644 index 0000000000..95ca78c16f --- /dev/null +++ b/selfdrive/locationd/glonass.ksy @@ -0,0 +1,107 @@ +# http://gauss.gge.unb.ca/GLONASS.ICD.pdf +meta: + id: glonass + endian: be + bit-endian: be +seq: + - id: idle_chip + type: b1 + - id: string_number + type: b4 + - id: data + type: + switch-on: string_number + cases: + 1: string_1 + 2: string_2 + 3: string_3 + 4: string_4 + _: string_non_immediate + - id: hamming_code + type: b8 + - id: pad_1 + type: b11 + - id: superframe_number + type: b16 + - id: pad_2 + type: b8 + - id: frame_number + type: b8 + +types: + string_1: + seq: + - id: not_used + type: b2 + - id: p1 + type: b2 + - id: t_k + type: b12 + - id: x_vel + type: b24 + - id: x_speedup + type: b5 + - id: x + type: b27 + string_2: + seq: + - id: b_n + type: b3 + - id: p2 + type: b1 + - id: t_b + type: b7 + - id: not_used + type: b5 + - id: y_vel + type: b24 + - id: y_speedup + type: b5 + - id: y + type: b27 + string_3: + seq: + - id: p3 + type: b1 + - id: gamma_n + type: b11 + - 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 + string_4: + seq: + - id: tau_n + type: b22 + - id: delta_tau_n + type: b5 + - id: e_n + type: b5 + - id: not_used_1 + type: b14 + - id: p4 + type: b1 + - id: f_t + type: b4 + - id: not_used_2 + type: b3 + - id: n_t + type: b11 + - id: n + type: b5 + - id: m + type: b2 + string_non_immediate: + seq: + - id: data_1 + type: b64 + - id: data_2 + type: b8 \ No newline at end of file diff --git a/selfdrive/locationd/glonass_fix.patch b/selfdrive/locationd/glonass_fix.patch new file mode 100644 index 0000000000..2f99e93637 --- /dev/null +++ b/selfdrive/locationd/glonass_fix.patch @@ -0,0 +1,13 @@ +diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp +index 6a48fe62c..149134fbb 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 + void glonass_t::_read() { + m_idle_chip = m__io->read_bits_int_be(1); + m_string_number = m__io->read_bits_int_be(4); +- m__io->align_to_byte(); ++ //m__io->align_to_byte(); + switch (string_number()) { + case 4: { + m_data = new string_4_t(m__io, this, m__root); diff --git a/selfdrive/locationd/gps.ksy b/selfdrive/locationd/gps.ksy index 6f5cde316b..893ad1b25b 100644 --- a/selfdrive/locationd/gps.ksy +++ b/selfdrive/locationd/gps.ksy @@ -19,7 +19,7 @@ seq: types: tlm: seq: - - id: magic + - id: preamble contents: [0x8b] - id: tlm type: b14 From 7316cd03fb71be3e27588cb7a6b9cffafbebe34f Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 26 Jan 2023 19:09:12 -0800 Subject: [PATCH 105/124] new model: fixed weight decay logic (#27068) * 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 cdfa9e3c-2807-49fc-bdc7-a985f8ff1644/700 * update refs --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 8805b3dce8..2daf01ea14 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:db746e3753de84367595fedd089c2bd41b06bd401ea28e085663533d0e63d74b -size 45962473 +oid sha256:3d8f2f9d53908e7a5496412956548dab1aa08ed0b5fb9d1c685f275369f07a57 +size 45962515 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 9eefc73792..fa4fa9540d 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -8233a12f97f483645e7691b8c54552a2f861a7ad +2a255ecea3665a3d295210195fd8ef0791ab49a0 From 4f4f4afe8a9bca7fdaf70c2b05ef6e90263aaac8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 19:11:44 -0800 Subject: [PATCH 106/124] Ford: set lateral ramp type to 0 (#27106) set ramp type always to 0 --- selfdrive/car/ford/carcontroller.py | 15 +-------------- selfdrive/car/ford/fordcan.py | 9 +++++---- 2 files changed, 6 insertions(+), 18 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 99a6648ff9..ab5cf267e0 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -54,22 +54,9 @@ class CarController: else: apply_curvature = 0. - # set slower ramp type when small steering angle change - # 0=Slow, 1=Medium, 2=Fast, 3=Immediately - steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg) - if steer_change < 2.5: - ramp_type = 0 - elif steer_change < 5.0: - ramp_type = 1 - elif steer_change < 7.5: - ramp_type = 2 - else: - ramp_type = 3 - precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable) - 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, ramp_type, precision, 0., 0., -apply_curvature, 0.)) + can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) ### 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 dcda59bce2..9ddde80f87 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -16,8 +16,7 @@ def create_lka_msg(packer): return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) -def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int, 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. @@ -44,8 +43,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int, "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] "LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, # 3=InterventionRight, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + "LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + # Makes no difference with curvature control + "LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + # The stock system always uses comfortable "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 From ad5b3ea410425d8d5d929e626a626c8d868ecdff Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 20:02:23 -0800 Subject: [PATCH 107/124] controls: add curvature to actuators (#27108) * Add curvature to actuators * Use it in CC * revert ford stuff * Update ref_commit --- selfdrive/controls/controlsd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c0b01bfc99..21d8fe2d66 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -606,6 +606,7 @@ class Controls: actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.last_actuators, self.steer_limited, self.desired_curvature, self.desired_curvature_rate, self.sm['liveLocationKalman']) + actuators.curvature = self.desired_curvature else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.rcv_frame['testJoystick'] > 0: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fb714b6f57..63db584c87 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3639e42ed538ee5d94ec2572cf27af6260633fad \ No newline at end of file +634d4ff195345a4a2508e497744aa08addec9237 From 50fc560b43bb24570400834edcaaa84d7270f38c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 27 Jan 2023 12:29:28 +0800 Subject: [PATCH 108/124] cabana: improve mainwin (#27053) * open recent * improve mainwin * move to submenu * new file & remind save before load dd --- tools/cabana/cabana.cc | 1 + tools/cabana/mainwin.cc | 155 +++++++++++++++++++++++++++++---------- tools/cabana/mainwin.h | 18 ++++- tools/cabana/settings.cc | 2 + tools/cabana/settings.h | 1 + 5 files changed, 133 insertions(+), 44 deletions(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index fc6c37fb72..d9b6b5948b 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -12,6 +12,7 @@ int main(int argc, char *argv[]) { QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts); initApp(argc, argv); QApplication app(argc, argv); + app.setApplicationDisplayName("Cabana"); QCommandLineParser cmd_parser; cmd_parser.addHelpOption(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 517d0b1b73..7d99b698bb 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -61,22 +61,33 @@ 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::indexChanged, [this](int index) { - setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name())); - }); + QObject::connect(detail_widget->undo_stack, &QUndoStack::cleanChanged, [this](bool clean) { setWindowModified(!clean); }); } void MainWindow::createActions() { QMenu *file_menu = menuBar()->addMenu(tr("&File")); - file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::loadDBCFromFile)->setShortcuts(QKeySequence::Open); + 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); + recent_files_acts[i]->setVisible(false); + QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile); + open_recent_menu->addAction(recent_files_acts[i]); + } + updateRecentFileActions(); + file_menu->addSeparator(); - file_menu->addAction(tr("Save DBC..."), this, &MainWindow::saveDBCToFile)->setShortcuts(QKeySequence::Save); - file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAsDBCToFile)->setShortcuts(QKeySequence::SaveAs); + 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); file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); file_menu->addSeparator(); file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences); + file_menu->addSeparator(); + 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")); undo_act->setShortcuts(QKeySequence::Undo); @@ -181,34 +192,57 @@ void MainWindow::DBCFileChanged() { detail_widget->undo_stack->clear(); int index = dbc_combo->findText(QFileInfo(dbc()->name()).baseName()); dbc_combo->setCurrentIndex(index); - setWindowTitle(tr("%1 - Cabana").arg(dbc()->name())); + setWindowFilePath(QString("%1").arg(dbc()->name())); } -void MainWindow::loadDBCFromName(const QString &name) { - if (name != dbc()->name()) { - dbc()->open(name); +void MainWindow::newFile() { + remindSaveChanges(); + dbc()->open("untitled.dbc", ""); +} + +void MainWindow::openFile() { + remindSaveChanges(); + QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); + if (!fn.isEmpty()) { + loadFile(fn); } } -void MainWindow::loadDBCFromFile() { - file_name = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); - if (!file_name.isEmpty()) { - settings.last_dir = QFileInfo(file_name).absolutePath(); - QFile file(file_name); +void MainWindow::loadFile(const QString &fn) { + if (!fn.isEmpty()) { + QFile file(fn); if (file.open(QIODevice::ReadOnly)) { - auto dbc_name = QFileInfo(file_name).baseName(); + auto dbc_name = QFileInfo(fn).baseName(); dbc()->open(dbc_name, file.readAll()); + setCurrentFile(fn); + statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); } } } +void MainWindow::openRecentFile() { + if (auto action = qobject_cast(sender())) { + remindSaveChanges(); + loadFile(action->data().toString()); + } +} + +void MainWindow::loadDBCFromName(const QString &name) { + if (name != dbc()->name()) { + remindSaveChanges(); + dbc()->open(name); + } +} + void MainWindow::loadDBCFromClipboard() { + remindSaveChanges(); QString dbc_str = QGuiApplication::clipboard()->text(); - dbc()->open("From Clipboard", dbc_str); + dbc()->open("from_clipboard.dbc", dbc_str); QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } void MainWindow::loadDBCFromFingerprint() { + remindSaveChanges(); auto fingerprint = can->carFingerprint(); video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); if (!fingerprint.isEmpty()) { @@ -218,25 +252,31 @@ void MainWindow::loadDBCFromFingerprint() { return; } } - dbc()->open("New_DBC", ""); + newFile(); } -void MainWindow::saveDBCToFile() { - if (file_name.isEmpty()) { - saveAsDBCToFile(); +void MainWindow::save() { + if (current_file.isEmpty()) { + saveAs(); } else { - settings.last_dir = QFileInfo(file_name).absolutePath(); - QFile file(file_name); - if (file.open(QIODevice::WriteOnly)) { - file.write(dbc()->generateDBC().toUtf8()); - } + saveFile(current_file); } } -void MainWindow::saveAsDBCToFile() { - file_name = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); - if (!file_name.isEmpty()) { - saveDBCToFile(); +void MainWindow::saveFile(const QString &fn) { + QFile file(fn); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc()->generateDBC().toUtf8()); + detail_widget->undo_stack->setClean(); + setCurrentFile(fn); + statusBar()->showMessage(tr("File saved"), 2000); + } +} + +void MainWindow::saveAs() { + QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); + if (!fn.isEmpty()) { + saveFile(fn); } } @@ -245,6 +285,49 @@ void MainWindow::saveDBCToClipboard() { QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } +void MainWindow::setCurrentFile(const QString &fn) { + current_file = fn; + setWindowFilePath(QString("%1").arg(fn)); + settings.recent_files.removeAll(fn); + settings.recent_files.prepend(fn); + while (settings.recent_files.size() > MAX_RECENT_FILES) { + settings.recent_files.removeLast(); + } + settings.last_dir = QFileInfo(fn).absolutePath(); + updateRecentFileActions(); +} + +void MainWindow::updateRecentFileActions() { + int num_recent_files = std::min(settings.recent_files.size(), MAX_RECENT_FILES); + + for (int i = 0; i < num_recent_files; ++i) { + QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName()); + recent_files_acts[i]->setText(text); + recent_files_acts[i]->setData(settings.recent_files[i]); + recent_files_acts[i]->setVisible(true); + } + for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) { + recent_files_acts[i]->setVisible(false); + } + open_recent_menu->setEnabled(num_recent_files > 0); +} + +void MainWindow::remindSaveChanges() { + bool discard_changes = false; + while (!detail_widget->undo_stack->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)); + if (ret == QMessageBox::Ok) { + save(); + } else { + discard_changes = true; + } + } + detail_widget->undo_stack->clear(); + current_file = ""; +} + void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { if (success && cur < total) { progress_bar->setValue((cur / (double)total) * 100); @@ -264,7 +347,7 @@ void MainWindow::dockCharts(bool dock) { } else if (!dock && !floating_window) { floating_window = new QWidget(this); floating_window->setWindowFlags(Qt::Window); - floating_window->setWindowTitle("Charts - Cabana"); + floating_window->setWindowTitle("Charts"); floating_window->setLayout(new QVBoxLayout()); floating_window->layout()->addWidget(charts_widget); floating_window->installEventFilter(charts_widget); @@ -273,15 +356,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { - if (detail_widget->undo_stack->index() > 0) { - auto ret = QMessageBox::question(this, tr("Unsaved Changes"), - tr("Are you sure you want to exit without saving?\nAny unsaved changes will be lost."), - QMessageBox::Yes | QMessageBox::No); - if (ret == QMessageBox::No) { - event->ignore(); - return; - } - } + remindSaveChanges(); main_win = nullptr; if (floating_window) diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index a38834b997..4e65fa01cf 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -23,12 +23,14 @@ public: void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } public slots: + void newFile(); + void openFile(); + void openRecentFile(); void loadDBCFromName(const QString &name); void loadDBCFromFingerprint(); - void loadDBCFromFile(); void loadDBCFromClipboard(); - void saveDBCToFile(); - void saveAsDBCToFile(); + void save(); + void saveAs(); void saveDBCToClipboard(); signals: @@ -36,6 +38,11 @@ signals: void updateProgressBar(uint64_t cur, uint64_t total, bool success); protected: + void remindSaveChanges(); + void saveFile(const QString &fn); + void loadFile(const QString &fn); + void setCurrentFile(const QString &fn); + void updateRecentFileActions(); void createActions(); void createDockWindows(); QComboBox *createDBCSelector(); @@ -58,5 +65,8 @@ protected: QJsonDocument fingerprint_to_dbc; QComboBox *dbc_combo; QSplitter *video_splitter;; - QString file_name = ""; + QString current_file = ""; + enum { MAX_RECENT_FILES = 15 }; + QAction *recent_files_acts[MAX_RECENT_FILES] = {}; + QMenu *open_recent_menu = nullptr; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 7d34d5dec0..78969c76c3 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -23,6 +23,7 @@ void Settings::save() { s.setValue("window_state", window_state); s.setValue("geometry", geometry); s.setValue("video_splitter_state", video_splitter_state); + s.setValue("recent_files", recent_files); s.setValue("message_header_state", message_header_state); } @@ -37,6 +38,7 @@ void Settings::load() { window_state = s.value("window_state").toByteArray(); geometry = s.value("geometry").toByteArray(); 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(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 7b0cbc9f5d..56c6a992ae 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -22,6 +22,7 @@ public: QByteArray geometry; QByteArray video_splitter_state; QByteArray window_state; + QStringList recent_files; QByteArray message_header_state; signals: From 1d9b4c2248f2e4b575e37b6b134880086f1ba0b4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 26 Jan 2023 21:05:39 -0800 Subject: [PATCH 109/124] cleanup panda mcu definitions (#27104) * cleanup panda mcu definitions * cleanup panda mcu definitions * bump * panda master --- panda | 2 +- selfdrive/boardd/pandad.py | 6 ++---- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/panda b/panda index ae051c94a3..76d0459182 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ae051c94a393550ab8d70c594fc9dfb49bc9aed8 +Subproject commit 76d0459182d544d17c86d8b352e9cc1c26035f4d diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 971756002b..f61d9ee1a6 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -7,7 +7,7 @@ import subprocess from typing import List, NoReturn from functools import cmp_to_key -from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU +from panda import Panda, PandaDFU from common.basedir import BASEDIR from common.params import Params from system.hardware import HARDWARE @@ -15,10 +15,8 @@ from system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: - fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN - try: - return Panda.get_signature_from_firmware(fn) + return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path) except Exception: cloudlog.exception("Error computing expected signature") return b"" From 701b7d89b65b6cf936ed6893de09c45f6c982ca4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 22:29:01 -0800 Subject: [PATCH 110/124] Ford: use curvature without roll compensation (#27110) * Ford: use actuators.curvature * ford is mathless --- selfdrive/car/ford/carcontroller.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index ab5cf267e0..06da87bf34 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,4 +1,3 @@ -import math from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker @@ -46,10 +45,8 @@ class CarController: # send steering commands at 20Hz if (self.frame % CarControllerParams.STEER_STEP) == 0: if CC.latActive: - # apply limits to curvature - apply_curvature = -self.VM.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0) - apply_curvature = apply_std_steer_angle_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) - # clip to signal range + # apply limits to curvature and clip to signal range + apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) else: apply_curvature = 0. From 226d80964d4586392266fd2e711e6b6c003602de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 26 Jan 2023 23:14:05 -0800 Subject: [PATCH 111/124] Ford: lower lateral actuator delay (#27113) Update interface.py --- selfdrive/car/ford/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index cea39d8b00..14592a5f68 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = True ret.steerControlType = car.CarParams.SteerControlType.angle - ret.steerActuatorDelay = 0.25 + ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 if candidate == CAR.BRONCO_SPORT_MK1: From 0eed31f1a68315121a3319464869cc622947ebba Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 27 Jan 2023 11:27:07 -0800 Subject: [PATCH 112/124] process replay: show process name in timeout error --- selfdrive/test/process_replay/process_replay.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 06af4469f2..7172c112aa 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -554,7 +554,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None): managed_processes[cfg.proc_name].start() try: - with Timeout(TIMEOUT): + with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"): while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): time.sleep(0) From f0078eafac20ac5af7e9683e61045bfb524f82cf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 28 Jan 2023 03:33:52 +0800 Subject: [PATCH 113/124] cabana: set time column to fixed width (#27117) improve column width --- tools/cabana/historylog.cc | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 970aafd342..a2a90e4f0c 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -170,11 +170,16 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti // HeaderView QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { - int default_size = qMax(100, rect().width() / model()->columnCount()); - const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString(); - const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text); - QSize size = rect.size() + QSize{10, 6}; - return {qMax(size.width(), default_size), size.height()}; + static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6); + if (logicalIndex == 0) { + return time_col_size; + } else { + int default_size = qMax(100, (rect().width() - time_col_size.width()) / (model()->columnCount() - 1)); + const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString(); + const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text); + QSize size = rect.size() + QSize{10, 6}; + return QSize{qMax(size.width(), default_size), size.height()}; + } } void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const { From e1e043231720712d7c1e2d7342f13756d68efcde Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 28 Jan 2023 03:34:17 +0800 Subject: [PATCH 114/124] cabana: display warning if failed to load dbc from clipboard (#27115) display warning if failed to load from clipboard --- tools/cabana/mainwin.cc | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 7d99b698bb..d674ec9059 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -238,7 +238,11 @@ void MainWindow::loadDBCFromClipboard() { remindSaveChanges(); QString dbc_str = QGuiApplication::clipboard()->text(); dbc()->open("from_clipboard.dbc", dbc_str); - QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); + if (dbc()->messages().size() > 0) { + QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); + } else { + QMessageBox::warning(this, tr("Load From Clipboard"), tr("Failed to parse dbc from clipboard!\nMake sure that you paste the text with correct format.")); + } } void MainWindow::loadDBCFromFingerprint() { From 4f25bd05f29c81d622ad57a8d608006ab1baf5e6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 27 Jan 2023 13:06:33 -0800 Subject: [PATCH 115/124] process replay: test routes in dashcam (#27118) * fix routes with dashcam override param * move to bottom --- selfdrive/test/process_replay/process_replay.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 7172c112aa..606dcad9c4 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -448,6 +448,9 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): if CP.openpilotLongitudinalControl: params.put_bool("ExperimentalLongitudinalEnabled", True) + # controlsd process configuration assume all routes are out of dashcam + params.put_bool("DashcamOverride", True) + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] From 60f73657def5aefdae7e1ceb6d32ae9b0cc3b880 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 27 Jan 2023 13:44:37 -0800 Subject: [PATCH 116/124] Ford: set radarOffCan (#27120) Fix --- selfdrive/car/ford/interface.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 14592a5f68..7c6a8ecbe4 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -18,6 +18,7 @@ class CarInterface(CarInterfaceBase): # These cars are dashcam only until the port is finished ret.dashcamOnly = True + ret.radarOffCan = True ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 From cb62a5397e1a0d9603308e143339bf6e31c3d2e4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 27 Jan 2023 14:14:04 -0800 Subject: [PATCH 117/124] process replay: add Ford Bronco Sport segment (#27112) * Add Ford segment to process replay * fix dashcam cars * clean up * fix NotImplementedError * Update refs --- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 63db584c87..dcd2f7b224 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -634d4ff195345a4a2508e497744aa08addec9237 +ec92fe65806256cb5180cfd5ec60895efcc08da2 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index c58909bf7f..569090f606 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -29,6 +29,7 @@ source_segments = [ ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV + ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 @@ -52,6 +53,7 @@ segments = [ ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), + ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), From 8d447e8a081e878a55707cc2840a6d08d88102ca Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 27 Jan 2023 15:20:59 -0800 Subject: [PATCH 118/124] [RAM 1500 5TH GEN] Disable Live Torque (#27121) * revert ram on live torque * update refs * update refs --- selfdrive/car/torque_data/override.yaml | 1 + selfdrive/car/torque_data/params.yaml | 1 - selfdrive/locationd/torqued.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 733aa34343..0a49d39914 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -23,6 +23,7 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars +RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 6a607f3a8a..397b29525d 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -56,7 +56,6 @@ LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117] LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] -RAM 1500 5TH GEN: [1.550848, 2.0, 0.132261] SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 5449152686..fcc068d34e 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -35,7 +35,6 @@ MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches ALLOWED_CARS = ['toyota', 'hyundai'] -ALLOWED_PLATFORMS = ['RAM 1500 5TH GEN'] # for adding individual platforms from a brand without torqued def slope2rot(slope): @@ -114,7 +113,7 @@ class TorqueEstimator: self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = (CP.carName in ALLOWED_CARS) or (CP.carFingerprint in ALLOWED_PLATFORMS) + self.use_params = CP.carName in ALLOWED_CARS if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dcd2f7b224..51de0f0013 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ec92fe65806256cb5180cfd5ec60895efcc08da2 \ No newline at end of file +844c84eae269e74b246b039d2b33fd44e98a5b68 \ No newline at end of file From 07b32750c16fe4e71abbf81e07aa839ac60b5343 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 29 Jan 2023 04:03:59 +0800 Subject: [PATCH 119/124] cabana: remove extra frame border in logs (#27133) remove extra frame border --- tools/cabana/historylog.cc | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index a2a90e4f0c..ccc2c5533d 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -195,8 +195,13 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); + + QWidget *toolbar = new QWidget(this); + toolbar->setAutoFillBackground(true); + QHBoxLayout *h = new QHBoxLayout(toolbar); - QHBoxLayout *h = new QHBoxLayout(); filters_widget = new QWidget(this); QHBoxLayout *filter_layout = new QHBoxLayout(filters_widget); filter_layout->setContentsMargins(0, 0, 0, 0); @@ -215,7 +220,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { dynamic_mode->setChecked(true); dynamic_mode->setEnabled(!can->liveStreaming()); - main_layout->addLayout(h); + main_layout->addWidget(toolbar); + QFrame *line = new QFrame(this); + line->setFrameStyle(QFrame::HLine | QFrame::Sunken); + main_layout->addWidget(line);; + main_layout->addWidget(logs = new QTableView(this)); logs->setModel(model = new HistoryLogModel(this)); logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this)); @@ -223,6 +232,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); logs->verticalHeader()->setVisible(false); + logs->setFrameShape(QFrame::NoFrame); QObject::connect(display_type_cb, SIGNAL(activated(int)), model, SLOT(setDisplayType(int))); QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode); From 68c0012bf62bcbe9a273d8d4caca0c1ce0d8e9bb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 28 Jan 2023 21:05:51 +0100 Subject: [PATCH 120/124] cabana: DoubleValidator fix locale (#27129) --- tools/cabana/signaledit.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index cc57cf0f3e..112c2807f9 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -12,6 +12,8 @@ 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); From ba5c6715a8099eb5850382a5b7918da33a6c13dd Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 28 Jan 2023 21:06:04 +0100 Subject: [PATCH 121/124] cabana: fix crash when combining graphs on MacOS (#27128) --- 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 5d0e5d7a52..3ecdbb08bd 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -578,8 +578,9 @@ void ChartView::mousePressEvent(QMouseEvent *event) { if (dropAction == Qt::MoveAction) { return; } + } else { + QChartView::mousePressEvent(event); } - QChartView::mousePressEvent(event); } void ChartView::mouseReleaseEvent(QMouseEvent *event) { From 7f853819767bb92488b9614b8a7b3e0210f9ecb5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 28 Jan 2023 15:00:27 -0800 Subject: [PATCH 122/124] bump panda (#27136) * bump panda * bump --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 76d0459182..e7f36a2992 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 76d0459182d544d17c86d8b352e9cc1c26035f4d +Subproject commit e7f36a2992b353d7d66fbb697d166d4de8718c99 From aa71947ebc9c286a13f86458ea0e970ca0d7a0c7 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 28 Jan 2023 16:47:26 -0800 Subject: [PATCH 123/124] add signs to glonass ksy --- selfdrive/locationd/generated/glonass.cpp | 176 ++++++++++++++++++-- selfdrive/locationd/generated/glonass.h | 191 +++++++++++++++++++--- selfdrive/locationd/glonass.ksy | 119 +++++++++++--- 3 files changed, 425 insertions(+), 61 deletions(-) diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp index 149134fbb5..a342bdff22 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 << 21))) : (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 << 4))) : (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_e = 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 << 23))) : (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 << 4))) : (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 << 26))) : (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 << 23))) : (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 << 4))) : (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 << 26))) : (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 << 10))) : (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 << 23))) : (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 << 4))) : (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 << 26))) : (z_value())); + f_z = true; + return m_z; +} diff --git a/selfdrive/locationd/generated/glonass.h b/selfdrive/locationd/generated/glonass.h index 48bdabfe96..3b7917ef4b 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_e; + 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_e() const { return m_tau_e; } + 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..36e5c91740 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 << 23)) : x_vel_value' + x_accel: + value: 'x_accel_sign ? (x_accel_value - (1 << 4)) : x_accel_value' + x: + value: 'x_sign ? (x_value - (1 << 26)) : 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 << 23)) : y_vel_value' + y_accel: + value: 'y_accel_sign ? (y_accel_value - (1 << 4)) : y_accel_value' + y: + value: 'y_sign ? (y_value - (1 << 26)) : 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 << 10)) : gamma_n_value' + z_vel: + value: 'z_vel_sign ? (z_vel_value - (1 << 23)) : z_vel_value' + z_accel: + value: 'z_accel_sign ? (z_accel_value - (1 << 4)) : z_accel_value' + z: + value: 'z_sign ? (z_value - (1 << 26)) : 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 << 21)) : tau_n_value' + delta_tau_n: + value: 'delta_tau_n_sign ? (delta_tau_n_value - (1 << 4)) : delta_tau_n_value' + string_5: + seq: + - id: n_a + type: b11 + - id: tau_e + 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 From 53ccec7697247a06ad64fe056dcf07e026a011af Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 28 Jan 2023 16:48:26 -0800 Subject: [PATCH 124/124] Revert "add signs to glonass ksy" This reverts commit aa71947ebc9c286a13f86458ea0e970ca0d7a0c7. --- selfdrive/locationd/generated/glonass.cpp | 176 ++------------------ selfdrive/locationd/generated/glonass.h | 191 +++------------------- selfdrive/locationd/glonass.ksy | 119 +++----------- 3 files changed, 61 insertions(+), 425 deletions(-) diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp index a342bdff22..149134fbb5 100644 --- a/selfdrive/locationd/generated/glonass.cpp +++ b/selfdrive/locationd/generated/glonass.cpp @@ -31,10 +31,6 @@ 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; @@ -64,8 +60,6 @@ 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(); @@ -76,10 +70,8 @@ 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_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_tau_n = m__io->read_bits_int_be(22); + m_delta_tau_n = m__io->read_bits_int_be(5); 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); @@ -97,22 +89,6 @@ 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 << 21))) : (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 << 4))) : (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; @@ -137,40 +113,9 @@ 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_e = 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(); @@ -184,12 +129,9 @@ 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_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); + 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); } glonass_t::string_1_t::~string_1_t() { @@ -199,36 +141,9 @@ 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 << 23))) : (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 << 4))) : (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 << 26))) : (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(); @@ -243,12 +158,9 @@ 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_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); + 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); } glonass_t::string_2_t::~string_2_t() { @@ -258,37 +170,9 @@ 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 << 23))) : (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 << 4))) : (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 << 26))) : (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(); @@ -300,17 +184,13 @@ 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_sign = m__io->read_bits_int_be(1); - m_gamma_n_value = m__io->read_bits_int_be(10); + m_gamma_n = m__io->read_bits_int_be(11); 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_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); + 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); } glonass_t::string_3_t::~string_3_t() { @@ -319,35 +199,3 @@ 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 << 10))) : (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 << 23))) : (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 << 4))) : (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 << 26))) : (z_value())); - f_z = true; - return m_z; -} diff --git a/selfdrive/locationd/generated/glonass.h b/selfdrive/locationd/generated/glonass.h index 3b7917ef4b..48bdabfe96 100644 --- a/selfdrive/locationd/generated/glonass.h +++ b/selfdrive/locationd/generated/glonass.h @@ -15,7 +15,6 @@ 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; @@ -43,24 +42,8 @@ public: ~string_4_t(); private: - 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_tau_n; + uint64_t m_delta_tau_n; uint64_t m_e_n; uint64_t m_not_used_1; bool m_p4; @@ -73,10 +56,8 @@ public: glonass_t* m__parent; public: - 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 tau_n() const { return m_tau_n; } + uint64_t delta_tau_n() const { return m_delta_tau_n; } 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; } @@ -115,40 +96,6 @@ 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_e; - 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_e() const { return m_tau_e; } - 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: @@ -162,37 +109,13 @@ 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; - 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; + uint64_t m_x_vel; + uint64_t m_x_speedup; + uint64_t m_x; glonass_t* m__root; glonass_t* m__parent; @@ -200,12 +123,9 @@ 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; } - 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; } + 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; } glonass_t* _root() const { return m__root; } glonass_t* _parent() const { return m__parent; } }; @@ -223,38 +143,14 @@ 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; - 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; + uint64_t m_y_vel; + uint64_t m_y_speedup; + uint64_t m_y; glonass_t* m__root; glonass_t* m__parent; @@ -263,12 +159,9 @@ 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; } - 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; } + 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; } glonass_t* _root() const { return m__root; } glonass_t* _parent() const { return m__parent; } }; @@ -286,63 +179,27 @@ 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; - bool m_gamma_n_sign; - uint64_t m_gamma_n_value; + uint64_t m_gamma_n; bool m_not_used; uint64_t m_p; bool m_l_n; - 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; + uint64_t m_z_vel; + uint64_t m_z_speedup; + uint64_t m_z; glonass_t* m__root; glonass_t* m__parent; public: bool p3() const { return m_p3; } - bool gamma_n_sign() const { return m_gamma_n_sign; } - uint64_t gamma_n_value() const { return m_gamma_n_value; } + uint64_t gamma_n() const { return m_gamma_n; } bool not_used() const { return m_not_used; } uint64_t p() const { return m_p; } bool l_n() const { return m_l_n; } - 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; } + 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; } 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 36e5c91740..95ca78c16f 100644 --- a/selfdrive/locationd/glonass.ksy +++ b/selfdrive/locationd/glonass.ksy @@ -1,6 +1,4 @@ # 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 @@ -18,7 +16,6 @@ seq: 2: string_2 3: string_3 4: string_4 - 5: string_5 _: string_non_immediate - id: hamming_code type: b8 @@ -40,25 +37,12 @@ types: type: b2 - id: t_k type: b12 - - 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 << 23)) : x_vel_value' - x_accel: - value: 'x_accel_sign ? (x_accel_value - (1 << 4)) : x_accel_value' - x: - value: 'x_sign ? (x_value - (1 << 26)) : x_value' + - id: x_vel + type: b24 + - id: x_speedup + type: b5 + - id: x + type: b27 string_2: seq: - id: b_n @@ -69,70 +53,36 @@ types: type: b7 - id: not_used type: b5 - - 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 << 23)) : y_vel_value' - y_accel: - value: 'y_accel_sign ? (y_accel_value - (1 << 4)) : y_accel_value' - y: - value: 'y_sign ? (y_value - (1 << 26)) : y_value' + - id: y_vel + type: b24 + - id: y_speedup + type: b5 + - id: y + type: b27 string_3: seq: - id: p3 type: b1 - - id: gamma_n_sign - type: b1 - - id: gamma_n_value - type: b10 + - id: gamma_n + type: b11 - id: not_used type: b1 - id: p type: b2 - id: l_n type: b1 - - 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 << 10)) : gamma_n_value' - z_vel: - value: 'z_vel_sign ? (z_vel_value - (1 << 23)) : z_vel_value' - z_accel: - value: 'z_accel_sign ? (z_accel_value - (1 << 4)) : z_accel_value' - z: - value: 'z_sign ? (z_value - (1 << 26)) : z_value' + - id: z_vel + type: b24 + - id: z_speedup + type: b5 + - id: z + type: b27 string_4: seq: - - 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: tau_n + type: b22 + - id: delta_tau_n + type: b5 - id: e_n type: b5 - id: not_used_1 @@ -149,28 +99,9 @@ types: type: b5 - id: m type: b2 - instances: - tau_n: - value: 'tau_n_sign ? (tau_n_value - (1 << 21)) : tau_n_value' - delta_tau_n: - value: 'delta_tau_n_sign ? (delta_tau_n_value - (1 << 4)) : delta_tau_n_value' - string_5: - seq: - - id: n_a - type: b11 - - id: tau_e - 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 + type: b8 \ No newline at end of file