mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-23 23:02:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'paramwatcher' into watcher

Browse Source
This commit is contained in:
James Vecellio-Grant
2025-12-13 07:17:49 -08:00
committed by GitHub
parent 6e06bcb14f 7692d35a63
commit 72bc73d4fe
125 changed files with 3416 additions and 936 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/ci_weekly_report.yaml
+1 -1
View File
@@ -38,7 +38,7 @@ jobs:
report:
needs: [ci_matrix_run]
runs-on: ubuntu-latest
if: always()
if: always() && github.repository == 'commaai/openpilot'
steps:
- name: Get job results
uses: actions/github-script@v7
.github/workflows/mici_raylib_ui_preview.yaml
+151
View File
@@ -0,0 +1,151 @@
name: "mici raylib ui preview"
on:
push:
branches:
- master
pull_request_target:
types: [assigned, opened, synchronize, reopened, edited]
branches:
- 'master'
paths:
- 'selfdrive/assets/**'
- 'selfdrive/ui/**'
- 'system/ui/**'
workflow_dispatch:
env:
UI_JOB_NAME: "Create mici raylib UI Report"
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
# All report files are pushed here
REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
jobs:
preview:
if: github.repository == 'commaai/openpilot'
name: preview
runs-on: ubuntu-latest
timeout-minutes: 20
permissions:
contents: read
pull-requests: write
actions: read
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Waiting for ui generation to end
uses: lewagon/wait-on-check-action@v1.3.4
with:
ref: ${{ env.SHA }}
check-name: ${{ env.UI_JOB_NAME }}
repo-token: ${{ secrets.GITHUB_TOKEN }}
allowed-conclusions: success
wait-interval: 20
- name: Getting workflow run ID
id: get_run_id
run: |
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
- name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4
id: download-artifact
uses: dawidd6/action-download-artifact@v6
with:
github_token: ${{ secrets.GITHUB_TOKEN }}
run_id: ${{ steps.get_run_id.outputs.run_id }}
search_artifacts: true
name: mici-raylib-report-1-${{ env.REPORT_NAME }}
path: ${{ github.workspace }}/pr_ui
- name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4
uses: actions/checkout@v4
with:
repository: commaai/ci-artifacts
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
path: ${{ github.workspace }}/master_ui_raylib
ref: ${{ env.MASTER_BRANCH_NAME }}
- name: Saving new master ui
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
working-directory: ${{ github.workspace }}/master_ui_raylib
run: |
git checkout --orphan=new_master_ui_mici_raylib
git rm -rf *
git branch -D ${{ env.MASTER_BRANCH_NAME }}
git branch -m ${{ env.MASTER_BRANCH_NAME }}
git config user.name "GitHub Actions Bot"
git config user.email "<>"
mv ${{ github.workspace }}/pr_ui/* .
git add .
git commit -m "mici raylib video for commit ${{ env.SHA }}"
git push origin ${{ env.MASTER_BRANCH_NAME }} --force
- name: Setup FFmpeg
uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
- name: Finding diff
if: github.event_name == 'pull_request_target'
id: find_diff
run: |
# Find the video file from PR
pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
# Run report
export PYTHONPATH=${{ github.workspace }}
baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
diff_exit_code=0
python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
# Copy diff report files
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
if [ $diff_exit_code -eq 0 ]; then
DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
else
DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
fi
echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
- name: Saving proposed ui
if: github.event_name == 'pull_request_target'
working-directory: ${{ github.workspace }}/master_ui_raylib
run: |
# Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
git config user.name "GitHub Actions Bot"
git config user.email "<>"
git checkout --orphan=${{ env.BRANCH_NAME }}
git rm -rf *
mv ${{ github.workspace }}/pr_ui/* .
git add .
git commit -m "mici raylib video for PR #${{ github.event.number }}"
git push origin ${{ env.BRANCH_NAME }} --force
# Append diff report to report files branch
git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
git add diff_pr_${{ github.event.number }}.html
git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
- name: Comment Video on PR
if: github.event_name == 'pull_request_target'
uses: thollander/actions-comment-pull-request@v2
with:
message: |
<!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
## mici raylib UI Preview
${{ steps.find_diff.outputs.DIFF }}
comment_tag: run_id_video_mici_raylib
pr_number: ${{ github.event.number }}
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
.github/workflows/tests.yaml
+26
View File
@@ -297,3 +297,29 @@ jobs:
with:
name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
create_mici_raylib_ui_report:
name: Create mici raylib UI Report
runs-on: ${{
(github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|| fromJSON('["ubuntu-24.04"]') }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Create mici raylib UI Report
run: >
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
source selfdrive/test/setup_xvfb.sh &&
WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
- name: Upload Raylib UI Report
uses: actions/upload-artifact@v4
with:
name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
path: selfdrive/ui/tests/diff/report
RELEASES.md
+3
View File
@@ -1,3 +1,6 @@
Version 0.10.3 (2025-12-10)
========================
Version 0.10.2 (2025-11-19)
========================
* comma four support
common/api/__init__.py
+1 -1
View File
@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
def get_key_pair():
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
return CommaConnectApi(None).get_key_pair()
common/api/base.py
+4 -4
View File
@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
from openpilot.system.hardware.hw import Paths
from openpilot.system.version import get_version
# name : jwt signature algorithm
KEYS = {"id_rsa" : "RS256",
"id_ecdsa" : "ES256"}
# name: jwt signature algorithm
KEYS = {"id_rsa": "RS256",
"id_ecdsa": "ES256"}
class BaseApi:
@@ -62,7 +62,7 @@ class BaseApi:
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
@staticmethod
def get_key_pair():
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
for key in KEYS:
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
common/model.h
+1 -1
View File
@@ -1 +1 @@
#define DEFAULT_MODEL "The Cool People (Default)"
#define DEFAULT_MODEL "Dark Souls 2 (Default)"
common/params_keys.h
+1
View File
@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"LastGPSPosition", {PERSISTENT, STRING}},
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
common/tests/test_file_helpers.py
+3 -3
View File
@@ -1,7 +1,7 @@
import os
from uuid import uuid4
from openpilot.common.utils import atomic_write_in_dir
from openpilot.common.utils import atomic_write
class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
assert f.read() == "test"
os.remove(path)
def test_atomic_write_in_dir(self):
self.run_atomic_write_func(atomic_write_in_dir)
def test_atomic_write(self):
self.run_atomic_write_func(atomic_write)
common/utils.py
+2 -2
View File
@@ -32,8 +32,8 @@ class CallbackReader:
@contextlib.contextmanager
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
overwrite: bool = False):
def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
overwrite: bool = False):
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
dir_name = os.path.dirname(path)
common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "0.10.2"
#define COMMA_VERSION "0.10.3"
docs/CARS.md
+2 -2
View File
@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
| Make | Required Package/Features |
| ---- | ------------------------- |
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
| Ford | Any car with Lane Centering will likely work. |
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
docs/how-to/turn-the-speed-blue.md
+17 -20
View File
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
tools/replay/replay --demo
# in terminal 2
selfdrive/ui/ui
./selfdrive/ui/ui.py
```
The openpilot UI should launch and show a replay of the demo route.
@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
Now let’s update the speed display color in the UI.
Search for the function responsible for rendering UI text:
Search for the function responsible for rendering the current speed:
```bash
git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
```
You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
```cpp
void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
QRect real_rect = p.fontMetrics().boundingRect(text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color
p.drawText(real_rect.x(), real_rect.bottom(), text);
}
```python
def _draw_current_speed(self, rect: rl.Rectangle) -> None:
"""Draw the current vehicle speed and unit."""
speed_text = str(round(self.speed))
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) # <- this sets the speed text color
```
Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
```diff
- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
```
This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
---
## 4. Rebuild the UI
## 4. Re-run the UI
After making changes, rebuild Openpilot so your new UI is compiled:
After making changes, re-run the UI to see your new UI:
```bash
scons -j$(nproc) && selfdrive/ui/ui
./selfdrive/ui/ui.py
```
![](https://blog.comma.ai/img/blue_speed_ui.png)
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 61bf5a90c5...f746884333
panda
+1 -1
Submodule panda updated: dee9061b2a...5f3c09c910
pyproject.toml
+4 -3
View File
@@ -85,6 +85,7 @@ docs = [
]
testing = [
"coverage",
"hypothesis ==6.47.*",
"mypy",
"pytest",
@@ -115,7 +116,7 @@ dev = [
"pyautogui",
"pygame",
"pyopencl; platform_machine != 'aarch64'", # broken on arm64
"pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
"pytools>=2025.1.6; platform_machine != 'aarch64'",
"pywinctl",
"pyprof2calltree",
"tabulate",
@@ -125,7 +126,7 @@ dev = [
tools = [
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
"dearpygui>=2.1.0",
"dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
]
[project.urls]
@@ -226,7 +227,7 @@ lint.select = [
"TRY203", "TRY400", "TRY401", # try/excepts
"RUF008", "RUF100",
"TID251",
"PLR1704",
"PLE", "PLR1704",
]
lint.ignore = [
"E741",
scripts/usbgpu/benchmark.sh
Executable
+26
View File
@@ -0,0 +1,26 @@
#!/usr/bin/env bash
set -e
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
cd $DIR/../../tinygrad_repo
GREEN='\033[0;32m'
NC='\033[0m'
#export DEBUG=2
export PYTHONPATH=.
export AM_RESET=1
export AMD=1
export AMD_IFACE=USB
export AMD_LLVM=1
python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
> /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
printf "${GREEN}=============${NC}\n"
printf "\n\n"
printf "${GREEN}Transfer speeds:${NC}\n"
printf "${GREEN}================${NC}\n"
python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
selfdrive/assets/sounds/disengage.wav
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c94582be9d921146b3c356e08a7352700c309cb407877c1180542811b2d637fa
size 48078
oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
size 48044
selfdrive/assets/sounds/engage.wav
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:bc2b12bfe816a79307660b6b3d2de87a7643c6ccbfc9d1b33804645ad717682a
size 48078
oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
size 48044
selfdrive/assets/sounds/make_beeps.py
+19
View File
@@ -0,0 +1,19 @@
import numpy as np
from scipy.io import wavfile
sr = 48000
max_int16 = 2**15 - 1
def harmonic_beep(freq, duration_seconds):
n_total = int(sr * duration_seconds)
signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
x = np.arange(n_total)
exp_scale = np.exp(-x/5.5e3)
return max_int16 * signal * exp_scale
engage_beep = harmonic_beep(1661.219, 0.5)
wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
disengage_beep = harmonic_beep(1318.51, 0.5)
wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
selfdrive/car/CARS_template.md
+1 -1
View File
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
| Make | Required Package/Features |
| ---- | ------------------------- |
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
| Ford | Any car with Lane Centering will likely work. |
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
selfdrive/car/car_specific.py
+22 -18
View File
@@ -26,6 +26,18 @@ class MockCarState:
return CS, CS_SP
BRAND_EXTRA_GEARS = {
'ford': [GearShifter.low, GearShifter.manumatic],
'nissan': [GearShifter.brake],
'chrysler': [GearShifter.low],
'honda': [GearShifter.sport],
'toyota': [GearShifter.sport],
'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
'hyundai': [GearShifter.sport, GearShifter.manumatic]
}
class CarSpecificEvents:
def __init__(self, CP: structs.CarParams):
self.CP = CP
@@ -36,17 +48,13 @@ class CarSpecificEvents:
self.silent_steer_warning = True
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
if self.CP.brand in ('body', 'mock'):
events = Events()
elif self.CP.brand == 'ford':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
elif self.CP.brand == 'nissan':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
elif self.CP.brand == 'chrysler':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -57,7 +65,7 @@ class CarSpecificEvents:
events.add(EventName.belowSteerSpeed)
elif self.CP.brand == 'honda':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@@ -79,7 +87,7 @@ class CarSpecificEvents:
elif self.CP.brand == 'toyota':
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
if self.CP.openpilotLongitudinalControl:
if CS.cruiseState.standstill and not CS.brakePressed:
@@ -94,9 +102,7 @@ class CarSpecificEvents:
events.add(EventName.manualRestart)
elif self.CP.brand == 'gm':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -107,8 +113,7 @@ class CarSpecificEvents:
events.add(EventName.resumeRequired)
elif self.CP.brand == 'volkswagen':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
if self.CP.openpilotLongitudinalControl:
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -121,15 +126,14 @@ class CarSpecificEvents:
# events.add(EventName.steerTimeLimit)
elif self.CP.brand == 'hyundai':
events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
else:
events = self.create_common_events(CS, CS_prev)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
return events
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
allow_button_cancel=True):
events = Events()
selfdrive/controls/lib/latcontrol_torque.py
+15 -20
View File
@@ -22,15 +22,17 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
# Additionally, there is friction in the steering wheel that needs
# to be overcome to move it at all, this is compensated for too.
KP = 1.0
KI = 0.3
KD = 0.0
KP = 0.8
KI = 0.15
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
LP_FILTER_CUTOFF_HZ = 1.2
JERK_LOOKAHEAD_SECONDS = 0.19
JERK_GAIN = 0.3
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 0
VERSION = 1
class LatControlTorque(LatControl):
def __init__(self, CP, CP_SP, CI, dt):
@@ -38,13 +40,13 @@ class LatControlTorque(LatControl):
self.torque_params = CP.lateralTuning.torque.as_builder()
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
self.update_limits()
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
@@ -76,17 +78,15 @@ class LatControlTorque(LatControl):
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
# TODO factor out lateral jerk from error to later replace it with delay independent alternative
lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
setpoint = expected_lateral_accel
measurement = measured_curvature * CS.vEgo ** 2
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
self.previous_measurement = measurement
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
error = setpoint - measurement
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,15 +94,10 @@ class LatControlTorque(LatControl):
ff = gravity_adjusted_future_lateral_accel
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
ff -= self.torque_params.latAccelOffset
# TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_lataccel = self.pid.update(pid_log.error,
-measurement_rate,
feedforward=ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
# Lateral acceleration torque controller extension updates
selfdrive/locationd/helpers.py
+1 -1
View File
@@ -172,7 +172,7 @@ class PoseCalibrator:
ned_from_calib_euler = self._ned_from_calib(pose.orientation)
angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
acceleration_calib = self._transform_calib_from_device(pose.acceleration)
velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
velocity_calib = self._transform_calib_from_device(pose.velocity)
return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
selfdrive/modeld/models/driving_policy.onnx
+1 -1
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c5a1f0655ddf266ed42ad1980389d96f47cc5e756da1fa3ca1477a920bb9b157
oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
size 13926324
selfdrive/modeld/models/driving_vision.onnx
+1 -1
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4
oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438
size 46271942
selfdrive/modeld/tests/__init__.py
View File
selfdrive/modeld/tests/test_modeld.py
-102
View File
@@ -1,102 +0,0 @@
import numpy as np
import random
import cereal.messaging as messaging
from msgq.visionipc import VisionIpcServer, VisionStreamType
from opendbc.car.car_helpers import get_demo_car_params
from openpilot.common.params import Params
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.realtime import DT_MDL
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
IMG_BYTES = IMG.flatten().tobytes()
class TestModeld:
def setup_method(self):
self.vipc_server = VisionIpcServer("camerad")
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
self.vipc_server.start_listener()
Params().put("CarParams", get_demo_car_params().to_bytes())
self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
managed_processes['modeld'].start()
self.pm.wait_for_readers_to_update("roadCameraState", 10)
def teardown_method(self):
managed_processes['modeld'].stop()
del self.vipc_server
def _send_frames(self, frame_id, cams=None):
if cams is None:
cams = ('roadCameraState', 'wideRoadCameraState')
cs = None
for cam in cams:
msg = messaging.new_message(cam)
cs = getattr(msg, cam)
cs.frameId = frame_id
cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
cam_meta = meta_from_camera_state(cam)
self.pm.send(msg.which(), msg)
self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
cs.timestampSof, cs.timestampEof)
return cs
def _wait(self):
self.sm.update(5000)
if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
self.sm.update(1000)
def test_modeld(self):
for n in range(1, 500):
cs = self._send_frames(n)
self._wait()
mdl = self.sm['modelV2']
assert mdl.frameId == n
assert mdl.frameIdExtra == n
assert mdl.timestampEof == cs.timestampEof
assert mdl.frameAge == 0
assert mdl.frameDropPerc == 0
odo = self.sm['cameraOdometry']
assert odo.frameId == n
assert odo.timestampEof == cs.timestampEof
def test_dropped_frames(self):
"""
modeld should only run on consecutive road frames
"""
frame_id = -1
road_frames = list()
for n in range(1, 50):
if (random.random() < 0.1) and n > 3:
cams = random.choice([(), ('wideRoadCameraState', )])
self._send_frames(n, cams)
else:
self._send_frames(n)
road_frames.append(n)
self._wait()
if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
frame_id = road_frames[-1]
mdl = self.sm['modelV2']
odo = self.sm['cameraOdometry']
assert mdl.frameId == frame_id
assert mdl.frameIdExtra == frame_id
assert odo.frameId == frame_id
if n != frame_id:
assert not self.sm.updated['modelV2']
assert not self.sm.updated['cameraOdometry']
selfdrive/monitoring/dmonitoringd.py
+2 -2
View File
@@ -40,8 +40,8 @@ def dmonitoringd_thread():
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
def main():
selfdrive/monitoring/helpers.py
+35 -16
View File
@@ -40,6 +40,9 @@ class DRIVER_MONITOR_SETTINGS:
self._PHONE_THRESH2 = 15.0
self._PHONE_MAX_OFFSET = 0.06
self._PHONE_MIN_OFFSET = 0.025
self._PHONE_DATA_AVG = 0.05
self._PHONE_DATA_VAR = 3*0.005
self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
self._POSE_PITCH_THRESHOLD = 0.3133
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -47,9 +50,11 @@ class DRIVER_MONITOR_SETTINGS:
self._POSE_YAW_THRESHOLD = 0.4020
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
self._PITCH_NATURAL_THRESHOLD = 0.449
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
self._PITCH_NATURAL_VAR = 3*0.01
self._YAW_NATURAL_VAR = 3*0.05
self._PITCH_MAX_OFFSET = 0.124
self._PITCH_MIN_OFFSET = -0.0881
self._YAW_MAX_OFFSET = 0.289
@@ -70,6 +75,9 @@ class DRIVER_MONITOR_SETTINGS:
self._WHEELPOS_CALIB_MIN_SPEED = 11
self._WHEELPOS_THRESHOLD = 0.5
self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
self._WHEELPOS_DATA_AVG = 0.03
self._WHEELPOS_DATA_VAR = 3*5.5e-5
self._WHEELPOS_MAX_COUNT = -1
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
@@ -78,30 +86,33 @@ class DRIVER_MONITOR_SETTINGS:
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
class DistractedType:
NOT_DISTRACTED = 0
DISTRACTED_POSE = 1 << 0
DISTRACTED_BLINK = 1 << 1
DISTRACTED_PHONE = 1 << 2
class DriverPose:
def __init__(self, max_trackable):
def __init__(self, settings):
pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
self.yaw = 0.
self.pitch = 0.
self.roll = 0.
self.yaw_std = 0.
self.pitch_std = 0.
self.roll_std = 0.
self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
self.calibrated = False
self.low_std = True
self.cfactor_pitch = 1.
self.cfactor_yaw = 1.
class DriverPhone:
def __init__(self, max_trackable):
class DriverProb:
def __init__(self, raw_priors, max_trackable):
self.prob = 0.
self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
self.prob_calibrated = False
class DriverBlink:
@@ -140,9 +151,11 @@ class DriverMonitoring:
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
# init driver status
self.wheelpos_learner = RunningStatFilter()
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
self.pose = DriverPose(settings=self.settings)
self.blink = DriverBlink()
self.always_on = always_on
@@ -234,8 +247,11 @@ class DriverMonitoring:
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
yaw_error = abs(yaw_error)
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
@@ -256,9 +272,12 @@ class DriverMonitoring:
# calibrates only when there's movement and either face detected
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
self.wheelpos_learner.push_and_update(rhd_pred)
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
self.wheelpos.prob_offseter.push_and_update(rhd_pred)
self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
if self.wheelpos.prob_calibrated or demo_mode:
self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
else:
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
# make sure no switching when engaged
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
b508f43fb0481bce0859c9b6ab4f45ee690b8dab
e0ad86508edb61b3eaa1b84662c515d2c3368295
selfdrive/test/test_onroad.py
+3 -2
View File
@@ -206,8 +206,9 @@ class TestOnroad:
result += "-------------- UI Draw Timing ------------------\n"
result += "------------------------------------------------\n"
# skip first few frames -- connecting to vipc
ts = self.ts['uiDebug']['drawTimeMillis'][15:]
# other processes preempt ui while starting up
offset = int(20 * LOG_OFFSET)
ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
result += f"min {min(ts):.2f}ms\n"
result += f"max {max(ts):.2f}ms\n"
result += f"std {np.std(ts):.2f}ms\n"
selfdrive/ui/layouts/settings/firehose.py
+7 -77
View File
@@ -1,19 +1,11 @@
import pyray as rl
import time
import threading
from openpilot.common.api import api_get
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
from openpilot.system.ui.lib.text_measure import measure_text_cached
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
from openpilot.system.ui.lib.wrap_text import wrap_text
from openpilot.system.ui.widgets import Widget
from openpilot.selfdrive.ui.lib.api_helpers import get_token
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
TITLE = tr_noop("Firehose Mode")
DESCRIPTION = tr_noop(
@@ -32,50 +24,17 @@ INSTRUCTIONS = tr_noop(
)
class FirehoseLayout(Widget):
PARAM_KEY = "ApiCache_FirehoseStats"
GREEN = rl.Color(46, 204, 113, 255)
RED = rl.Color(231, 76, 60, 255)
GRAY = rl.Color(68, 68, 68, 255)
LIGHT_GRAY = rl.Color(228, 228, 228, 255)
UPDATE_INTERVAL = 30 # seconds
class FirehoseLayout(FirehoseLayoutBase):
def __init__(self):
super().__init__()
self.params = Params()
self.segment_count = self._get_segment_count()
self.scroll_panel = GuiScrollPanel()
self._content_height = 0
self.running = True
self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
self.update_thread.start()
self.last_update_time = 0
def show_event(self):
self.scroll_panel.set_offset(0)
def _get_segment_count(self) -> int:
stats = self.params.get(self.PARAM_KEY)
if not stats:
return 0
try:
return int(stats.get("firehose", 0))
except Exception:
cloudlog.exception(f"Failed to decode firehose stats: {stats}")
return 0
def __del__(self):
self.running = False
if self.update_thread and self.update_thread.is_alive():
self.update_thread.join(timeout=1.0)
self._scroll_panel = GuiScrollPanel()
def _render(self, rect: rl.Rectangle):
# Calculate content dimensions
content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
# Handle scrolling and render with clipping
scroll_offset = self.scroll_panel.update(rect, content_rect)
scroll_offset = self._scroll_panel.update(rect, content_rect)
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
self._content_height = self._render_content(rect, scroll_offset)
rl.end_scissor_mode()
@@ -107,9 +66,9 @@ class FirehoseLayout(Widget):
y += 20 + 20
# Contribution count (if available)
if self.segment_count > 0:
if self._segment_count > 0:
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
y += 20 + 20
@@ -121,7 +80,7 @@ class FirehoseLayout(Widget):
y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
# bottom margin + remove effect of scroll offset
return int(round(y - self.scroll_panel.offset + 40))
return int(round(y - self._scroll_panel.offset + 40))
def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
wrapped = wrap_text(font, text, font_size, width)
@@ -129,32 +88,3 @@ class FirehoseLayout(Widget):
rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
y += font_size * FONT_SCALE
return round(y)
def _get_status(self) -> tuple[str, rl.Color]:
network_type = ui_state.sm["deviceState"].networkType
network_metered = ui_state.sm["deviceState"].networkMetered
if not network_metered and network_type != 0: # Not metered and connected
return tr("ACTIVE"), self.GREEN
else:
return tr("INACTIVE: connect to an unmetered network"), self.RED
def _fetch_firehose_stats(self):
try:
dongle_id = self.params.get("DongleId")
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
return
identity_token = get_token(dongle_id)
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
if response.status_code == 200:
data = response.json()
self.segment_count = data.get("firehose", 0)
self.params.put(self.PARAM_KEY, data)
except Exception as e:
cloudlog.error(f"Failed to fetch firehose stats: {e}")
def _update_loop(self):
while self.running:
if not ui_state.started:
self._fetch_firehose_stats()
time.sleep(self.UPDATE_INTERVAL)
selfdrive/ui/layouts/settings/software.py
+10 -1
View File
@@ -17,6 +17,13 @@ if gui_app.sunnypilot_ui():
# TODO: remove this. updater fails to respond on startup if time is not correct
UPDATED_TIMEOUT = 10 # seconds to wait for updated to respond
# Mapping updater internal states to translated display strings
STATE_TO_DISPLAY_TEXT = {
"checking...": tr("checking..."),
"downloading...": tr("downloading..."),
"finalizing update...": tr("finalizing update..."),
}
def time_ago(date: datetime.datetime | None) -> str:
if not date:
@@ -103,7 +110,9 @@ class SoftwareLayout(Widget):
# Updater responded
self._waiting_for_updater = False
self._download_btn.action_item.set_enabled(False)
self._download_btn.action_item.set_value(updater_state)
# Use the mapping, with a fallback to the original state string
display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
self._download_btn.action_item.set_value(display_text)
else:
if failed_count > 0:
self._download_btn.action_item.set_value(tr("failed to check for update"))
selfdrive/ui/lib/prime_state.py
+3 -1
View File
@@ -67,8 +67,10 @@ class PrimeState:
cloudlog.info(f"Prime type updated to {prime_type}")
def _worker_thread(self) -> None:
from openpilot.selfdrive.ui.ui_state import ui_state, device
while self._running:
self._fetch_prime_status()
if not ui_state.started and device._awake:
self._fetch_prime_status()
for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
if not self._running:
selfdrive/ui/mici/layouts/home.py
+16 -23
View File
@@ -3,18 +3,16 @@ import time
from cereal import log
import pyray as rl
from collections.abc import Callable
from openpilot.system.ui.widgets.label import gui_label, MiciLabel
from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.system.ui.text import wrap_text
from openpilot.system.version import training_version
from openpilot.system.version import training_version, RELEASE_BRANCHES
HEAD_BUTTON_FONT_SIZE = 40
HOME_PADDING = 8
RELEASE_BRANCH = "release3"
NetworkType = log.DeviceState.NetworkType
NETWORK_TYPES = {
@@ -115,7 +113,7 @@ class MiciHomeLayout(Widget):
self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
def show_event(self):
@@ -187,27 +185,22 @@ class MiciHomeLayout(Widget):
if self._version_text is not None:
# release branch
if self._version_text[0] == RELEASE_BRANCH:
version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
self._large_version_label.set_text(self._version_text[0])
self._large_version_label.set_position(version_pos.x, version_pos.y)
self._large_version_label.render()
release_branch = self._version_text[1] in RELEASE_BRANCHES
version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
self._version_label.set_text(self._version_text[0])
self._version_label.set_position(version_pos.x, version_pos.y)
self._version_label.render()
else:
version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
self._version_label.set_text(self._version_text[0])
self._version_label.set_position(version_pos.x, version_pos.y)
self._version_label.render()
self._date_label.set_text(" " + self._version_text[3])
self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
self._date_label.render()
self._date_label.set_text(" " + self._version_text[3])
self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
self._date_label.render()
self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
self._branch_label.set_text(" " + self._version_text[1])
self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
self._branch_label.render()
self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
self._branch_label.render()
if not release_branch:
# 2nd line
self._version_commit_label.set_text(self._version_text[2])
self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
selfdrive/ui/mici/layouts/offroad_alerts.py
+6 -4
View File
@@ -5,6 +5,7 @@ from dataclasses import dataclass
from enum import IntEnum
from openpilot.common.params import Params
from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
from openpilot.system.hardware import HARDWARE
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.label import UnifiedLabel
from openpilot.system.ui.widgets.scroller import Scroller
@@ -220,6 +221,7 @@ class MiciOffroadAlerts(Widget):
update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
self.sorted_alerts.append(update_alert_data)
update_alert_item = AlertItem(update_alert_data)
update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
self.alert_items.append(update_alert_item)
self._scroller.add_widget(update_alert_item)
@@ -244,18 +246,18 @@ class MiciOffroadAlerts(Widget):
if update_alert_data:
if update_available:
# Default text
update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
version_string = ""
# Get new version description and parse version and date
new_desc = self.params.get("UpdaterNewDescription") or ""
if new_desc:
# Parse description (format: "version / branch / commit / date")
# format: "version / branch / commit / date"
parts = new_desc.split(" / ")
if len(parts) > 3:
version, date = parts[0], parts[3]
update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
version_string = f"\nsunnypilot {version}, {date}\n"
update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
update_alert_data.visible = True
active_count += 1
else:
selfdrive/ui/mici/layouts/onboarding.py
+14 -12
View File
@@ -1,6 +1,7 @@
from enum import IntEnum
from collections.abc import Callable
import weakref
import pyray as rl
from openpilot.system.ui.lib.application import FontWeight, gui_app
from openpilot.system.ui.widgets import Widget
@@ -92,11 +93,10 @@ class TrainingGuideDMTutorial(Widget):
super().__init__()
self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
self._original_continue_callback = continue_callback
# Wrap the continue callback to restore settings
def wrapped_continue_callback():
self._restore_settings()
device.set_offroad_brightness(None)
device.reset_interactive_timeout()
continue_callback()
self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
@@ -114,10 +114,6 @@ class TrainingGuideDMTutorial(Widget):
device.set_offroad_brightness(100)
device.reset_interactive_timeout(300) # 5 minutes
def _restore_settings(self):
device.set_offroad_brightness(None)
device.reset_interactive_timeout()
def _update_state(self):
super()._update_state()
if device.awake:
@@ -150,7 +146,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
FontWeight.ROMAN)
def show_event(self):
@@ -214,11 +210,17 @@ class TrainingGuide(Widget):
self._completed_callback = completed_callback
self._step = 0
self_ref = weakref.ref(self)
def on_continue():
if obj := self_ref():
obj._advance_step()
self._steps = [
TrainingGuideAttentionNotice(continue_callback=self._advance_step),
TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
TrainingGuideDMTutorial(continue_callback=self._advance_step),
TrainingGuideRecordFront(continue_callback=self._advance_step),
TrainingGuideAttentionNotice(continue_callback=on_continue),
TrainingGuidePreDMTutorial(continue_callback=on_continue),
TrainingGuideDMTutorial(continue_callback=on_continue),
TrainingGuideRecordFront(continue_callback=on_continue),
]
def _advance_step(self):
selfdrive/ui/mici/layouts/settings/device.py
+1 -1
View File
@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
content_height += self._fcc_logo.height + 20
scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
selfdrive/ui/mici/layouts/settings/firehose.py
+24 -21
View File
@@ -6,14 +6,13 @@ from openpilot.common.api import api_get
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.ui.lib.api_helpers import get_token
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.ui_state import ui_state, device
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
from openpilot.system.ui.lib.wrap_text import wrap_text
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
from openpilot.system.ui.widgets import NavWidget
from openpilot.system.ui.widgets import Widget, NavWidget
TITLE = tr_noop("Firehose Mode")
DESCRIPTION = tr_noop(
@@ -34,9 +33,7 @@ FAQ_ITEMS = [
]
class FirehoseLayoutMici(NavWidget):
BACK_TOUCH_AREA_PERCENTAGE = 0.1
class FirehoseLayoutBase(Widget):
PARAM_KEY = "ApiCache_FirehoseStats"
GREEN = rl.Color(46, 204, 113, 255)
RED = rl.Color(231, 76, 60, 255)
@@ -44,12 +41,10 @@ class FirehoseLayoutMici(NavWidget):
LIGHT_GRAY = rl.Color(228, 228, 228, 255)
UPDATE_INTERVAL = 30 # seconds
def __init__(self, back_callback):
def __init__(self):
super().__init__()
self.set_back_callback(back_callback)
self.params = Params()
self.segment_count = self._get_segment_count()
self._params = Params()
self._segment_count = self._get_segment_count()
self._scroll_panel = GuiScrollPanel2(horizontal=False)
self._content_height = 0
@@ -71,7 +66,7 @@ class FirehoseLayoutMici(NavWidget):
self._scroll_panel.set_offset(0)
def _get_segment_count(self) -> int:
stats = self.params.get(self.PARAM_KEY)
stats = self._params.get(self.PARAM_KEY)
if not stats:
return 0
try:
@@ -83,7 +78,7 @@ class FirehoseLayoutMici(NavWidget):
def _render(self, rect: rl.Rectangle):
# compute total content height for scrolling
content_height = self._measure_content_height(rect)
scroll_offset = self._scroll_panel.update(rect, content_height)
scroll_offset = round(self._scroll_panel.update(rect, content_height))
# start drawing with offset
x = int(rect.x + 40)
@@ -111,9 +106,9 @@ class FirehoseLayoutMici(NavWidget):
y += 20
# Contribution count (if available)
if self.segment_count > 0:
if self._segment_count > 0:
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
y += 20
@@ -165,9 +160,9 @@ class FirehoseLayoutMici(NavWidget):
y += int(len(status_lines) * 48 * FONT_SCALE) + 20
# Contribution count
if self.segment_count > 0:
if self._segment_count > 0:
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
@@ -204,20 +199,28 @@ class FirehoseLayoutMici(NavWidget):
def _fetch_firehose_stats(self):
try:
dongle_id = self.params.get("DongleId")
dongle_id = self._params.get("DongleId")
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
return
identity_token = get_token(dongle_id)
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
if response.status_code == 200:
data = response.json()
self.segment_count = data.get("firehose", 0)
self.params.put(self.PARAM_KEY, data)
self._segment_count = data.get("firehose", 0)
self._params.put(self.PARAM_KEY, data)
except Exception as e:
cloudlog.error(f"Failed to fetch firehose stats: {e}")
def _update_loop(self):
while self._running:
if not ui_state.started:
if not ui_state.started and device._awake:
self._fetch_firehose_stats()
time.sleep(self.UPDATE_INTERVAL)
class FirehoseLayout(FirehoseLayoutBase, NavWidget):
BACK_TOUCH_AREA_PERCENTAGE = 0.1
def __init__(self, back_callback):
super().__init__()
self.set_back_callback(back_callback)
selfdrive/ui/mici/layouts/settings/network/__init__.py
+182
View File
@@ -0,0 +1,182 @@
import pyray as rl
from enum import IntEnum
from collections.abc import Callable
from openpilot.system.ui.widgets.scroller import Scroller
from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.lib.prime_state import PrimeType
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import NavWidget
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
class NetworkPanelType(IntEnum):
NONE = 0
WIFI = 1
class NetworkLayoutMici(NavWidget):
def __init__(self, back_callback: Callable):
super().__init__()
self._current_panel = NetworkPanelType.WIFI
self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
self._wifi_manager = WifiManager()
self._wifi_manager.set_active(False)
self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
self._wifi_manager.add_callbacks(
networks_updated=self._on_network_updated,
)
_tethering_icon = "icons_mici/settings/network/tethering.png"
# ******** Tethering ********
def tethering_toggle_callback(checked: bool):
self._tethering_toggle_btn.set_enabled(False)
self._network_metered_btn.set_enabled(False)
self._wifi_manager.set_tethering_active(checked)
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
def tethering_password_callback(password: str):
if password:
self._wifi_manager.set_tethering_password(password)
def tethering_password_clicked():
tethering_password = self._wifi_manager.tethering_password
dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
confirm_callback=tethering_password_callback)
gui_app.set_modal_overlay(dlg)
txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
# ******** IP Address ********
self._ip_address_btn = BigButton("IP Address", "Not connected")
# ******** Network Metered ********
def network_metered_callback(value: str):
self._network_metered_btn.set_enabled(False)
metered = {
'default': MeteredType.UNKNOWN,
'metered': MeteredType.YES,
'unmetered': MeteredType.NO
}.get(value, MeteredType.UNKNOWN)
self._wifi_manager.set_current_network_metered(metered)
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
# TODO: disable when not connected
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
self._network_metered_btn.set_enabled(False)
wifi_button = BigButton("wi-fi")
wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
# ******** Advanced settings ********
# ******** Roaming toggle ********
self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
# ******** APN settings ********
self._apn_btn = BigButton("apn settings", "edit")
self._apn_btn.set_click_callback(self._edit_apn)
# ******** Cellular metered toggle ********
self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
# Main scroller ----------------------------------
self._scroller = Scroller([
wifi_button,
self._network_metered_btn,
self._tethering_toggle_btn,
self._tethering_password_btn,
# /* Advanced settings
self._roaming_btn,
self._apn_btn,
self._cellular_metered_btn,
# */
self._ip_address_btn,
], snap_items=False)
# Set initial config
roaming_enabled = ui_state.params.get_bool("GsmRoaming")
metered = ui_state.params.get_bool("GsmMetered")
self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
# Set up back navigation
self.set_back_callback(back_callback)
def _update_state(self):
super()._update_state()
# If not using prime SIM, show GSM settings and enable IPv4 forwarding
show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
self._wifi_manager.set_ipv4_forward(show_cell_settings)
self._roaming_btn.set_visible(show_cell_settings)
self._apn_btn.set_visible(show_cell_settings)
self._cellular_metered_btn.set_visible(show_cell_settings)
def show_event(self):
super().show_event()
self._current_panel = NetworkPanelType.NONE
self._wifi_ui.show_event()
self._scroller.show_event()
def hide_event(self):
super().hide_event()
self._wifi_ui.hide_event()
def _toggle_roaming(self, checked: bool):
self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
def _edit_apn(self):
def update_apn(apn: str):
apn = apn.strip()
if apn == "":
ui_state.params.remove("GsmApn")
else:
ui_state.params.put("GsmApn", apn)
self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
current_apn = ui_state.params.get("GsmApn") or ""
dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
gui_app.set_modal_overlay(dlg)
def _toggle_cellular_metered(self, checked: bool):
self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
def _on_network_updated(self, networks: list[Network]):
# Update tethering state
tethering_active = self._wifi_manager.is_tethering_active()
# TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
self._tethering_toggle_btn.set_enabled(True)
self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
self._tethering_toggle_btn.set_checked(tethering_active)
# Update IP address
self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
# Update network metered
self._network_metered_btn.set_value(
{
MeteredType.UNKNOWN: 'default',
MeteredType.YES: 'metered',
MeteredType.NO: 'unmetered'
}.get(self._wifi_manager.current_network_metered, 'default'))
def _switch_to_panel(self, panel_type: NetworkPanelType):
self._current_panel = panel_type
def _render(self, rect: rl.Rectangle):
self._wifi_manager.process_callbacks()
if self._current_panel == NetworkPanelType.WIFI:
self._wifi_ui.render(rect)
else:
self._scroller.render(rect)
selfdrive/ui/mici/layouts/settings/network.py → selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+16 -127
View File
@@ -1,28 +1,20 @@
import math
import numpy as np
import pyray as rl
from enum import IntEnum
from collections.abc import Callable
from openpilot.common.swaglog import cloudlog
from openpilot.system.ui.widgets.scroller import Scroller
from openpilot.system.ui.widgets.label import UnifiedLabel
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
from openpilot.system.ui.widgets import Widget, NavWidget
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
def normalize_ssid(ssid: str) -> str:
return ssid.replace("’", "'") # for iPhone hotspots
class NetworkPanelType(IntEnum):
NONE = 0
WIFI = 1
class LoadingAnimation(Widget):
def _render(self, _):
cx = int(self._rect.x + 70)
@@ -91,11 +83,13 @@ class WifiIcon(Widget):
class WifiItem(BigDialogOptionButton):
LEFT_MARGIN = 20
HEIGHT = 54
SELECTED_HEIGHT = 74
def __init__(self, network: Network):
super().__init__(network.ssid)
self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
@@ -103,6 +97,10 @@ class WifiItem(BigDialogOptionButton):
self._wifi_icon = WifiIcon()
self._wifi_icon.set_current_network(network)
def set_selected(self, selected: bool):
super().set_selected(selected)
self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
def set_current_network(self, network: Network):
self._network = network
self._wifi_icon.set_current_network(network)
@@ -117,7 +115,7 @@ class WifiItem(BigDialogOptionButton):
self._wifi_icon.render(rl.Rectangle(
self._rect.x + self.LEFT_MARGIN,
self._rect.y,
self._rect.height,
self.SELECTED_HEIGHT,
self._rect.height
))
@@ -126,7 +124,7 @@ class WifiItem(BigDialogOptionButton):
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
self._label.set_font_weight(FontWeight.DISPLAY)
else:
self._label.set_font_size(70)
self._label.set_font_size(54)
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
@@ -215,7 +213,7 @@ class NetworkInfoPage(NavWidget):
self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
@@ -225,6 +223,10 @@ class NetworkInfoPage(NavWidget):
self._network: Network | None = None
self._connecting: Callable[[], str | None] | None = None
def show_event(self):
super().show_event()
self._title.reset_scroll()
def update_networks(self, networks: dict[str, Network]):
# update current network from latest scan results
for ssid, network in networks.items():
@@ -392,7 +394,7 @@ class WifiUIMici(BigMultiOptionDialog):
self._network_info_page.set_current_network(_network)
self._should_open_network_info_page = True
network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
self.add_button(network_button)
@@ -443,116 +445,3 @@ class WifiUIMici(BigMultiOptionDialog):
if not self._networks:
self._loading_animation.render(self._rect)
class NetworkLayoutMici(NavWidget):
def __init__(self, back_callback: Callable):
super().__init__()
self._current_panel = NetworkPanelType.WIFI
self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
self._wifi_manager = WifiManager()
self._wifi_manager.set_active(False)
self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
self._wifi_manager.add_callbacks(
networks_updated=self._on_network_updated,
)
_tethering_icon = "icons_mici/settings/network/tethering.png"
# ******** Tethering ********
def tethering_toggle_callback(checked: bool):
self._tethering_toggle_btn.set_enabled(False)
self._network_metered_btn.set_enabled(False)
self._wifi_manager.set_tethering_active(checked)
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
def tethering_password_callback(password: str):
if password:
self._wifi_manager.set_tethering_password(password)
def tethering_password_clicked():
tethering_password = self._wifi_manager.tethering_password
dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
confirm_callback=tethering_password_callback)
gui_app.set_modal_overlay(dlg)
txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
# ******** IP Address ********
self._ip_address_btn = BigButton("IP Address", "Not connected")
# ******** Network Metered ********
def network_metered_callback(value: str):
self._network_metered_btn.set_enabled(False)
metered = {
'default': MeteredType.UNKNOWN,
'metered': MeteredType.YES,
'unmetered': MeteredType.NO
}.get(value, MeteredType.UNKNOWN)
self._wifi_manager.set_current_network_metered(metered)
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
# TODO: disable when not connected
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
self._network_metered_btn.set_enabled(False)
wifi_button = BigButton("wi-fi")
wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
# Main scroller ----------------------------------
self._scroller = Scroller([
wifi_button,
self._network_metered_btn,
self._tethering_toggle_btn,
self._tethering_password_btn,
self._ip_address_btn,
], snap_items=False)
# Set up back navigation
self.set_back_callback(back_callback)
def show_event(self):
super().show_event()
self._current_panel = NetworkPanelType.NONE
self._wifi_ui.show_event()
self._scroller.show_event()
def hide_event(self):
super().hide_event()
self._wifi_ui.hide_event()
def _on_network_updated(self, networks: list[Network]):
# Update tethering state
tethering_active = self._wifi_manager.is_tethering_active()
# TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
self._tethering_toggle_btn.set_enabled(True)
self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
self._tethering_toggle_btn.set_checked(tethering_active)
# Update IP address
self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
# Update network metered
self._network_metered_btn.set_value(
{
MeteredType.UNKNOWN: 'default',
MeteredType.YES: 'metered',
MeteredType.NO: 'unmetered'
}.get(self._wifi_manager.current_network_metered, 'default'))
def _switch_to_panel(self, panel_type: NetworkPanelType):
self._current_panel = panel_type
def _render(self, rect: rl.Rectangle):
self._wifi_manager.process_callbacks()
if self._current_panel == NetworkPanelType.WIFI:
self._wifi_ui.render(rect)
else:
self._scroller.render(rect)
selfdrive/ui/mici/layouts/settings/settings.py
+2 -2
View File
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.widgets import Widget, NavWidget
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
}
self._font_medium = gui_app.font(FontWeight.MEDIUM)
selfdrive/ui/mici/onroad/alert_renderer.py
+3 -7
View File
@@ -89,10 +89,6 @@ ALERT_CRITICAL_REBOOT = Alert(
class AlertRenderer(Widget):
def __init__(self):
super().__init__()
self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
letter_spacing=-0.02)
@@ -204,11 +200,11 @@ class AlertRenderer(Widget):
text_x = self._rect.x + ALERT_MARGIN
text_width = self._rect.width - ALERT_MARGIN
if icon_side == 'left':
text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
text_x = self._rect.x + self._txt_turn_signal_right.width
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
elif icon_side == 'right':
text_x = self._rect.x + ALERT_MARGIN
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
text_rect = rl.Rectangle(
text_x,
selfdrive/ui/mici/onroad/augmented_road_view.py
+11 -1
View File
@@ -1,6 +1,7 @@
import time
import numpy as np
import pyray as rl
from cereal import car, log
from cereal import messaging, car, log
from msgq.visionipc import VisionStreamType
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView):
self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
# debug
self._pm = messaging.PubMaster(['uiDebug'])
def is_swiping_left(self) -> bool:
"""Check if currently swiping left (for scroller to disable)."""
return self._bookmark_icon.is_swiping_left()
@@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView):
super()._handle_mouse_release(mouse_pos)
def _render(self, _):
start_draw = time.monotonic()
self._switch_stream_if_needed(ui_state.sm)
# Update calibration before rendering
@@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView):
rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
self._offroad_label.render(self._content_rect)
# publish uiDebug
msg = messaging.new_message('uiDebug')
msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
self._pm.send('uiDebug', msg)
def _switch_stream_if_needed(self, sm):
if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
v_ego = sm['carState'].vEgo
selfdrive/ui/mici/onroad/cameraview.py
+6 -1
View File
@@ -107,7 +107,6 @@ else:
class CameraView(Widget):
def __init__(self, name: str, stream_type: VisionStreamType):
super().__init__()
# TODO: implement a receiver and connect thread
self._name = name
# Primary stream
self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -197,7 +196,10 @@ class CameraView(Widget):
# Clean up shader
if self.shader and self.shader.id:
rl.unload_shader(self.shader)
self.shader.id = 0
self.frame = None
self.available_streams.clear()
self.client = None
def __del__(self):
@@ -234,6 +236,9 @@ class CameraView(Widget):
if buffer:
self._texture_needs_update = True
self.frame = buffer
elif not self.client.is_connected():
# ensure we clear the displayed frame when the connection is lost
self.frame = None
if not self.frame:
self._draw_placeholder(rect)
selfdrive/ui/mici/onroad/driver_camera_dialog.py
+20 -19
View File
@@ -15,20 +15,27 @@ EventName = log.OnroadEvent.EventName
EVENT_TO_INT = EventName.schema.enumerants
class DriverCameraView(CameraView):
def _calc_frame_matrix(self, rect: rl.Rectangle):
base = super()._calc_frame_matrix(rect)
driver_view_ratio = 1.5
base[0, 0] *= driver_view_ratio
base[1, 1] *= driver_view_ratio
return base
class DriverCameraDialog(NavWidget):
def __init__(self, no_escape=False):
super().__init__()
self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
self.driver_state_renderer = DriverStateRenderer(lines=True)
self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
self.driver_state_renderer.load_icons()
self._pm = messaging.PubMaster(['selfdriveState'])
self._pm: messaging.PubMaster | None = None
if not no_escape:
# TODO: this can grow unbounded, should be given some thought
device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
self.set_back_callback(self._dismiss)
device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
self.set_back_enabled(not no_escape)
# Load eye icons
@@ -40,26 +47,24 @@ class DriverCameraDialog(NavWidget):
self._load_eye_textures()
def stop_dmonitoringmodeld(self):
ui_state.params.put_bool("IsDriverViewEnabled", False)
gui_app.set_modal_overlay(None)
def show_event(self):
super().show_event()
ui_state.params.put_bool("IsDriverViewEnabled", True)
self._publish_alert_sound(None)
device.reset_interactive_timeout(300)
ui_state.params.remove("DriverTooDistracted")
self._pm = messaging.PubMaster(['selfdriveState'])
def hide_event(self):
super().hide_event()
ui_state.params.put_bool("IsDriverViewEnabled", False)
device.reset_interactive_timeout()
def _handle_mouse_release(self, _):
ui_state.params.remove("DriverTooDistracted")
def _dismiss(self):
self.stop_dmonitoringmodeld()
def __del__(self):
self.close()
def close(self):
if self._camera_view:
@@ -103,6 +108,9 @@ class DriverCameraDialog(NavWidget):
def _publish_alert_sound(self, dm_state):
"""Publish selfdriveState with only alertSound field set"""
if self._pm is None:
return
msg = messaging.new_message('selfdriveState')
if dm_state is not None and len(dm_state.events):
event_name = EVENT_TO_INT[dm_state.events[0].name]
@@ -221,13 +229,6 @@ class DriverCameraDialog(NavWidget):
glasses_prob = driver_data.sunglassesProb
rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
base = self._original_calc_frame_matrix(rect)
driver_view_ratio = 1.5
base[0, 0] *= driver_view_ratio
base[1, 1] *= driver_view_ratio
return base
if __name__ == "__main__":
gui_app.init_window("Driver Camera View (mici)")
selfdrive/ui/mici/onroad/driver_state.py
+5 -1
View File
@@ -3,6 +3,7 @@ from collections.abc import Callable
import numpy as np
import math
from cereal import log
from openpilot.system.hardware import PC
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import Widget
@@ -217,7 +218,10 @@ class DriverStateRenderer(Widget):
rotation = math.degrees(math.atan2(pitch, yaw))
angle_diff = rotation - self._rotation_filter.x
angle_diff = ((angle_diff + 180) % 360) - 180
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
if PC and self._confirm_mode:
self._rotation_filter.x += 2
else:
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
if not self.should_draw:
self._fade_filter.update(0.0)
selfdrive/ui/mici/onroad/hud_renderer.py
+10 -20
View File
@@ -30,20 +30,8 @@ class FontSizes:
@dataclass(frozen=True)
class Colors:
white: rl.Color = rl.WHITE
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
engaged: rl.Color = rl.Color(128, 216, 166, 255)
disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
override_bg: rl.Color = rl.Color(145, 155, 149, 204)
engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
grey: rl.Color = rl.Color(166, 166, 166, 255)
dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
header_gradient_end: rl.Color = rl.BLANK
WHITE = rl.WHITE
WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
FONT_SIZES = FontSizes()
@@ -236,16 +224,18 @@ class HudRenderer(Widget):
def _draw_set_speed(self, rect: rl.Rectangle) -> None:
"""Draw the MAX speed indicator box."""
x = rect.x
y = rect.y
alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
self._can_draw_top_icons and self._engaged)
if alpha < 1e-2:
return
x = rect.x
y = rect.y
# draw drop shadow
circle_radius = 162 // 2
rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
@@ -279,9 +269,9 @@ class HudRenderer(Widget):
speed_text = str(round(self.speed))
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
selfdrive/ui/mici/onroad/torque_bar.py
+3
View File
@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,
pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
# Rotate to start from middle of cap for proper triangulation
pts = np.roll(pts, cap_segs, axis=0)
if DEBUG:
n = len(pts)
idx = int(time.monotonic() * 12) % max(1, n) # speed: 12 pts/sec
selfdrive/ui/mici/widgets/dialog.py
+2 -1
View File
@@ -282,7 +282,8 @@ class BigDialogOptionButton(Widget):
self._selected = False
self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
scroll=True)
def set_selected(self, selected: bool):
self._selected = selected
selfdrive/ui/onroad/cameraview.py
+6 -7
View File
@@ -68,7 +68,6 @@ else:
class CameraView(Widget):
def __init__(self, name: str, stream_type: VisionStreamType):
super().__init__()
# TODO: implement a receiver and connect thread
self._name = name
# Primary stream
self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -337,12 +336,12 @@ class CameraView(Widget):
self._initialize_textures()
def _initialize_textures(self):
self._clear_textures()
if not TICI:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
self._clear_textures()
if not TICI:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
def _clear_textures(self):
if self.texture_y and self.texture_y.id:
selfdrive/ui/onroad/hud_renderer.py
+26 -26
View File
@@ -35,20 +35,20 @@ class FontSizes:
@dataclass(frozen=True)
class Colors:
white: rl.Color = rl.WHITE
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
engaged: rl.Color = rl.Color(128, 216, 166, 255)
disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
override_bg: rl.Color = rl.Color(145, 155, 149, 204)
engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
grey: rl.Color = rl.Color(166, 166, 166, 255)
dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
header_gradient_end: rl.Color = rl.BLANK
WHITE = rl.WHITE
DISENGAGED = rl.Color(145, 155, 149, 255)
OVERRIDE = rl.Color(145, 155, 149, 255) # Added
ENGAGED = rl.Color(128, 216, 166, 255)
DISENGAGED_BG = rl.Color(0, 0, 0, 153)
OVERRIDE_BG = rl.Color(145, 155, 149, 204)
ENGAGED_BG = rl.Color(128, 216, 166, 204)
GREY = rl.Color(166, 166, 166, 255)
DARK_GREY = rl.Color(114, 114, 114, 255)
BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
HEADER_GRADIENT_END = rl.BLANK
UI_CONFIG = UIConfig()
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
int(rect.y),
int(rect.width),
UI_CONFIG.header_height,
COLORS.header_gradient_start,
COLORS.header_gradient_end,
COLORS.HEADER_GRADIENT_START,
COLORS.HEADER_GRADIENT_END,
)
if self.is_cruise_available:
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
y = rect.y + 45
set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
max_color = COLORS.grey
set_speed_color = COLORS.dark_grey
max_color = COLORS.GREY
set_speed_color = COLORS.DARK_GREY
if self.is_cruise_set:
set_speed_color = COLORS.white
set_speed_color = COLORS.WHITE
if ui_state.status == UIStatus.ENGAGED:
max_color = COLORS.engaged
max_color = COLORS.ENGAGED
elif ui_state.status == UIStatus.DISENGAGED:
max_color = COLORS.disengaged
max_color = COLORS.DISENGAGED
elif ui_state.status == UIStatus.OVERRIDE:
max_color = COLORS.override
max_color = COLORS.OVERRIDE
max_text = tr("MAX")
max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
speed_text = str(round(self.speed))
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
selfdrive/ui/sunnypilot/layouts/settings/developer.py
+106
View File
@@ -0,0 +1,106 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import datetime
import os
from pathlib import Path
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
from openpilot.system.hardware import PC
from openpilot.system.hardware.hw import Paths
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.multilang import tr
from openpilot.system.ui.widgets import DialogResult
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
from openpilot.system.ui.widgets.list_view import button_item
from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
class DeveloperLayoutSP(DeveloperLayout):
def __init__(self):
super().__init__()
self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
self._initialize_items()
for item in self.items:
self._scroller.add_widget(item)
def _initialize_items(self):
self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
"it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
param="EnableGithubRunner")
self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " +
"and even make some edits on some files from your browser. " +
"Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty")
self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
@staticmethod
def _on_prebuilt_toggled(state):
if state:
Path(PREBUILT_PATH).touch(exist_ok=True)
else:
os.remove(PREBUILT_PATH)
ui_state.params.put_bool("QuickBootToggle", state)
def _on_delete_confirm(self, result):
if result == DialogResult.CONFIRM:
if os.path.exists(self.error_log_path):
os.remove(self.error_log_path)
def _on_error_log_closed(self, result, log_exists):
if result == DialogResult.CONFIRM and log_exists:
dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
def _on_error_log_clicked(self):
text = ""
if os.path.exists(self.error_log_path):
text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
try:
with open(self.error_log_path) as file:
text += file.read()
except Exception:
pass
dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
gui_app.set_modal_overlay(dialog)
def _update_state(self):
disable_updates = ui_state.params.get_bool("DisableUpdates")
show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
self.prebuilt_toggle.action_item.set_state(prebuilt_file)
self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
self.prebuilt_toggle.action_item.set_enabled(disable_updates)
if disable_updates:
self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
"removes the prebuilt file so compilation of locally edited cpp files can be made."))
else:
self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
self.enable_copyparty_toggle.set_visible(show_advanced)
self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
self.error_log_btn.set_visible(not self._is_release_branch)
selfdrive/ui/sunnypilot/layouts/settings/models.py
+4 -8
View File
@@ -21,7 +21,8 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR
from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
from openpilot.system.ui.sunnypilot.lib.styles import style
from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
@@ -29,11 +30,6 @@ if gui_app.sunnypilot_ui():
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
class ModelAction(ButtonActionSP):
def get_width_hint(self):
return super().get_width_hint() + 1
class ModelsLayout(Widget):
def __init__(self):
super().__init__()
@@ -55,7 +51,7 @@ class ModelsLayout(Widget):
self.current_model_item = ListItemSP(
title=tr("Current Model"),
description="",
action_item=ModelAction(tr("SELECT")),
action_item=NoElideButtonAction(tr("SELECT")),
callback=self._handle_current_model_clicked
)
@@ -70,7 +66,7 @@ class ModelsLayout(Widget):
self.clear_cache_item = ListItemSP(
title=tr("Clear Model Cache"),
description="",
action_item=ModelAction(tr("CLEAR")),
action_item=NoElideButtonAction(tr("CLEAR")),
callback=self._clear_cache
)
selfdrive/ui/sunnypilot/layouts/settings/osm.py
+212 -10
View File
@@ -4,27 +4,229 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import datetime
import os
import platform
import requests
import shutil
import threading
from pathlib import Path
from time import monotonic
from openpilot.common.params import Params
from openpilot.selfdrive.ui.ui_state import device, ui_state
from openpilot.selfdrive.ui.layouts.settings.software import time_ago
from openpilot.system.hardware.hw import Paths
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.multilang import tr
from openpilot.system.ui.widgets import DialogResult, Widget
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
from openpilot.system.ui.widgets.list_view import text_item
from openpilot.system.ui.widgets.scroller_tici import Scroller
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
MAP_PATH = Path(Paths.mapd_root()) / "offline"
class OSMLayout(Widget):
def __init__(self):
super().__init__()
self._params = Params()
items = self._initialize_items()
self._scroller = Scroller(items, line_separator=True, spacing=0)
self._current_percent = 0
self._last_map_size_update = 0
self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
self._initialize_items()
self._update_map_size()
self._progress.set_visible(False)
self._state_btn.set_visible(False)
self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
self._scroller = Scroller(self.items, line_separator=True, spacing=0)
def _initialize_items(self):
items = [
self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
self._progress = progress_item(tr("Downloading Map"))
self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
]
return items
self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
def _render(self, rect):
self._scroller.render(rect)
def _show_confirm(self, msg, confirm_text, func):
gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
def calculate_size(self):
total_size = 0
directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
while directories_to_scan:
try:
for entry in os.scandir(directories_to_scan.pop()):
if entry.is_file():
total_size += entry.stat().st_size
elif entry.is_dir():
directories_to_scan.append(entry.path)
except OSError:
pass
self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
def _update_map_size(self):
threading.Thread(target=self.calculate_size, daemon=True).start()
def _do_delete_maps(self):
if MAP_PATH.exists():
shutil.rmtree(MAP_PATH)
for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
ui_state.params.remove(param)
self._delete_maps_btn.action_item.set_enabled(True)
self._delete_maps_btn.action_item.set_text(tr("DELETE"))
self._update_map_size()
def _on_confirm_delete_maps(self):
self._delete_maps_btn.action_item.set_enabled(False)
self._delete_maps_btn.action_item.set_text("DELETING...")
threading.Thread(target=self._do_delete_maps).start()
def _delete_maps(self):
self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
tr("Yes, delete all maps"), self._on_confirm_delete_maps)
def _update_db(self):
self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
def _select_region(self, region_type):
is_country = region_type == "Country"
btn = self._country_btn if is_country else self._state_btn
btn.action_item.set_enabled(False)
btn.action_item.set_text(tr("FETCHING..."))
threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
def _handle_region_selection(self, region_type, locations, key, res, ref):
if res != DialogResult.CONFIRM or not ref:
if region_type == "State" and res == DialogResult.CANCEL:
if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
ui_state.params.remove("OsmLocationName")
ui_state.params.remove("OsmLocationTitle")
ui_state.params.remove("OsmLocal")
self._update_labels()
return
if region_type == "Country":
ui_state.params.put_bool("OsmLocal", True)
ui_state.params.remove("OsmStateName")
ui_state.params.remove("OsmStateTitle")
ui_state.params.put(f"{key}Name", ref)
name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
ui_state.params.put(f"{key}Title", name)
if ref == "US" and region_type == "Country":
self._select_region("State")
else:
self._update_db()
def _do_select_region(self, region_type, btn):
base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
try:
data = requests.get(url, timeout=10).json()
locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
except Exception:
locations = []
if region_type == "State":
locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
btn.action_item.set_enabled(True)
btn.action_item.set_text(tr("SELECT"))
key = "OsmLocation" if region_type == "Country" else "OsmState"
current = ui_state.params.get(f"{key}Name") or ""
dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
def _update_labels(self):
downloading = bool(self._mem_params.get("OSMDownloadLocations"))
self._country_btn.set_enabled(not downloading)
self._state_btn.set_enabled(not downloading)
self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
if downloading or pending:
if downloading:
device.reset_interactive_timeout()
self._update_map_size()
self._progress.set_visible(True)
progress = ui_state.params.get("OSMDownloadProgress")
total = progress.get('total_files', 0) if progress else 0
done = progress.get('downloaded_files', 0) if progress else 0
failed = total > 0 and not downloading and done < total
if total > 0:
progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
else:
progress_perc = 0.0
if failed:
text = "0% - Downloading Maps"
btn_text = tr("Error: Invalid download. Retry.")
self._current_percent = 0.0
elif total > 0 and downloading:
self._current_percent = progress_perc
perc_int = int(progress_perc)
text = f"{perc_int}% - Downloading Maps"
btn_text = f"{done}/{total} ({perc_int}%)"
else:
self._current_percent = 0.0
text = "0% - Downloading Maps"
btn_text = tr("Downloading Maps...")
self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
self._update_btn.action_item.set_enabled(not downloading) # TODO-SP: introduce CANCEL database download with mapd
self._update_btn.action_item.set_value(btn_text)
self._country_btn.action_item.set_enabled(not downloading)
self._state_btn.action_item.set_enabled(not downloading)
self._delete_maps_btn.action_item.set_enabled(not downloading)
else:
self._progress.set_visible(False)
self._update_btn.action_item.set_enabled(True)
self._country_btn.action_item.set_enabled(True)
self._state_btn.action_item.set_enabled(True)
self._delete_maps_btn.action_item.set_enabled(True)
ts = ui_state.params.get("OsmDownloadedDate")
dt: datetime.datetime | None = None
if ts:
try:
ts_f = float(ts)
if ts_f > 0:
dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
except (ValueError, TypeError):
dt = None
formatted = time_ago(dt)
self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
def show_event(self):
self._scroller.show_event()
def _update_state(self):
now = monotonic()
if now - self._last_map_size_update >= 1.0:
self._last_map_size_update = now
self._update_labels()
def _render(self, rect):
self._scroller.render(rect)
selfdrive/ui/sunnypilot/layouts/settings/settings.py
+2 -2
View File
@@ -9,7 +9,6 @@ from enum import IntEnum
import pyray as rl
from openpilot.selfdrive.ui.layouts.settings import settings as OP
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
@@ -32,6 +31,7 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayo
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
# from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
@@ -126,7 +126,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
}
def _draw_sidebar(self, rect: rl.Rectangle):
selfdrive/ui/tests/.gitignore
+5
View File
@@ -2,3 +2,8 @@ test
test_translations
test_ui/report_1
test_ui/raylib_report
diff/*.mp4
diff/*.html
diff/.coverage
diff/htmlcov/
selfdrive/ui/tests/diff/diff.py
Executable
+201
View File
@@ -0,0 +1,201 @@
#!/usr/bin/env python3
import os
import sys
import subprocess
import tempfile
import base64
import webbrowser
import argparse
from pathlib import Path
from openpilot.common.basedir import BASEDIR
DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
def extract_frames(video_path, output_dir):
output_pattern = str(output_dir / "frame_%04d.png")
cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
subprocess.run(cmd, capture_output=True, check=True)
frames = sorted(output_dir.glob("frame_*.png"))
return frames
def compare_frames(frame1_path, frame2_path):
result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
return result.returncode == 0
def frame_to_data_url(frame_path):
with open(frame_path, 'rb') as f:
data = f.read()
return f"data:image/png;base64,{base64.b64encode(data).decode()}"
def create_diff_video(video1, video2, output_path):
"""Create a diff video using ffmpeg blend filter with difference mode."""
print("Creating diff video...")
cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
subprocess.run(cmd, capture_output=True, check=True)
def find_differences(video1, video2):
with tempfile.TemporaryDirectory() as tmpdir:
tmpdir = Path(tmpdir)
print(f"Extracting frames from {video1}...")
frames1_dir = tmpdir / "frames1"
frames1_dir.mkdir()
frames1 = extract_frames(video1, frames1_dir)
print(f"Extracting frames from {video2}...")
frames2_dir = tmpdir / "frames2"
frames2_dir.mkdir()
frames2 = extract_frames(video2, frames2_dir)
if len(frames1) != len(frames2):
print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
min_frames = min(len(frames1), len(frames2))
frames1 = frames1[:min_frames]
frames2 = frames2[:min_frames]
print(f"Comparing {len(frames1)} frames...")
different_frames = []
frame_data = []
for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
is_different = not compare_frames(f1, f2)
if is_different:
different_frames.append(i)
if i < 10 or i >= len(frames1) - 10 or is_different:
frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
return different_frames, frame_data, len(frames1)
def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
chunks = []
if different_frames:
current_chunk = [different_frames[0]]
for i in range(1, len(different_frames)):
if different_frames[i] == different_frames[i - 1] + 1:
current_chunk.append(different_frames[i])
else:
chunks.append(current_chunk)
current_chunk = [different_frames[i]]
chunks.append(current_chunk)
result_text = (
f"✅ Videos are identical! ({total_frames} frames)"
if len(different_frames) == 0
else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
)
html = f"""<h2>UI Diff</h2>
<table>
<tr>
<td width='33%'>
<p><strong>Video 1</strong></p>
<video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
<source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
Your browser does not support the video tag.
</video>
</td>
<td width='33%'>
<p><strong>Video 2</strong></p>
<video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
<source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
Your browser does not support the video tag.
</video>
</td>
<td width='33%'>
<p><strong>Pixel Diff</strong></p>
<video id='diffVideo' width='100%' autoplay muted loop>
<source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
Your browser does not support the video tag.
</video>
</td>
</tr>
</table>
<script>
function syncVideos() {{
const video1 = document.getElementById('video1');
const video2 = document.getElementById('video2');
const diffVideo = document.getElementById('diffVideo');
video1.currentTime = video2.currentTime = diffVideo.currentTime;
}}
video1.addEventListener('timeupdate', () => {{
if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
video2.currentTime = video1.currentTime;
}}
if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
diffVideo.currentTime = video1.currentTime;
}}
}});
video2.addEventListener('timeupdate', () => {{
if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
video1.currentTime = video2.currentTime;
}}
if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
diffVideo.currentTime = video2.currentTime;
}}
}});
diffVideo.addEventListener('timeupdate', () => {{
if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
video1.currentTime = diffVideo.currentTime;
video2.currentTime = diffVideo.currentTime;
}}
}});
</script>
<hr>
<p><strong>Results:</strong> {result_text}</p>
"""
return html
def main():
parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
parser.add_argument('video1', help='First video file')
parser.add_argument('video2', help='Second video file')
parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
args = parser.parse_args()
os.makedirs(DIFF_OUT_DIR, exist_ok=True)
print("=" * 60)
print("VIDEO DIFF - HTML REPORT")
print("=" * 60)
print(f"Video 1: {args.video1}")
print(f"Video 2: {args.video2}")
print(f"Output: {args.output}")
print()
# Create diff video
diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
create_diff_video(args.video1, args.video2, diff_video_path)
different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
if different_frames is None:
sys.exit(1)
print()
print("Generating HTML report...")
html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
with open(DIFF_OUT_DIR / args.output, 'w') as f:
f.write(html)
# Open in browser by default
if not args.no_open:
print(f"Opening {args.output} in browser...")
webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
return 0 if len(different_frames) == 0 else 1
if __name__ == "__main__":
sys.exit(main())
selfdrive/ui/tests/diff/replay.py
Executable
+128
View File
@@ -0,0 +1,128 @@
#!/usr/bin/env python3
import os
import time
import coverage
import pyray as rl
from dataclasses import dataclass
from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
os.environ["RECORD"] = "1"
if "RECORD_OUTPUT" not in os.environ:
os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
from openpilot.common.params import Params
from openpilot.system.version import terms_version, training_version
from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
FPS = 60
HEADLESS = os.getenv("WINDOWED", "0") == "1"
@dataclass
class DummyEvent:
click: bool = False
# TODO: add some kind of intensity
swipe_left: bool = False
swipe_right: bool = False
swipe_down: bool = False
SCRIPT = [
(0, DummyEvent()),
(FPS * 1, DummyEvent(click=True)),
(FPS * 2, DummyEvent(click=True)),
(FPS * 3, DummyEvent()),
]
def setup_state():
params = Params()
params.put("HasAcceptedTerms", terms_version)
params.put("CompletedTrainingVersion", training_version)
params.put("DongleId", "test123456789")
params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
return None
def inject_click(coords):
events = []
x, y = coords[0]
events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
for x, y in coords[1:]:
events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
x, y = coords[-1]
events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
with gui_app._mouse._lock:
gui_app._mouse._events.extend(events)
def handle_event(event: DummyEvent):
if event.click:
inject_click([(gui_app.width // 2, gui_app.height // 2)])
if event.swipe_left:
inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
(gui_app.width // 4, gui_app.height // 2),
(0, gui_app.height // 2)])
if event.swipe_right:
inject_click([(gui_app.width // 4, gui_app.height // 2),
(gui_app.width * 3 // 4, gui_app.height // 2),
(gui_app.width, gui_app.height // 2)])
if event.swipe_down:
inject_click([(gui_app.width // 2, gui_app.height // 4),
(gui_app.width // 2, gui_app.height * 3 // 4),
(gui_app.width // 2, gui_app.height)])
def run_replay():
setup_state()
os.makedirs(DIFF_OUT_DIR, exist_ok=True)
if not HEADLESS:
rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
gui_app.init_window("ui diff test", fps=FPS)
main_layout = MiciMainLayout()
main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
frame = 0
script_index = 0
for should_render in gui_app.render():
while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
_, event = SCRIPT[script_index]
handle_event(event)
script_index += 1
ui_state.update()
if should_render:
main_layout.render()
frame += 1
if script_index >= len(SCRIPT):
break
gui_app.close()
print(f"Total frames: {frame}")
print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
def main():
cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
with cov.collect():
run_replay()
cov.stop()
cov.save()
cov.report()
cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
print("HTML report: htmlcov/index.html")
if __name__ == "__main__":
main()
selfdrive/ui/tests/profile_onroad.py
+2 -2
View File
@@ -88,9 +88,9 @@ if __name__ == "__main__":
print("Running...")
patch_submaster(message_chunks)
W, H = 1928, 1208
W, H = 2048, 1216
vipc = VisionIpcServer("camerad")
vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208)
vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
vipc.start_listener()
yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
selfdrive/ui/translations/app_ko.po
+28 -28
View File
@@ -68,10 +68,10 @@ msgid ""
"control alpha. Changing this setting will restart openpilot if the car is "
"powered on."
msgstr ""
"<b>경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동"
"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 종방향 제어 대신 "
"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설"
"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
"원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
#: selfdrive/ui/layouts/settings/device.py:148
@@ -130,7 +130,7 @@ msgstr "동의"
#: selfdrive/ui/layouts/settings/toggles.py:70
#, python-format
msgid "Always-On Driver Monitoring"
msgstr "항상 켜짐 운전자 모니터링"
msgstr "운전자 모니터링 항상 켜짐"
#: selfdrive/ui/layouts/settings/toggles.py:186
#, python-format
@@ -138,7 +138,7 @@ msgid ""
"An alpha version of openpilot longitudinal control can be tested, along with "
"Experimental mode, on non-release branches."
msgstr ""
"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
"할 수 있습니다."
#: selfdrive/ui/layouts/settings/device.py:187
@@ -192,7 +192,7 @@ msgstr "확인"
#: selfdrive/ui/widgets/exp_mode_button.py:50
#, python-format
msgid "CHILL MODE ON"
msgstr "칠 모드 켜짐"
msgstr "안정적 모드 켜짐"
#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
@@ -283,7 +283,7 @@ msgstr "해제 후 재시작"
#: selfdrive/ui/layouts/settings/device.py:103
#, python-format
msgid "Disengage to Reset Calibration"
msgstr "해제 후 보정 재설정"
msgstr "해제 후 캘리브레이션 재설정"
#: selfdrive/ui/layouts/settings/toggles.py:32
msgid "Display speed in km/h instead of mph."
@@ -372,7 +372,7 @@ msgstr "openpilot 사용"
msgid ""
"Enable the openpilot longitudinal control (alpha) toggle to allow "
"Experimental mode."
msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요."
msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
#: system/ui/widgets/network.py:204
#, python-format
@@ -415,7 +415,7 @@ msgid ""
"Experimental mode is currently unavailable on this car since the car's stock "
"ACC is used for longitudinal control."
msgstr ""
"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
"니다."
#: system/ui/widgets/network.py:373
@@ -430,11 +430,11 @@ msgstr "설정 완료"
#: selfdrive/ui/layouts/settings/settings.py:66
msgid "Firehose"
msgstr "Firehose"
msgstr "파이어호스"
#: selfdrive/ui/layouts/settings/firehose.py:18
msgid "Firehose Mode"
msgstr "Firehose 모드"
msgstr "파이어호스 모드"
#: selfdrive/ui/layouts/settings/firehose.py:25
msgid ""
@@ -462,7 +462,7 @@ msgstr ""
"최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
"Wi‑Fi에 연결하세요.\n"
"\n"
"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니"
"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
"다.\n"
"\n"
"\n"
@@ -470,7 +470,7 @@ msgstr ""
"\n"
"어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
"\n"
"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택"
"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
"적으로 가져갑니다.\n"
"\n"
"좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
@@ -544,7 +544,7 @@ msgstr "LTE"
#: selfdrive/ui/layouts/settings/developer.py:64
#, python-format
msgid "Longitudinal Maneuver Mode"
msgstr "종방향 매뉴버 모드"
msgstr "롱컨 기동 모드"
#: selfdrive/ui/onroad/hud_renderer.py:148
#, python-format
@@ -623,7 +623,7 @@ msgstr "미리보기"
#: selfdrive/ui/widgets/prime.py:44
#, python-format
msgid "PRIME FEATURES:"
msgstr "prime 기능:"
msgstr "프라임 기능:"
#: selfdrive/ui/layouts/settings/device.py:48
#, python-format
@@ -646,7 +646,7 @@ msgid ""
"Pair your device with comma connect (connect.comma.ai) and claim your comma "
"prime offer."
msgstr ""
"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세"
"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
"요."
#: selfdrive/ui/widgets/setup.py:91
@@ -748,7 +748,7 @@ msgstr "규제 정보"
#: selfdrive/ui/layouts/settings/toggles.py:98
#, python-format
msgid "Relaxed"
msgstr "편안함"
msgstr "편안한"
#: selfdrive/ui/widgets/prime.py:47
#, python-format
@@ -773,7 +773,7 @@ msgstr "재설정"
#: selfdrive/ui/layouts/settings/device.py:51
#, python-format
msgid "Reset Calibration"
msgstr "보정 재설정"
msgstr "캘리브레이션 재설정"
#: selfdrive/ui/layouts/settings/device.py:65
#, python-format
@@ -841,7 +841,7 @@ msgid ""
"cycle through these personalities with your steering wheel distance button."
msgstr ""
"표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
"링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
#: selfdrive/ui/onroad/alert_renderer.py:59
@@ -892,7 +892,7 @@ msgstr "제거"
#: selfdrive/ui/layouts/sidebar.py:117
msgid "Unknown"
msgstr "알 수 없음"
msgstr "알수없음"
#: selfdrive/ui/layouts/settings/software.py:48
#, python-format
@@ -994,7 +994,7 @@ msgstr "카메라 시작 중"
#: selfdrive/ui/widgets/prime.py:63
#, python-format
msgid "comma prime"
msgstr "comma prime"
msgstr "comma 프라임"
#: system/ui/widgets/network.py:142
#, python-format
@@ -1054,7 +1054,7 @@ msgstr "지금"
#: selfdrive/ui/layouts/settings/developer.py:71
#, python-format
msgid "openpilot Longitudinal Control (Alpha)"
msgstr "openpilot 종방향 제어(알파)"
msgstr "openpilot 롱컨 제어(알파)"
#: selfdrive/ui/onroad/alert_renderer.py:51
#, python-format
@@ -1076,9 +1076,9 @@ msgid ""
"some turns. The Experimental mode logo will also be shown in the top right "
"corner."
msgstr ""
"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 "
"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
"아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
"다:<br><h4>엔드투엔드 종방향 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
"다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
"판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
"으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
@@ -1111,7 +1111,7 @@ msgstr ""
#: selfdrive/ui/layouts/settings/toggles.py:183
#, python-format
msgid "openpilot longitudinal control may come in a future update."
msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다."
msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
#: selfdrive/ui/layouts/settings/device.py:26
msgid ""
@@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전"
#, python-format
msgid "{} segment of your driving is in the training dataset so far."
msgid_plural "{} segments of your driving is in the training dataset so far."
msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다."
msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
#: selfdrive/ui/widgets/prime.py:62
#, python-format
@@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨"
#: selfdrive/ui/widgets/setup.py:22
#, python-format
msgid "🔥 Firehose Mode 🔥"
msgstr "🔥 Firehose 모드 🔥"
msgstr "🔥 파이어호스 모드 🔥"
selfdrive/ui/translations/app_uk.po
+1258
View File
File diff suppressed because it is too large Load Diff
selfdrive/ui/translations/languages.json
+1
View File
@@ -5,6 +5,7 @@
"Português": "pt-BR",
"Español": "es",
"Türkçe": "tr",
"Українська": "uk",
"العربية": "ar",
"ไทย": "th",
"中文（繁體）": "zh-CHT",
sunnypilot/common/README.md
+101 -88
View File
@@ -1,109 +1,122 @@
# Comparative Analysis of Parameter Access Methods: `Params::get` vs. `ParamWatcher`
<center>
## Inefficiencies in Standard Parameter Access
The standard `Params::get()` method executes a full file I/O lifecycle—opening, allocating, reading, and closing—for every function call. This approach results in significant CPU overhead and memory churn due to the frequency of these operations in the user interface loop.
# Comparative Analysis of Parameter Getter Methods: Params vs. ParamWatcher
### System Overhead Analysis
* **System Call Overhead**: Every read operation requires context switches into kernel mode. The `Params::get` function calls `util::read_file` (sunnypilot, 2025), which subsequently invokes `std::ifstream` (sunnypilot, 2025).
* **Impact**: Frequent context switching degrades performance (Linux man-pages, 2025 -a; Linux man-pages, 2025 -b).
* **C++ Stream Overhead**: The use of `std::ifstream` introduces additional overhead for maintaining stream state and buffering compared to raw file descriptors (cppreference.com, n.d.-a; Codezup, 2025).
* **Memory Churn**: The instantiation of `std::string result(size, '\0');` forces heap allocation and deallocation during every call (sunnypilot, 2025). This stresses the memory allocator and can lead to fragmentation (cppreference.com, n.d.).
James (sunnypilot Developer) <br>
December 13, 2025
## The ParamWatcher Optimization
The `ParamWatcher` implementation utilizes OS-level file system events, such as `inotify` on Linux or `FSEvents` on macOS, to maintain a Random Access Memory (RAM) cache. This architecture eliminates the need for continuous polling.
</center>
### Performance Comparison
| Feature | Standard `Params::get` | Optimized `ParamWatcher` |
| :--- | :--- | :--- |
| **Workflow** | `open` → `malloc` → `read` → `close` | `dict.get()` (RAM lookup) |
| **Complexity** | **O(N * F)** (Linear to toggles & FPS) | **O(1)** (Constant time) |
| **Disk I/O** | ~1,000 reads/sec (50 toggles @ 20FPS) | **0 reads/sec** (Steady state) |
| **Memory** | New string object per call (High GC pressure) | Returns reference (Zero GC pressure) |
## Architectural Mismatch of Standard Modules
Standard C++ modules like `std::ifstream` are optimized for **throughput**—reading large files sequentially—rather than **latency** required for polling small files frequently.
## <br><br> Abstract
* **The I/O Trap**: Even when a file resides in the OS page cache (RAM), invoking `open()` and `read()` forces a CPU mode switch (User → Kernel → User). Executing this sequence 1,000 times per second consumes CPU cycles merely to verify state constancy.
* **The Memory Trap**: The `std::string` class allocates memory on the heap. Repeated allocation creates short-lived objects, which in C++ fragments memory. In Python (which wraps this), it triggers the Garbage Collector, pausing the UI.
* **The Query Mismatch**: `Params::get` queries the current value every frame, whereas `ParamWatcher` waits for a notification of change, serving cached values in the interim.
This research report examines the inefficiencies in standard parameter access methods within sunnypilot and proposes an optimized alternative, ParamWatcher. The standard `Params::get()` method incurs significant CPU and memory overhead due to repeated file I/O operations (sunnypilot, 2025). ParamWatcher utilizes OS-level file system events (inotify on Linux, FSEvents on macOS) to maintain an in-memory cache, reducing I/O to near zero (Linux man-pages, 2025-c; Apple Inc., n.d.-a). Empirical benchmarks with ~10 million parameter accesses demonstrate a 14.5x CPU speedup and flat memory usage (514.7 KB vs. 497.7 KB for base Params, with only 17 KB overhead). The implementation employs a process-local singleton pattern for efficiency in multi-process architectures (Gamma et al., 1994). Results indicate ParamWatcher eliminates UI stutters and GC pauses, enhancing system responsiveness without compromising data freshness.
## Implementation Analysis
The `ParamWatcher` class provides a cross-platform solution for monitoring file system changes, specifically targeting the parameter files used in Openpilot. The implementation leverages the `ctypes` library to interface directly with operating system kernels, bypassing higher-level abstractions for maximum performance.
**Keywords:** parameter access, file I/O optimization, event-driven caching, autonomous driving systems, performance benchmarking
### Linux Implementation (`_run_linux`)
The Linux implementation interacts directly with the kernel's `inotify` subsystem (Linux man-pages, 2025 -c).
## Introduction
* **Library Loading**: `libc = ctypes.CDLL('libc.so.6')` loads the standard C library to access system calls.
* **Initialization**: `inotify_init()` is called to create a new inotify instance, returning a file descriptor.
* **Watch Setup**: `inotify_add_watch(fd, path, mask)` registers the parameters directory. The mask includes `IN_MODIFY | IN_CREATE | IN_DELETE | IN_MOVED_TO | IN_CLOSE_WRITE` (Linux Kernel Organization, 2005) to capture all relevant file changes.
* **Event Loop**:
* **Polling**: `select.epoll()` is used to efficiently wait for activity on the file descriptor without busy-waiting.
* **Reading**: When events occur, `os.read(fd, 1024)` retrieves the raw binary event data.
* **Parsing**: The code uses Python's `struct` module (`struct.unpack_from("iIII", ...)`) to parse the C-style `inotify_event` structures directly from the buffer, avoiding the overhead of defining `ctypes` structures.
* **Handling**: Extracted filenames are passed to `_trigger_callbacks`, which invalidates the specific cache entry (`self._cache.pop(path, None)`), forcing a fresh read on the next access.
In sunnypilot, efficient parameter management is important for real-time system access. The standard `Params::get()` method, implemented in C++ and wrapped in Python, performs full file I/O cycles for each access, leading to high CPU overhead and memory churn (sunnypilot, 2025). This is particularly problematic in UI loops where parameters are queried frequently (e.g., 50 toggles at 20 FPS equates to ~1,000 reads/second).
### macOS Implementation (`_run_darwin`)
The macOS implementation uses the `FSEvents` API from the `CoreServices` framework (Apple Inc., n.d.-a), which is more efficient than `kqueue` for directory monitoring.
This inefficiency stems from architectural mismatches: C++ streams are designed for throughput, not latency (cppreference.com, n.d.-a). Each call triggers kernel mode switches, heap allocations, and garbage collection in Python, causing UI stutters (Linux man-pages, 2025-a; Linux man-pages, 2025-b).
* **Framework Loading**: `ctypes.cdll.LoadLibrary` loads `CoreServices` and `CoreFoundation`.
* **Callback Definition**: `CFUNCTYPE` is used to define a C-compatible callback function. This function is invoked by the OS whenever a change occurs in the watched directory.
* **Stream Creation**: `FSEventStreamCreate` creates a stream for the target directory. The `kFSEventStreamCreateFlagFileEvents` flag is used to request file-level granularity where available.
* **Event Filtering**: The callback filters events using flags such as `kFSEventStreamEventFlagItemCreated` and `kFSEventStreamEventFlagItemModified` to ensure only relevant file changes trigger updates (Apple Inc., n.d.-c).
* **Scheduling**: `FSEventStreamScheduleWithRunLoop` attaches the stream to the current thread's run loop (Apple Inc., n.d.-b).
* **Execution**: `CFRunLoopRun()` starts the event loop. This passes control to the OS, which wakes the thread only when necessary.
* **Handling**: Inside the callback, the code iterates through the changed paths provided by the OS. It extracts the filename and calls `_trigger_callbacks` to invalidate the cache for that specific parameter.
### Inefficiencies in Standard Parameter Access
The standard `Params::get()` method executes a full file I/O lifecycle—opening, allocating, reading, and closing—for every function call. This results in significant CPU overhead and memory churn due to the frequency of these operations in the user interface loop.
### Python ctypes Integration
The use of `ctypes` (Python Software Foundation, 2025) is a strategic choice. It allows the Python interpreter to load shared libraries (`libc.so.6` on Linux, `CoreServices` on macOS) and call C functions directly. This approach avoids the overhead of spawning subprocesses or compiling external C extensions, keeping the codebase pure Python while achieving C-level system integration.
#### System Overhead Analysis
- **System Call Overhead**: Every read operation requires context switches into kernel mode. The `Params::get` function calls `util::read_file` (sunnypilot, 2025), which subsequently invokes `std::ifstream` (sunnypilot, 2025).
- **Impact**: Frequent context switching degrades performance (Linux man-pages, 2025-a; Linux man-pages, 2025-b).
- **C++ Stream Overhead**: The use of `std::ifstream` introduces additional overhead for maintaining stream state and buffering compared to raw file descriptors (cppreference.com, n.d.-a; Codezup, 2025).
- **Memory Churn**: The instantiation of `std::string result(size, '\0');` forces heap allocation and deallocation during every call (sunnypilot, 2025). This stresses the memory allocator and can lead to fragmentation (cppreference.com, n.d.-b).
### Memory Impact Analysis
With 232 defined parameters in `param_keys.h`, the maximum static RAM footprint of `ParamWatcher` is estimated to be **less than 250 KB**. Even if every single parameter were cached simultaneously, this static usage is negligible. Importantly, this stable footprint is likely more probable to maintain no trend of memory increase, whenc compared to the standard `Params::get` approach, which generates **megabytes** of short-lived "garbage" allocations per second, forcing the Python Garbage Collector to pause execution repeatedly.
This report introduces ParamWatcher, an event-driven caching solution using OS file system events. It shifts from polling to notifications, caching converted values in static RAM. I propose that ParamWatcher achieves minimum 10x+ CPU gains with bounded non increasing memory, improving sunnypilot's performance both on latency and responsiveness.
## Architectural Integration: The Process-Local Singleton Pattern
To ensure resource efficiency within openpilot's multi-process architecture (e.g., `ui`, `controlsd`, `modeld`), `ParamWatcher` implements the Singleton design pattern (Gamma et al., 1994) using the Python `__new__` allocator.
## Method
### Process Isolation and Concurrency
In the context of Python's memory model, a Singleton ensures a single instance exists *per process*. This behavior aligns with openpilot's multiprocess design:
### Materials
- **System:** sunnypilot, running on macOS, Ubuntu/Linux, comma 3x, and comma four.
- **Parameters:** 231 defined keys in `param_keys.h`.
- **Tools:** Python 3, tracemalloc for memory profiling, time.perf_counter for CPU timing, ctypes for OS integration (Python Software Foundation, 2025).
* **Intra-Process Efficiency**: Within a single heavy process like `ui`, multiple sub-components (e.g., `UIState`, `SunnylinkState`) import and use `Params`. The Singleton pattern ensures they share a single `inotify` thread and a unified RAM cache. This prevents the proliferation of redundant watcher threads, which would otherwise compete for the Global Interpreter Lock (GIL).
* **Inter-Process Safety**: Distinct processes (e.g., `modeld` vs. `ui`) maintain completely isolated `ParamWatcher` instances. This isolation eliminates the need for complex Inter-Process Communication (IPC) locking mechanisms for the cache, as each process synchronizes its independent state via the OS file system events.
### Implementation Details
ParamWatcher provides cross-platform file system monitoring using ctypes for direct OS integration (Python Software Foundation, 2025).
### Empirical Verification
Runtime analysis demonstrates that multiple instantiation attempts result in a shared object reference, minimizing memory footprint.
#### Linux Implementation
On Linux, ParamWatcher uses the inotify subsystem for efficient file change detection (Linux man-pages, 2025-c). It loads `libc.so.6` to access system calls, initializes an inotify instance, and watches the parameters directory for events like `IN_MODIFY` and `IN_CLOSE_WRITE` (Linux Kernel Organization, 2005). Events are polled with `select.epoll()` and parsed using `struct.unpack_from()` to avoid ctypes overhead. Filenames are extracted and passed to cache invalidation, ensuring real-time updates without polling (Codezup, 2025).
* **Test Case**: Instantiating `ParamWatcher` in `UIStateSP` and subsequently in a standalone script within the same process.
* **Result**: Both instances report the exact same memory address (`4814358960`) and share the same background thread ID (`6114635776`).
* **Impact**: The system incurs the overhead of the watcher thread (measured at < 0.1% CPU idle usage) only once per active process, regardless of import frequency. The average CPU usage across one minute was 0.002%.
- **Library Loading**: `libc = ctypes.CDLL('libc.so.6')` loads the standard C library to access system calls.
- **Initialization**: `inotify_init()` is called to create a new inotify instance, returning a file descriptor.
- **Watch Setup**: `inotify_add_watch(fd, path, mask)` registers the parameters directory. The mask includes `IN_MODIFY | IN_CREATE | IN_DELETE | IN_MOVED_TO | IN_CLOSE_WRITE` (Linux Kernel Organization, 2005) to capture all relevant file changes.
- **Event Loop**:
- **Polling**: `select.epoll()` is used to efficiently wait for activity on the file descriptor without busy-waiting.
- **Reading**: When events occur, `os.read(fd, 1024)` retrieves the raw binary event data.
- **Parsing**: The code uses Python's `struct` module (`struct.unpack_from("iIII", ...)`) to parse the C-style `inotify_event` structures directly from the buffer, avoiding the overhead of defining `ctypes` structures.
- **Handling**: Extracted filenames are passed to `_trigger_callbacks`, which invalidates the specific cache entry (`self._cache.pop(path, None)`), forcing a fresh read on the next access.
## Limitations and Trade-offs
While `ParamWatcher` offers superior performance for UI rendering, it presents specific trade-offs:
#### macOS Implementation
On macOS, ParamWatcher leverages FSEvents from CoreServices for directory monitoring (Apple Inc., n.d.-a). It defines a C-compatible callback using `CFUNCTYPE`, creates an `FSEventStream` with `kFSEventStreamCreateFlagFileEvents`, and schedules it on the run loop (Apple Inc., n.d.-b). Events are filtered for modifications, creations, and renames (Apple Inc., n.d.-c), triggering cache invalidation for affected parameters.
* **Static RAM Usage**: `ParamWatcher` maintains a persistent dictionary cache of all accessed parameters (~50KB), whereas `Params::get` uses zero static RAM but incurs high dynamic memory access.
* **Event Latency**: In high-load scenarios, `inotify` events may experience slight delays or coalescing compared to direct reads. However, for user interface applications, this latency (<10ms) is imperceptible.
* **Complexity**: The solution (the process singleton approach) requires managing a background thread and OS-specific event loops, increasing code complexity compared to the synchronous `Params::get` function.
- **Framework Loading**: `ctypes.cdll.LoadLibrary` loads `CoreServices` and `CoreFoundation`.
- **Callback Definition**: `CFUNCTYPE` is used to define a C-compatible callback function. This function is invoked by the OS whenever a change occurs in the watched directory.
- **Stream Creation**: `FSEventStreamCreate` creates a stream for the target directory. The `kFSEventStreamCreateFlagFileEvents` flag is used to request file-level granularity where available.
- **Event Filtering**: The callback filters events using flags such as `kFSEventStreamEventFlagItemCreated` and `kFSEventStreamEventFlagItemModified` to ensure only relevant file changes trigger updates (Apple Inc., n.d.-c).
- **Scheduling**: `FSEventStreamScheduleWithRunLoop` attaches the stream to the current thread's run loop (Apple Inc., n.d.-b).
- **Execution**: `CFRunLoopRun()` starts the event loop. This passes control to the OS, which wakes the thread only when necessary.
- **Handling**: Inside the callback, the code iterates through the changed paths provided by the OS. It extracts the filename and calls `_trigger_callbacks` to invalidate the cache for that specific parameter.
## Alternative Architecture Considered: ZeroMQ Service (ZMQ)
During the development of `ParamWatcher`, a Client-Server architecture using ZMQ was evaluated. In this architecture, a single background service process would monitor file system events and publish changes over a ZMQ PUB socket to multiple client processes (SUB).
### Procedure
Benchmarks simulated heavy load:
- **Memory Test:** ~10 million gets (43,290 loops over 231 keys), measured with tracemalloc.
- **CPU Test:** Same load, timed with perf_counter.
- Comparisons: Base Params vs. ParamWatcher.
### Trade-off Analysis
| Metric | In-Process (Current) | ZMQ Service (Rejected) |
| :--- | :--- |:------------------------------------------------------|
| **Memory Usage** | Low (1 thread/process) | High (1 full Python process + ZMQ buffers per client) |
| **CPU Usage** | Low (Direct callback) | High (Serialization + TCP Stack + Deserialization) |
| **Latency** | Instant (<0.1ms) | Variable (TCP Loopback overhead) |
| **Scalability** | Limited by OS file handles | Limited by TCP ports/buffers |
| **Robustness** | Process-isolated failure | Single point of failure (Service crash affects all) |
## Results
### Decision Rationale
While the ZMQ approach offers better isolation and reduces the total number of OS file watchers (1 vs N), the overhead of inter-process communication (IPC) proved excessive for this use case.
* **Efficiency**: Even with 50+ processes, the memory footprint of 50 simple threads is significantly lower than the overhead of a dedicated Python service process plus the ZMQ context in every client.
* **Complexity**: The ZMQ architecture introduced synchronization challenges (e.g., service startup race conditions, "Address already in use" errors) that outweighed its benefits.
* **Performance**: The latency of serializing messages and passing them through the TCP stack is orders of magnitude higher than a direct function call within the same process memory space.
### Memory Usage
Using tracemalloc for peak memory measurement during ~10 million parameter accesses (43,290 loops over 231 keys), base Params peaked at 497.7 KB, while ParamWatcher peaked at 514.7 KB (17 KB overhead). ParamWatcher's memory remained flat post-initialization, preventing churn.
## Conclusion
Replacing polling mechanisms with event-driven caching shifts the computational load from kernel space (syscalls) to user space (RAM). This transition eliminates I/O overhead and UI stutters caused by garbage collection, resulting in a more responsive user experience. The In-Process Singleton approach was selected as the optimal balance between performance, complexity, and resource efficiency.
| Condition | Memory (KB) | Overhead |
|-----------|-------------|----------|
| Base Params | 497.7 | - |
| ParamWatcher | 514.7 | 17 KB |
### CPU Performance
ParamWatcher was 14.5x faster: 4.52s vs. 65.43s to complete ~10 million param gets.
| Condition | Time (s) | Speedup |
|-----------|----------|---------|
| Base Params | 65.43 | 1x |
| ParamWatcher | 4.52 | 14.5x |
### Scalability
No degradation at scale; cache invalidation maintained freshness.
See Appendix A for visual graphs of memory usage over a 30-minute time span, captured on comma four. These two routes are of equal conditions: each route started completely unplugged to two minutes offroad, followed by onroad state, with ambient temperature at 75 degrees fahrenheit. These routes are direct comparisons of pre-ParamWatcher and ParamWatcher implementations. Appendix A also includes I/O capture graphs for those 30-minute routes, demonstrating reductions in file system activity post-ParamWatcher.
## Discussion
ParamWatcher successfully optimizes parameter access, delivering substantial CPU gains with minimal memory overhead. The event-driven approach eliminates I/O bottlenecks, reducing GC pressure and UI stutters (cppreference.com, n.d.-b). The 17 KB memory overhead is negligible compared to the megabytes of churn from base Params, ensuring bounded usage in multi-process environments via the singleton pattern (Gamma et al., 1994).
Results demonstrate scalability without degradation, with cache invalidation maintaining data freshness. This optimization enhances system responsiveness.
Limitations include potential event latency in high-load scenarios (<10 ms, imperceptible for UI) and increased complexity from background threads.
Trade-offs: Static RAM (~17 KB) vs. dynamic churn; benefits outweigh costs for param-heavy workloads.
## <br> Appendix A: Memory Usage Graphs
### Base Params Memory Usage
![Base Params Memory Usage](assets/memory_usage_pre_paramwatcher.png)
### ParamWatcher Memory Usage
![ParamWatcher Memory Usage](assets/memory_usage_00000025--d50a4a3471.png)
### Base Params IO Usage
![Base Params IO Usage](assets/io_usage_pre_paramwatcher.png)
### ParamWatcher IO Usage
![Base Params IO Usage](assets/io_usage_param_watcher.png)
## <br>References
## References
Apple Inc. (n.d.-a). *File System Events*. Retrieved from https://developer.apple.com/documentation/coreservices/file_system_events
Apple Inc. (n.d.-b). *CFRunLoop*. Retrieved from https://developer.apple.com/documentation/corefoundation/cfrunloop
@@ -116,17 +129,17 @@ cppreference.com. (n.d.-a). *std::basic_ifstream*. Retrieved from https://en.cpp
cppreference.com. (n.d.-b). *std::basic_string*. Retrieved from https://en.cppreference.com/w/cpp/string/basic_string/basic_string
Linux man-pages. (2025 -a). *open(2)*. Retrieved from https://man7.org/linux/man-pages/man2/open.2.html
Linux man-pages. (2025-b). *read(2)*. Retrieved from https://man7.org/linux/man-pages/man2/read.2.html
Linux man-pages. (2025 -c). *inotify(7)*. Retrieved from https://man7.org/linux/man-pages/man7/inotify.7.html
Gamma, E., Helm, R., Johnson, R., & Vlissides, J. (1994). *Design Patterns: Elements of Reusable Object-Oriented Software*. Addison-Wesley.
Linux Kernel Organization. (2005). *include/uapi/linux/inotify.h*. Retrieved from https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/include/uapi/linux/inotify.h
Python Software Foundation. (2025). *ctypes — A foreign function library for Python*. Retrieved from https://docs.python.org/3/library/ctypes.html
Linux man-pages. (2025-a). *open(2)*. Retrieved from https://man7.org/linux/man-pages/man2/open.2.html
Gamma, E., Helm, R., Johnson, R., & Vlissides, J. (1994). *Design Patterns: Elements of Reusable Object-Oriented Software*. Addison-Wesley.
Linux man-pages. (2025-b). *read(2)*. Retrieved from https://man7.org/linux/man-pages/man2/read.2.html
Linux man-pages. (2025-c). *inotify(7)*. Retrieved from https://man7.org/linux/man-pages/man7/inotify.7.html
Python Software Foundation. (2025). *ctypes — A foreign function library for Python*. Retrieved from https://docs.python.org/3/library/ctypes.html
sunnypilot. (2025). *common/params.cc* [Source code]. GitHub. https://github.com/sunnypilot/sunnypilot/blob/master/common/params.cc#L180C1-L206C2
sunnypilot/common/assets/io_usage_param_watcher.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b94f93515223b41fba5250ffb7c795ebb1640c524de5296393b02bd36a202a18
size 566837
sunnypilot/common/assets/io_usage_pre_paramwatcher.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:696dc900066c78de38e64f0636716a588f68f2fa4a3d4fbfdb5ca3f8ab49e922
size 291424
sunnypilot/common/assets/memory_usage_00000025--d50a4a3471.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:abb4a5ec3108d337cb4aab0d009c5dd7c03f601f725188fcb933f7dc4cd1b1fa
size 248658
sunnypilot/common/assets/memory_usage_pre_paramwatcher.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a27f8ba0633e806083ce41bb51fbabcd027f8ad713534dc04298cc2f350b3389
size 311370
sunnypilot/mapd/mapd_manager.py
+1 -8
View File
@@ -64,12 +64,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
"states": states or []
}
osm_download_locations_dump = json.dumps({
"nations": nations,
"states": states or []
})
print(f"Downloading maps for {osm_download_locations_dump}")
print(f"Downloading maps for {json.dumps(osm_download_locations)}")
mem_params.put("OSMDownloadLocations", osm_download_locations)
@@ -103,8 +98,6 @@ def filter_nations_and_states(nations: list[str], states: list[str] = None) -> t
def update_osm_db() -> None:
# last_downloaded_date = params.get("OsmDownloadedDate", return_default=True)
# if params.get_bool("OsmDbUpdatesCheck") or time.monotonic() - last_downloaded_date >= 604800: # 7 days * 24 hours/day * 60
if params.get_bool("OsmDbUpdatesCheck"):
cleanup_old_osm_data(get_files_for_cleanup())
country = params.get("OsmLocationName", return_default=True)
sunnypilot/modeld_v2/fill_model_msg.py
+2 -3
View File
@@ -11,13 +11,12 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
ConfidenceClass = log.ModelDataV2.ConfidenceClass
def get_curvature_from_output(output, vego, lat_action_t, mlsim):
def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
if not mlsim:
if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly
return float(desired_curv[0, 0])
plan_output = output['plan'][0]
return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
ModelConstants.T_IDXS, vego, lat_action_t))
sunnypilot/modeld_v2/modeld.py
+4 -1
View File
@@ -28,6 +28,7 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
from openpilot.sunnypilot.models.runners.helpers import get_model_runner
PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
class FrameMeta:
@@ -156,11 +157,13 @@ class ModelState(ModelStateBase):
def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
plan = model_output['plan'][0]
if 'planplus' in model_output:
plan = plan + RECOVERY_POWER*model_output['planplus'][0]
desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
if v_ego > self.MIN_LAT_CONTROL_SPEED:
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
sunnypilot/modeld_v2/parse_model_outputs_split.py
+2
View File
@@ -108,6 +108,8 @@ class Parser:
plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
if 'planplus' in outs:
self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
if 'desired_curvature' in outs:
sunnypilot/models/helpers.py
+1 -1
View File
@@ -19,7 +19,7 @@ from openpilot.system.hardware.hw import Paths
from pathlib import Path
# see the README.md for more details on the model selector versioning
CURRENT_SELECTOR_VERSION = 12
CURRENT_SELECTOR_VERSION = 13
REQUIRED_MIN_SELECTOR_VERSION = 12
USE_ONNX = os.getenv('USE_ONNX', PC)
sunnypilot/models/tests/model_hash
+1 -1
View File
@@ -1 +1 @@
030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332
sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+3 -4
View File
@@ -15,9 +15,8 @@ LAT_PLAN_MIN_IDX = 5
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
# from selfdrive/controls/lib/latcontrol_torque.py
KP = 1.0
KI = 0.3
KD = 0.0
KP = 0.8
KI = 0.15
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
@@ -64,7 +63,7 @@ class LatControlTorqueExtBase:
self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
self._ff = 0.0
self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
self._pid_log = None
self._setpoint = 0.0
self._measurement = 0.0
sunnypilot/sunnylink/api.py
+5 -3
View File
@@ -2,9 +2,10 @@ import json
import os
import random
import time
from datetime import datetime, timedelta
import jwt
from typing import cast
from datetime import datetime, timedelta, UTC
from openpilot.common.api.base import BaseApi
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
@@ -92,7 +93,8 @@ class SunnylinkApi(BaseApi):
backoff = 1
while True:
register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
cast(str, private_key), algorithm=jwt_algo)
try:
if verbose or time.monotonic() - start_time < timeout / 2:
self._status_update("Registering device to sunnylink...")
sunnypilot/sunnylink/params_metadata.json
+6 -2
View File
@@ -258,11 +258,11 @@
"description": ""
},
"EnableCopyparty": {
"title": "Enable Copyparty",
"title": "copyparty Service",
"description": ""
},
"EnableGithubRunner": {
"title": "Enable GitHub Runner",
"title": "GitHub Runner Service",
"description": ""
},
"EnableSunnylinkUploader": {
@@ -458,6 +458,10 @@
"title": "Language",
"description": ""
},
"LastAgnosPowerMonitorShutdown": {
"title": "Last AGNOS Power Monitor Shutdown",
"description": ""
},
"LastAthenaPingTime": {
"title": "Last Athena Ping Time",
"description": ""
sunnypilot/sunnylink/statsd.py
+2 -2
View File
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
from openpilot.system.hardware.hw import Paths
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import HARDWARE
from openpilot.common.utils import atomic_write_in_dir
from openpilot.common.utils import atomic_write
from openpilot.system.version import get_build_metadata
from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
from openpilot.system.statsd import METRIC_TYPE, StatLogSP
@@ -242,7 +242,7 @@ def stats_main(end_event):
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
if len(result) > 0:
stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
with atomic_write_in_dir(stats_path) as f:
with atomic_write(stats_path) as f:
f.write(result)
idx += 1
else:
system/athena/athenad.py
+3 -6
View File
@@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
import cereal.messaging as messaging
from cereal import log
from cereal.services import SERVICE_LIST
from openpilot.common.api import Api
from openpilot.common.api import Api, get_key_pair
from openpilot.common.utils import CallbackReader, get_upload_stream
from openpilot.common.params import Params
from openpilot.common.realtime import set_core_affinity
@@ -554,11 +554,8 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
@dispatcher.add_method
def getPublicKey() -> str | None:
if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
return None
with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
return f.read()
_, _, public_key = get_key_pair()
return public_key
@dispatcher.add_method
system/athena/registration.py
+4 -1
View File
@@ -2,6 +2,7 @@
import time
import json
import jwt
from typing import cast
from pathlib import Path
from datetime import datetime, timedelta, UTC
@@ -69,7 +70,9 @@ def register(show_spinner=False) -> str | None:
start_time = time.monotonic()
while True:
try:
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
cast(str, private_key), algorithm=jwt_algo)
cloudlog.info("getting pilotauth")
cloudlog.info("getting pilotauth")
resp = api_get("v2/pilotauth/", method='POST', timeout=15,
imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
system/camerad/cameras/spectra.cc
+2 -2
View File
@@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() {
};
// Figure out which sensor we have
if (!init_sensor_lambda(new OX03C10) &&
!init_sensor_lambda(new OS04C10)) {
if (!init_sensor_lambda(new OS04C10) &&
!init_sensor_lambda(new OX03C10)) {
LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
enabled = false;
return false;
system/camerad/sensors/os04c10.cc
+2 -1
View File
@@ -1,6 +1,7 @@
#include <cmath>
#include "system/camerad/sensors/sensor.h"
#include "third_party/linux/include/msm_camsensor_sdk.h"
namespace {
@@ -51,7 +52,7 @@ OS04C10::OS04C10() {
probe_expected_data = 0x5304;
bits_per_pixel = 12;
mipi_format = CAM_FORMAT_MIPI_RAW_12;
frame_data_type = 0x2c;
frame_data_type = CSI_RAW12;
mclk_frequency = 24000000; // Hz
// TODO: this was set from logs. actually calculate it out
system/camerad/sensors/os04c10_registers.h
+13 -13
View File
@@ -4,10 +4,10 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
const struct i2c_random_wr_payload init_array_os04c10[] = {
// DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
{0x0103, 0x01},
// baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
{0x0103, 0x01}, // software reset
// PLL
// PLL + clocks
{0x0301, 0xe4},
{0x0303, 0x01},
{0x0305, 0xb6},
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3106, 0x21},
{0x3107, 0xa1},
// ?
// Analog/timing fine-tuning block
{0x3624, 0x00},
{0x3625, 0x4c},
{0x3660, 0x04},
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3f00, 0x0b},
{0x3f06, 0x04},
// BLC
// BLC - black level correction
{0x400a, 0x01},
{0x400b, 0x50},
{0x400e, 0x08},
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x5180, 0x70},
{0x5181, 0x10},
// DPC
// DPC - defective pixel correction
{0x520a, 0x03},
{0x520b, 0x06},
{0x520c, 0x0c},
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x4008, 0x01},
{0x4009, 0x06},
// FSIN
// FSIN - frame sync
{0x3002, 0x22},
{0x3663, 0x22},
{0x368a, 0x04},
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3816, 0x03},
{0x3817, 0x01},
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
{0x3820, 0xb3},
{0x3821, 0x01},
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
// initialize exposure
{0x3503, 0x88},
// long
// long exposure
{0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
{0x3508, 0x00}, {0x3509, 0x80},
{0x350a, 0x04}, {0x350b, 0x00},
// short
// short exposure
{0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
{0x350c, 0x00}, {0x350d, 0x80},
{0x350e, 0x04}, {0x350f, 0x00},
// wb
// white balance
// b
{0x5100, 0x06}, {0x5101, 0x7e},
{0x5140, 0x06}, {0x5141, 0x7e},
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
};
const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
// based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
{0x3c8c, 0x40},
{0x3714, 0x24},
{0x37c2, 0x04},
system/camerad/sensors/ox03c10.cc
+3 -2
View File
@@ -1,6 +1,7 @@
#include <cmath>
#include "system/camerad/sensors/sensor.h"
#include "third_party/linux/include/msm_camsensor_sdk.h"
namespace {
@@ -40,8 +41,8 @@ OX03C10::OX03C10() {
probe_expected_data = 0x5803;
bits_per_pixel = 12;
mipi_format = CAM_FORMAT_MIPI_RAW_12;
frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
mclk_frequency = 24000000; //Hz
frame_data_type = CSI_RAW12;
mclk_frequency = 24000000; // Hz
readout_time_ns = 14697000;
system/hardware/tici/hardware.h
-1
View File
@@ -7,7 +7,6 @@
#include <string>
#include <algorithm> // for std::clamp
#include "common/params.h"
#include "common/util.h"
#include "system/hardware/base.h"
system/loggerd/tests/test_loggerd.py
+11 -7
View File
@@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.common.timeout import Timeout
from openpilot.system.hardware.hw import Paths
from openpilot.system.hardware import TICI
from openpilot.system.loggerd.xattr_cache import getxattr
from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
from openpilot.system.manager.process_config import managed_processes
@@ -221,13 +222,16 @@ class TestLoggerd:
assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
assert boot.launchLog == launch_log
for fn in ["console-ramoops", "pmsg-ramoops-0"]:
path = Path(os.path.join("/sys/fs/pstore/", fn))
if path.is_file():
with open(path, "rb") as f:
expected_val = f.read()
bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
assert expected_val == bootlog_val
if TICI:
for fn in ["console-ramoops", "pmsg-ramoops-0"]:
path = Path(os.path.join("/sys/fs/pstore/", fn))
if path.is_file():
with open(path, "rb") as f:
expected_val = f.read()
bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
assert expected_val == bootlog_val
else:
assert len(boot.pstore.entries) == 0
# next one should increment by one
bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
system/manager/build.py
+1 -1
View File
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
TOTAL_SCONS_NODES = 2280
TOTAL_SCONS_NODES = 2705
MAX_BUILD_PROGRESS = 100
def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
system/manager/manager.py
+2 -1
View File
@@ -9,6 +9,7 @@ import traceback
from cereal import log
import cereal.messaging as messaging
import openpilot.system.sentry as sentry
from openpilot.common.utils import atomic_write
from openpilot.common.params import Params, ParamKeyFlag
from openpilot.common.text_window import TextWindow
from openpilot.system.hardware import HARDWARE
@@ -168,7 +169,7 @@ def manager_thread() -> None:
# kick AGNOS power monitoring watchdog
try:
if sm.all_checks(['deviceState']):
with open("/var/tmp/power_watchdog", "w") as f:
with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
f.write(str(time.monotonic()))
except Exception:
pass
system/manager/process.py
+6 -1
View File
@@ -67,6 +67,7 @@ class ManagerProcess(ABC):
enabled = True
name = ""
shutting_down = False
restart_if_crash = False
@abstractmethod
def prepare(self) -> None:
@@ -167,13 +168,14 @@ class NativeProcess(ManagerProcess):
class PythonProcess(ManagerProcess):
def __init__(self, name, module, should_run, enabled=True, sigkill=False):
def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
self.name = name
self.module = module
self.should_run = should_run
self.enabled = enabled
self.sigkill = sigkill
self.launcher = launcher
self.restart_if_crash = restart_if_crash
def prepare(self) -> None:
if self.enabled:
@@ -252,6 +254,9 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
running = []
for p in procs:
if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
p.restart()
running.append(p)
else:
p.stop(block=False)
system/manager/process_config.py
+1 -1
View File
@@ -126,7 +126,7 @@ procs = [
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
PythonProcess("ui", "selfdrive.ui.ui", always_run),
PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
system/statsd.py
+2 -2
View File
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
from openpilot.system.hardware.hw import Paths
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import HARDWARE
from openpilot.common.utils import atomic_write_in_dir
from openpilot.common.utils import atomic_write
from openpilot.system.version import get_build_metadata
from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
@@ -218,7 +218,7 @@ def main() -> NoReturn:
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
if len(result) > 0:
stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
with atomic_write_in_dir(stats_path) as f:
with atomic_write(stats_path) as f:
f.write(result)
idx += 1
else:
system/ui/README.md
+1
View File
@@ -10,6 +10,7 @@ Quick start:
* set `BURN_IN=1` to get a burn-in heatmap version of the UI
* set `GRID=50` to show a 50-pixel alignment grid overlay
* set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
* set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
* https://www.raylib.com/cheatsheet/cheatsheet.html
* https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
system/ui/lib/application.py
+58 -1
View File
@@ -7,11 +7,13 @@ import sys
import pyray as rl
import threading
import platform
import subprocess
from contextlib import contextmanager
from collections.abc import Callable
from collections import deque
from dataclasses import dataclass
from enum import StrEnum
from pathlib import Path
from typing import NamedTuple
from importlib.resources import as_file, files
from openpilot.common.swaglog import cloudlog
@@ -38,6 +40,8 @@ SCALE = float(os.getenv("SCALE", "1.0"))
GRID_SIZE = int(os.getenv("GRID", "0"))
PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100")) # Number of functions to show in profile output
RECORD = os.getenv("RECORD") == "1"
RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
GL_VERSION = """
#version 300 es
@@ -200,10 +204,15 @@ class GuiApplication(GuiApplicationExt):
else:
self._scale = SCALE
# Scale, then ensure dimensions are even
self._scaled_width = int(self._width * self._scale)
self._scaled_height = int(self._height * self._scale)
self._scaled_width += self._scaled_width % 2
self._scaled_height += self._scaled_height % 2
self._render_texture: rl.RenderTexture | None = None
self._burn_in_shader: rl.Shader | None = None
self._ffmpeg_proc: subprocess.Popen | None = None
self._textures: dict[str, rl.Texture] = {}
self._target_fps: int = _DEFAULT_FPS
self._last_fps_log_time: float = time.monotonic()
@@ -264,12 +273,33 @@ class GuiApplication(GuiApplicationExt):
rl.set_config_flags(flags)
rl.init_window(self._scaled_width, self._scaled_height, title)
needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD
if self._scale != 1.0:
rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
if needs_render_texture:
self._render_texture = rl.load_render_texture(self._width, self._height)
rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
if RECORD:
ffmpeg_args = [
'ffmpeg',
'-v', 'warning', # Reduce ffmpeg log spam
'-stats', # Show encoding progress
'-f', 'rawvideo', # Input format
'-pix_fmt', 'rgba', # Input pixel format
'-s', f'{self._width}x{self._height}', # Input resolution
'-r', str(fps), # Input frame rate
'-i', 'pipe:0', # Input from stdin
'-vf', 'vflip,format=yuv420p', # Flip vertically and convert rgba to yuv420p
'-c:v', 'libx264', # Video codec
'-preset', 'ultrafast', # Encoding speed
'-y', # Overwrite existing file
'-f', 'mp4', # Output format
RECORD_OUTPUT, # Output file path
]
self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
rl.set_target_fps(fps)
self._target_fps = fps
@@ -314,6 +344,9 @@ class GuiApplication(GuiApplicationExt):
def set_modal_overlay(self, overlay, callback: Callable | None = None):
if self._modal_overlay.overlay is not None:
if hasattr(self._modal_overlay.overlay, 'hide_event'):
self._modal_overlay.overlay.hide_event()
if self._modal_overlay.callback is not None:
self._modal_overlay.callback(-1)
@@ -377,6 +410,16 @@ class GuiApplication(GuiApplicationExt):
rl.unload_image(image)
return texture
def close_ffmpeg(self):
if self._ffmpeg_proc is not None:
self._ffmpeg_proc.stdin.flush()
self._ffmpeg_proc.stdin.close()
try:
self._ffmpeg_proc.wait(timeout=5)
except subprocess.TimeoutExpired:
self._ffmpeg_proc.terminate()
self._ffmpeg_proc.wait()
def close(self):
if not rl.is_window_ready():
return
@@ -400,6 +443,8 @@ class GuiApplication(GuiApplicationExt):
if not PC:
self._mouse.stop()
self.close_ffmpeg()
rl.close_window()
@property
@@ -477,6 +522,15 @@ class GuiApplication(GuiApplicationExt):
self._draw_grid()
rl.end_drawing()
if RECORD:
image = rl.load_image_from_texture(self._render_texture.texture)
data_size = image.width * image.height * 4
data = bytes(rl.ffi.buffer(image.data, data_size))
self._ffmpeg_proc.stdin.write(data)
self._ffmpeg_proc.stdin.flush()
rl.unload_image(image)
self._monitor_fps()
self._frame += 1
@@ -514,6 +568,8 @@ class GuiApplication(GuiApplicationExt):
# Clear the overlay and execute the callback
original_modal = self._modal_overlay
self._modal_overlay = ModalOverlay()
if hasattr(original_modal.overlay, 'hide_event'):
original_modal.overlay.hide_event()
if original_modal.callback is not None:
original_modal.callback(result)
return True
@@ -602,6 +658,7 @@ class GuiApplication(GuiApplicationExt):
# Strict mode: terminate UI if FPS drops too much
if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
self.close_ffmpeg()
os._exit(1)
def _draw_touch_points(self):
system/ui/lib/egl.py
+6 -2
View File
@@ -128,8 +128,12 @@ def init_egl() -> bool:
def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
assert _egl.initialized, "EGL not initialized"
# Duplicate fd since EGL needs it
dup_fd = os.dup(fd)
try:
# Duplicate fd since EGL needs it
dup_fd = os.dup(fd)
except OSError as e:
cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
return None
# Create image attributes for EGL
img_attrs = [
system/ui/lib/scroll_panel2.py
+14 -9
View File
@@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, MouseEvent
from openpilot.system.hardware import TICI
from collections import deque
MIN_VELOCITY = 2 # px/s, changes from auto scroll to steady state
MIN_VELOCITY = 10 # px/s, changes from auto scroll to steady state
MIN_VELOCITY_FOR_CLICKING = 2 * 60 # px/s, accepts clicks while auto scrolling below this velocity
MIN_DRAG_PIXELS = 12
AUTO_SCROLL_TC_SNAP = 0.025
@@ -67,16 +67,18 @@ class GuiScrollPanel2:
print()
return self.get_offset()
def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]:
"""Returns (max_offset, min_offset) for the given bounds and content size."""
return 0.0, min(0.0, bounds_size - content_size)
def _update_state(self, bounds_size: float, content_size: float) -> None:
"""Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
if self._state == ScrollState.AUTO_SCROLL:
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
# simple exponential return if out of bounds
out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
if out_of_bounds and self._handle_out_of_bounds:
if self.get_offset() < (bounds_size - content_size): # too far right
target = bounds_size - content_size
else: # too far left
target = 0.0
target = max_offset if self.get_offset() > max_offset else min_offset
dt = rl.get_frame_time() or 1e-6
factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
@@ -88,6 +90,7 @@ class GuiScrollPanel2:
# Steady once we are close enough to the target
if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
self.set_offset(target)
self._velocity = 0.0
self._state = ScrollState.STEADY
elif abs(self._velocity) < MIN_VELOCITY:
@@ -102,7 +105,9 @@ class GuiScrollPanel2:
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
content_size: float) -> None:
out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
# simple exponential return if out of bounds
out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
if DEBUG:
print('Mouse event:', mouse_event)
@@ -201,8 +206,8 @@ class GuiScrollPanel2:
def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
def get_offset(self) -> int:
return round(self._offset.x if self._horizontal else self._offset.y)
def get_offset(self) -> float:
return self._offset.x if self._horizontal else self._offset.y
def set_offset(self, value: float) -> None:
if self._horizontal:
system/ui/mici_setup.py
+1 -1
View File
@@ -244,7 +244,7 @@ class TermsPage(Widget):
pass
def _render(self, _):
scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)
scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
if scroll_offset <= self._scrolled_down_offset:
# don't show back if not enabled
system/ui/sunnypilot/lib/utils.py
+12
View File
@@ -0,0 +1,12 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
class NoElideButtonAction(ButtonActionSP):
def get_width_hint(self):
return super().get_width_hint() + 1
system/ui/sunnypilot/widgets/html_render.py
+27
View File
@@ -0,0 +1,27 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import DialogResult
from openpilot.system.ui.widgets.html_render import HtmlModal
class HtmlModalSP(HtmlModal):
def __init__(self, file_path=None, text=None, callback=None):
super().__init__(file_path=file_path, text=text)
self._callback = callback
self._dialog_result = DialogResult.NO_ACTION
self._ok_button._click_callback = self._on_ok_clicked
def _on_ok_clicked(self):
self._dialog_result = DialogResult.CONFIRM
gui_app.set_modal_overlay(None)
if self._callback:
self._callback(self._dialog_result)
def reset(self):
self._dialog_result = DialogResult.NO_ACTION
system/ui/widgets/__init__.py
+46 -35
View File
@@ -104,46 +104,53 @@ class Widget(abc.ABC):
# Keep track of whether mouse down started within the widget's rectangle
if self.enabled and self.__was_awake:
for mouse_event in gui_app.mouse_events:
if not self._multi_touch and mouse_event.slot != 0:
continue
# Ignores touches/presses that start outside our rect
# Allows touch to leave the rect and come back in focus if mouse did not release
if mouse_event.left_pressed and self._touch_valid():
if rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
self._handle_mouse_press(mouse_event.pos)
self.__is_pressed[mouse_event.slot] = True
self.__tracking_is_pressed[mouse_event.slot] = True
self._handle_mouse_event(mouse_event)
# Callback such as scroll panel signifies user is scrolling
elif not self._touch_valid():
self.__is_pressed[mouse_event.slot] = False
self.__tracking_is_pressed[mouse_event.slot] = False
elif mouse_event.left_released:
self._handle_mouse_event(mouse_event)
if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
self._handle_mouse_release(mouse_event.pos)
self.__is_pressed[mouse_event.slot] = False
self.__tracking_is_pressed[mouse_event.slot] = False
# Mouse/touch is still within our rect
elif rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
if self.__tracking_is_pressed[mouse_event.slot]:
self.__is_pressed[mouse_event.slot] = True
self._handle_mouse_event(mouse_event)
# Mouse/touch left our rect but may come back into focus later
elif not rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
self.__is_pressed[mouse_event.slot] = False
self._handle_mouse_event(mouse_event)
self._process_mouse_events()
self.__was_awake = device.awake
return ret
def _process_mouse_events(self) -> None:
hit_rect = self._hit_rect
touch_valid = self._touch_valid()
for mouse_event in gui_app.mouse_events:
if not self._multi_touch and mouse_event.slot != 0:
continue
mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
# Ignores touches/presses that start outside our rect
# Allows touch to leave the rect and come back in focus if mouse did not release
if mouse_event.left_pressed and touch_valid:
if mouse_in_rect:
self._handle_mouse_press(mouse_event.pos)
self.__is_pressed[mouse_event.slot] = True
self.__tracking_is_pressed[mouse_event.slot] = True
self._handle_mouse_event(mouse_event)
# Callback such as scroll panel signifies user is scrolling
elif not touch_valid:
self.__is_pressed[mouse_event.slot] = False
self.__tracking_is_pressed[mouse_event.slot] = False
elif mouse_event.left_released:
self._handle_mouse_event(mouse_event)
if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
self._handle_mouse_release(mouse_event.pos)
self.__is_pressed[mouse_event.slot] = False
self.__tracking_is_pressed[mouse_event.slot] = False
# Mouse/touch is still within our rect
elif mouse_in_rect:
if self.__tracking_is_pressed[mouse_event.slot]:
self.__is_pressed[mouse_event.slot] = True
self._handle_mouse_event(mouse_event)
# Mouse/touch left our rect but may come back into focus later
elif not mouse_in_rect:
self.__is_pressed[mouse_event.slot] = False
self._handle_mouse_event(mouse_event)
@abc.abstractmethod
def _render(self, rect: rl.Rectangle) -> bool | int | None:
"""Render the widget within the given rectangle."""
@@ -359,6 +366,10 @@ class NavWidget(Widget, abc.ABC):
self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
self._nav_bar.render()
# draw black above widget when dismissing
if self._rect.y > 0:
rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)
return ret
def show_event(self):

Some files were not shown because too many files have changed in this diff Show More