diff --git a/.gitattributes b/.gitattributes index 7a21b223d0..2d1df43fd3 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,2 +1,3 @@ *.dlc filter=lfs diff=lfs merge=lfs -text *.onnx filter=lfs diff=lfs merge=lfs -text +selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 16edb45c21..581c88be15 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,7 +7,7 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c jobs: badges: diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 1fd093e2ac..6acc7a2e9c 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -21,6 +21,7 @@ jobs: IMAGE_NAME: openpilot-prebuilt steps: - name: Wait for green check mark + if: ${{ github.event_name != 'workflow_dispatch' }} uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd with: ref: master @@ -38,3 +39,5 @@ jobs: run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest + docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA + docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 7f83f61e0a..c57a17bbd2 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -7,10 +7,20 @@ on: jobs: build_masterci: name: build master-ci + env: + TARGET_DIR: /tmp/openpilot + ImageOS: ubuntu20 + container: + image: ghcr.io/commaai/openpilot-base:latest runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' steps: + - name: Install wait-on-check-action dependencies + run: | + sudo apt-get update + sudo apt-get install -y libyaml-dev - name: Wait for green check mark + if: ${{ github.event_name != 'workflow_dispatch' }} uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd with: ref: master @@ -22,7 +32,19 @@ jobs: submodules: true fetch-depth: 0 - name: Pull LFS - run: git lfs pull + run: | + git config --global --add safe.directory '*' + git lfs pull - name: Build master-ci run: | + release/build_devel.sh + - name: Run tests + run: | + export PYTHONPATH=$TARGET_DIR + cd $TARGET_DIR + scons -j$(nproc) + selfdrive/car/tests/test_car_interfaces.py + - name: Push master-ci + run: | + unset TARGET_DIR BRANCH=master-ci release/build_devel.sh diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0f782107ec..65e10e61ed 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -2,8 +2,8 @@ name: selfdrive on: push: - branches-ignore: - - 'testing-closet*' + branches: + - master pull_request: concurrency: @@ -11,6 +11,8 @@ concurrency: cancel-in-progress: true env: + PYTHONWARNINGS: error + BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl DOCKER_REGISTRY: ghcr.io/commaai @@ -20,11 +22,11 @@ env: BUILD: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover @@ -39,28 +41,34 @@ jobs: with: submodules: true - name: Build devel + timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - uses: ./.github/workflows/setup - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + timeout-minutes: 1 run: release/check-submodules.sh - name: Build openpilot and run checks + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" - name: Run tests + timeout-minutes: 2 run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ python -m unittest discover selfdrive/car" - name: pre-commit + timeout-minutes: 3 run: | cd $GITHUB_WORKSPACE cp .pre-commit-config.yaml $STRIPPED_DIR - cp .pylintrc $STRIPPED_DIR cp mypy.ini $STRIPPED_DIR + cp pyproject.toml $STRIPPED_DIR + cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "pre-commit run --all" + ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" build_all: name: build all @@ -70,76 +78,116 @@ jobs: with: submodules: true - uses: ./.github/workflows/setup - with: - save-cache: true - name: Build openpilot with all flags + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" - - name: Cleanup scons cache + - name: Cleanup scons cache and rebuild + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache run: | ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ scons -j$(nproc) --cache-populate" + - name: Save scons cache + uses: actions/cache/save@v3 + if: github.ref == 'refs/heads/master' + with: + path: ~/scons_cache + key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} - #build_mac: - # name: build macos - # runs-on: macos-latest - # steps: - # - uses: actions/checkout@v3 - # with: - # submodules: true - # - name: Determine pre-existing Homebrew packages - # if: steps.dependency-cache.outputs.cache-hit != 'true' - # run: | - # echo 'EXISTING_CELLAR<> $GITHUB_ENV - # ls -1 /usr/local/Cellar >> $GITHUB_ENV - # echo 'EOF' >> $GITHUB_ENV - # - name: Cache dependencies - # id: dependency-cache - # uses: actions/cache@v2 - # with: - # path: | - # ~/.pyenv - # ~/.local/share/virtualenvs/ - # /usr/local/Cellar - # ~/github_brew_cache_entries.txt - # /tmp/scons_cache - # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }} - # restore-keys: macos- - # - name: Brew link restored dependencies - # run: | - # if [ -f ~/github_brew_cache_entries.txt ]; then - # while read pkg; do - # brew link --force "$pkg" # `--force` for keg-only packages - # done < ~/github_brew_cache_entries.txt - # else - # echo "Cache entries not found" - # fi - # - name: Install dependencies - # run: ./tools/mac_setup.sh - # - name: Build openpilot - # run: | - # source tools/openpilot_env.sh - # poetry run selfdrive/manager/build.py - # - # # cleanup scons cache - # rm -rf /tmp/scons_cache/ - # poetry run scons -j$(nproc) --cache-populate - # - name: Remove pre-existing Homebrew packages for caching - # if: steps.dependency-cache.outputs.cache-hit != 'true' - # run: | - # cd /usr/local/Cellar - # new_cellar=$(ls -1) - # comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do - # if [[ $pkg != "zstd" ]]; then # caching step needs zstd - # rm -rf "$pkg" - # fi - # done - # comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt + build_mac: + name: build macos + runs-on: macos-latest + steps: + - uses: actions/checkout@v3 + with: + submodules: true + - name: Determine pre-existing Homebrew packages + if: steps.dependency-cache.outputs.cache-hit != 'true' + run: | + echo 'EXISTING_CELLAR<> $GITHUB_ENV + brew list --formula -1 >> $GITHUB_ENV + echo 'EOF' >> $GITHUB_ENV + - name: Restore scons cache + id: scons-restore-cache + uses: actions/cache/restore@v3 + with: + path: /tmp/scons_cache + key: macos_scons-${{ github.sha }} + restore-keys: macos_scons- + - name: Cache dependencies + id: dependency-cache + uses: actions/cache@v3 + with: + path: | + ~/github_brew_cache_entries.txt + ~/.pyenv + ~/Library/Caches/pypoetry + /usr/local/Cellar + /usr/local/opt + /usr/local/Caskroom/gcc-arm-* + /opt/homebrew/Cellar + /opt/homebrew/opt + /opt/homebrew/Caskroom/gcc-arm-* + /Applications/ArmGNUToolchain/*/*/* + key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }} + restore-keys: macos_deps- + - name: Brew link restored dependencies + run: | + if [ -f ~/github_brew_cache_entries.txt ]; then + brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages + if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually + GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)" + echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH + fi + else + echo "Cache entries not found" + fi + - name: Install dependencies + if: steps.dependency-cache.outputs.cache-hit != 'true' + run: ./tools/mac_setup.sh + env: + # package install has DeprecationWarnings + PYTHONWARNINGS: default + - name: Build openpilot + run: | + source tools/openpilot_env.sh + poetry run scons -j$(nproc) + - name: Run tests + run: | + source tools/openpilot_env.sh + export PYTHONPATH=$PWD + poetry run tools/plotjuggler/test_plotjuggler.py + - name: Pre Cache - Cleanup scons cache + if: github.ref == 'refs/heads/master' + run: | + source tools/openpilot_env.sh + rm -rf /tmp/scons_cache/* + poetry run scons -j$(nproc) --cache-populate + - name: Save scons cache + id: scons-save-cache + uses: actions/cache/save@v3 + if: github.ref == 'refs/heads/master' + with: + path: /tmp/scons_cache + key: macos_scons-${{ github.sha }} + - name: Pre Cache - Remove pre-existing Homebrew packages + if: steps.dependency-cache.outputs.cache-hit != 'true' + run: | + new_cellar=$(brew list --formula -1) + exceptions="zstd lz4 xz" # caching step needs zstd + comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do + if [[ " $exceptions " != *" $pkg "* ]]; then + rm -rf "$(brew --cellar)/$pkg" + fi + done + comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt + # .fseventsd directory causes permission errors in dep caching step + # its used by the system to observe changes within the directory - toolchain works without it, just remove it + sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd docker_push: name: docker push runs-on: ubuntu-20.04 if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: - uses: actions/checkout@v3 with: @@ -150,12 +198,16 @@ jobs: run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest + docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA + docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA - name: Build CL Docker image run: eval "$BUILD_CL" - name: Push to container registry run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest + docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA + docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA static_analysis: name: static analysis @@ -167,7 +219,8 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: pre-commit - run: ${{ env.RUN }} "pre-commit run --all" + timeout-minutes: 4 + run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" valgrind: name: valgrind @@ -180,6 +233,7 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run valgrind + timeout-minutes: 1 run: | ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py" - name: Print logs @@ -195,8 +249,10 @@ jobs: submodules: true - uses: ./.github/workflows/setup - name: Build openpilot + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests + timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $UNIT_TEST common && \ @@ -207,6 +263,8 @@ jobs: $UNIT_TEST system/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \ + $UNIT_TEST system/tests && \ $UNIT_TEST system/ubloxd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ @@ -225,9 +283,10 @@ jobs: ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ + ./selfdrive/test/process_replay/test_fuzzy.py && \ coverage xml" - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 process_replay: name: process replay @@ -241,12 +300,13 @@ jobs: id: dependency-cache uses: actions/cache@v3 with: - path: /tmp/comma_download_cache + path: ~/comma_download_cache key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay + timeout-minutes: 20 run: | ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ coverage xml" @@ -265,7 +325,7 @@ jobs: run: | ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 test_modeld: name: model tests @@ -275,48 +335,29 @@ jobs: with: submodules: true - uses: ./.github/workflows/setup + - name: Build base Docker image + run: eval "$BUILD" - name: Build Docker image # Sim docker is needed to get the OpenCL drivers run: eval "$BUILD_CL" - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" + # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - name: Run model replay with ONNX + timeout-minutes: 2 run: | - ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ + ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ coverage xml" - name: Run unit tests + timeout-minutes: 4 run: | - ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ + ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ + $UNIT_TEST selfdrive/modeld && \ coverage xml" - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v2 - - test_longitudinal: - name: longitudinal - runs-on: ubuntu-20.04 - steps: - - uses: actions/checkout@v3 - with: - submodules: true - - uses: ./.github/workflows/setup - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Test longitudinal - run: | - ${{ env.RUN }} "mkdir -p selfdrive/test/out && \ - cd selfdrive/test/longitudinal_maneuvers && \ - coverage run ./test_longitudinal.py && \ - coverage xml" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v2 - - uses: actions/upload-artifact@v2 - if: always() - continue-on-error: true - with: - name: longitudinal - path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/ + uses: codecov/codecov-action@v3 test_cars: name: cars @@ -332,13 +373,14 @@ jobs: - uses: ./.github/workflows/setup - name: Cache test routes id: dependency-cache - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + uses: actions/cache@v3 with: - path: /tmp/comma_download_cache + path: ~/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models + timeout-minutes: 25 run: | ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ coverage xml && \ @@ -347,7 +389,7 @@ jobs: NUM_JOBS: 5 JOB_ID: ${{ matrix.job }} - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 car_docs_diff: name: PR comments @@ -370,7 +412,7 @@ jobs: id: save_diff run: | ${{ env.RUN }} "scons -j$(nproc)" - output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true + output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") output="${output//$'\n'/'%0A'}" echo "::set-output name=diff::$output" - name: Find comment diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 186a9d9095..7810730832 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -1,10 +1,5 @@ name: 'openpilot env setup' -inputs: - save-cache: - default: false - required: false - runs: using: "composite" steps: @@ -18,15 +13,10 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - shell: bash - run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV - if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false' - - id: scons-cache - # TODO: change the version to the released version - # when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + - id: restore-scons-cache + uses: actions/cache/restore@v3 with: - path: /tmp/scons_cache + path: ~/scons_cache key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | scons-${{ env.CACHE_COMMIT_DATE }}- diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 3b32d3c790..0ee390d5e9 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -2,8 +2,8 @@ name: tools on: push: - branches-ignore: - - 'testing-closet*' + branches: + - master pull_request: concurrency: @@ -19,17 +19,18 @@ env: BUILD: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . - RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c jobs: plotjuggler: name: plotjuggler runs-on: ubuntu-20.04 + timeout-minutes: 45 steps: - uses: actions/checkout@v3 with: @@ -37,6 +38,7 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: Unit test + timeout-minutes: 2 run: | ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \ apt-get update && \ @@ -50,6 +52,7 @@ jobs: env: IMAGE_NAME: openpilot-sim if: github.repository == 'commaai/openpilot' + timeout-minutes: 45 steps: - uses: actions/checkout@v3 with: @@ -71,17 +74,18 @@ jobs: docs: name: build docs runs-on: ubuntu-20.04 + timeout-minutes: 45 steps: - uses: actions/checkout@v3 with: submodules: true - name: Build docker container run: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest -t $DOCKER_REGISTRY/openpilot-docs-base:latest -f docs/docker/Dockerfile --target openpilot-docs-base . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/openpilot-docs:latest - - + docker push $DOCKER_REGISTRY/openpilot-docs-base:latest + docker push $DOCKER_REGISTRY/openpilot-docs:latest \ No newline at end of file diff --git a/.gitignore b/.gitignore index be6629f212..85c196aea8 100644 --- a/.gitignore +++ b/.gitignore @@ -45,7 +45,9 @@ selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd selfdrive/ui/_ui +selfdrive/ui/translations/alerts_generated.h selfdrive/test/longitudinal_maneuvers/out +selfdrive/car/tests/cars_dump system/camerad/camerad system/camerad/test/ae_gray_test selfdrive/modeld/_modeld @@ -54,7 +56,6 @@ selfdrive/modeld/_dmonitoringmodeld /src/ one -openpilot notebooks xx yy @@ -83,3 +84,4 @@ build/ !**/.gitkeep poetry.toml +Pipfile diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0b021adfe4..e1891372ac 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -17,13 +17,13 @@ repos: - id: check-added-large-files args: ['--maxkb=100'] - repo: https://github.com/codespell-project/codespell - rev: v2.2.4 + rev: v2.2.5 hooks: - id: codespell exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' args: # if you've got a short variable name that's getting flagged, add it here - - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup + - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: local hooks: @@ -32,32 +32,13 @@ repos: entry: mypy language: system types: [python] + args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' -- repo: https://github.com/PyCQA/flake8 - rev: 6.0.0 +- repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.0.282 hooks: - - id: flake8 - exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/' - additional_dependencies: ['flake8-no-implicit-concat'] - args: - - --indent-size=2 - - --enable-extensions=NIC - - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6 - - --statistics - - -j4 -- repo: local - hooks: - - id: pylint - name: pylint - entry: pylint - language: system - types: [python] + - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' - args: - - -j0 - - -rn - - -sn - - --rcfile=.pylintrc - repo: local hooks: - id: cppcheck @@ -80,6 +61,10 @@ repos: language: script pass_filenames: false - repo: https://github.com/python-poetry/poetry - rev: '1.4.0' + rev: '1.5.0' hooks: - id: poetry-check + - id: poetry-lock + name: validate poetry lock + args: + - --check diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index 58988c5d74..0000000000 --- a/.pylintrc +++ /dev/null @@ -1,469 +0,0 @@ -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -jobs=4 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# When enabled, pylint would attempt to guess common misconfiguration and emit -# user-friendly hints instead of false-positive error messages -suggestion-mode=yes - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514 - - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - -# Complete name of functions that never returns. When checking for -# inconsistent-return-statements if a never returning function is called then -# it will be considered as an explicit return statement and no message will be -# printed. -never-returning-functions=optparse.Values,sys.exit - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Limits count of emitted suggestions for spelling mistakes -max-spelling-suggestions=4 - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -notes=FIXME, - XXX, - TODO - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=no - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.* - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.* - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_, - _cb - -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,past.builtins,future.builtins - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -expected-line-ending-format= - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module -max-module-lines=1000 - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[BASIC] - -# Naming style matching correct argument names -argument-naming-style=snake_case - -# Regular expression matching correct argument names. Overrides argument- -# naming-style -#argument-rgx= - -# Naming style matching correct attribute names -attr-naming-style=snake_case - -# Regular expression matching correct attribute names. Overrides attr-naming- -# style -#attr-rgx= - -# Bad variable names which should always be refused, separated by a comma -bad-names=foo, - bar, - baz, - toto, - tutu, - tata - -# Naming style matching correct class attribute names -class-attribute-naming-style=any - -# Regular expression matching correct class attribute names. Overrides class- -# attribute-naming-style -#class-attribute-rgx= - -# Naming style matching correct class names -class-naming-style=PascalCase - -# Regular expression matching correct class names. Overrides class-naming-style -#class-rgx= - -# Naming style matching correct constant names -const-naming-style=UPPER_CASE - -# Regular expression matching correct constant names. Overrides const-naming- -# style -#const-rgx= - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming style matching correct function names -function-naming-style=snake_case - -# Regular expression matching correct function names. Overrides function- -# naming-style -#function-rgx= - -# Good variable names which should always be accepted, separated by a comma -good-names=i, - j, - k, - ex, - Run, - _ - -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no - -# Naming style matching correct inline iteration names -inlinevar-naming-style=any - -# Regular expression matching correct inline iteration names. Overrides -# inlinevar-naming-style -#inlinevar-rgx= - -# Naming style matching correct method names -method-naming-style=snake_case - -# Regular expression matching correct method names. Overrides method-naming- -# style -#method-rgx= - -# Naming style matching correct module names -module-naming-style=snake_case - -# Regular expression matching correct module names. Overrides module-naming- -# style -#module-rgx= - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty - -# Naming style matching correct variable names -variable-naming-style=snake_case - -# Regular expression matching correct variable names. Overrides variable- -# naming-style -#variable-rgx= - - -[DESIGN] - -# Maximum number of arguments for function / method -max-args=5 - -# Maximum number of attributes for a class (see R0902). -max-attributes=7 - -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 - -# Maximum number of branch for function / method body -max-branches=12 - -# Maximum number of locals for function / method body -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body -max-returns=6 - -# Maximum number of statements in function / method body -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=2 - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__, - __new__, - setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict, - _fields, - _replace, - _source, - _make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=regsub, - TERMIOS, - Bastion, - rexec - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - -[STRING] - -# This flag controls whether the implicit-str-concat should generate a warning -# on implicit string concatenation in sequences defined over several lines. -check-str-concat-over-line-jumps=yes - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" -overgeneral-exceptions=Exception diff --git a/.python-version b/.python-version index d20cc2bf02..0c7d5f5f5d 100644 --- a/.python-version +++ b/.python-version @@ -1 +1 @@ -3.8.10 +3.11.4 diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index acc0fcc784..51907b7a44 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 -ENV OPENPILOT_PATH /home/batman/openpilot/ +ENV OPENPILOT_PATH /home/batman/openpilot ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} RUN mkdir -p ${OPENPILOT_PATH} @@ -23,5 +23,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system +COPY ./body ${OPENPILOT_PATH}/body RUN scons --cache-readonly -j$(nproc) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 4cd82259e2..f8b20be351 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -13,12 +13,12 @@ ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 ENV POETRY_VIRTUALENVS_CREATE=false -ENV PYENV_VERSION=3.8.10 +ENV PYENV_VERSION=3.11.4 ENV PYENV_ROOT="/root/.pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" -COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/ -COPY tools/ubuntu_setup.sh /tmp/tools/ +COPY pyproject.toml poetry.lock .python-version /tmp/ +COPY tools/ubuntu_setup.sh tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ tools/ubuntu_setup.sh && \ rm -rf /var/lib/apt/lists/* && \ diff --git a/Jenkinsfile b/Jenkinsfile index 88f98f33e9..cd5a11ef06 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -6,6 +6,8 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash < set -e export CI=1 +export PYTHONWARNINGS=error +export LOGPRINT=debug export TEST_DIR=${env.TEST_DIR} export SOURCE_DIR=${env.SOURCE_DIR} export GIT_BRANCH=${env.GIT_BRANCH} @@ -18,6 +20,23 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey" source ~/.bash_profile if [ -f /TICI ]; then source /etc/profile + + if ! systemctl is-active --quiet systemd-resolved; then + echo "restarting resolved" + sudo systemctl start systemd-resolved + sleep 3 + fi + + # restart aux USB + if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then + echo "restarting aux usb" + echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind + sleep 0.5 + echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind + fi +fi +if [ -f /data/openpilot/launch_env.sh ]; then + source /data/openpilot/launch_env.sh fi ln -snf ${env.TEST_DIR} /data/pythonpath @@ -47,6 +66,7 @@ pipeline { agent none environment { CI = "1" + PYTHONWARNINGS = "error" TEST_DIR = "/data/openpilot" SOURCE_DIR = "/data/openpilot_source/" AZURE_TOKEN = credentials('azure_token') @@ -125,17 +145,44 @@ pipeline { } */ + stage('PC tests') { + agent { + dockerfile { + filename 'Dockerfile.openpilot_base' + args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache' + } + } + steps { + sh "git config --global --add safe.directory '*'" + sh "git submodule update --init --depth=1 --recursive" + sh "git lfs pull" + // tests that our build system's dependencies are configured properly, needs a machine with lots of cores + sh "scons --clean && scons --no-cache --random -j42" + sh "INTERNAL_SEG_CNT=400 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ + pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" + } + + post { + always { + sh "rm -rf ${WORKSPACE}/* || true" + sh "rm -rf .* || true" + } + } + } + stage('tizi-tests') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { phone_steps("tizi", [ ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], - ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], - ["test camerad", "python system/camerad/test/test_camerad.py"], - ["test exposure", "python system/camerad/test/test_exposure.py"], - ["test amp", "python system/hardware/tici/tests/test_amplifier.py"], + ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test camerad", "pytest system/camerad/test/test_camerad.py"], + ["test exposure", "pytest system/camerad/test/test_exposure.py"], + ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], + ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], + ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], ]) } } @@ -147,11 +194,11 @@ pipeline { } steps { phone_steps("tici-needs-can", [ - ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], + ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], - ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], + ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], ]) } } @@ -161,7 +208,7 @@ pipeline { steps { phone_steps("tici-loopback", [ ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], ]) } } @@ -171,34 +218,28 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"], - ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], - ["test pigeond", "python system/sensord/tests/test_pigeond.py"], - ["test manager", "python selfdrive/manager/test/test_manager.py"], - ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], + ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], + ["test manager", "pytest selfdrive/manager/test/test_manager.py"], + ["test nav", "pytest selfdrive/navd/tests/"], ]) } } - stage('camerad-ar') { + stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { phone_steps("tici-ar0231", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "python system/camerad/test/test_camerad.py"], - ["test exposure", "python system/camerad/test/test_exposure.py"], + ["test camerad", "pytest system/camerad/test/test_camerad.py"], + ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) - } - } - - stage('camerad-ox') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { phone_steps("tici-ox03c10", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "python system/camerad/test/test_camerad.py"], - ["test exposure", "python system/camerad/test/test_exposure.py"], + ["test camerad", "pytest system/camerad/test/test_camerad.py"], + ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) } } @@ -208,11 +249,11 @@ pipeline { steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], ]) phone_steps("tici-bmx-lsm", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], ]) } } @@ -220,9 +261,9 @@ pipeline { stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici-common", [ + phone_steps("tici-replay", [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"], + ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], ]) } } diff --git a/README.md b/README.md index a71a9e671e..5978a0e5dd 100755 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -![](https://i.imgur.com/b0ZyIx5.jpg) +![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/4038174/f1081737-8718-4241-a22a-3ceba526361a) Table of Contents ======================= @@ -39,10 +39,10 @@ Running on a dedicated device in a car ------ To use openpilot in a car, you need four things -* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three). -* This software. The setup procedure of the comma three allows the user to enter a URL for custom software. +* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three. +* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software. The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. -* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. +* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). @@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel. -Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). +Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions). And [follow us on Twitter](https://twitter.com/comma_ai). diff --git a/RELEASES.md b/RELEASES.md index 4f5708cc1a..e9cfd69f7c 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,14 +1,63 @@ -Version 0.9.2 (2023-03-XX) +Version 0.9.5 (202X-XX-XX) ======================== -* New driving model, trained on a new dataset -* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Lexus IS 2023 support thanks to L3R5! + +Version 0.9.4 (2023-07-27) +======================== +* comma 3X support +* Navigate on openpilot in Experimental mode + * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene + * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits + * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver + * When navigate on openpilot is active, the path on the map is green +* UI updates + * Navigation settings moved to home screen and map + * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding + * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert +* Bookmarked segments are preserved on the device's storage +* Ford Focus 2018 support +* Kia Carnival 2023 support thanks to sunnyhaibin! + +Version 0.9.3 (2023-06-29) +======================== +* New driving model + * Improved height estimation and added height tracking in liveCalibration + * Model inputs refactor +* New driving personality setting + * Three settings: aggressive, standard, and relaxed + * Standard is recommended and the default + * In aggressive mode, lead follow distance is shorter and acceleration response is quicker + * In relaxed mode, lead follow distance is longer +* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis +* Improved thermal management logic + +Version 0.9.2 (2023-05-22) +======================== +* New driving model + * Reduced turn diving + * Trained on a new dataset +* UI updates + * New experimental mode visualization + * Draw MPC path instead of model-predicted path +* AGNOS 7 + * Faster boot time + * Fixes rare no sounds bug + * Fixes bootsplash bug at extreme temperatures * Buick LaCrosse 2017-19 support thanks to koch-cf! * Chevrolet Trailblazer 2021-22 support thanks to TurboCE! +* Ford Bronco Sport 2021-22 support +* Ford Escape 2020-22 support +* Ford Explorer 2020-22 support +* Ford Kuga 2020-22 support +* Ford Maverick 2022-23 support +* Genesis GV80 2023 support thanks to JWingate80! * Honda HR-V 2023 support thanks to AlexandreSato and galegozi! * Kia Niro EV 2023 support thanks to JosselinLecocq! * Lexus ES 2017-18 support +* Lincoln Aviator 2021 support * Škoda Fabia 2022-23 support thanks to jyoung8607! + Version 0.9.1 (2023-02-28) ======================== * New driving model diff --git a/SConstruct b/SConstruct index 320590b058..6e4f301cbb 100644 --- a/SConstruct +++ b/SConstruct @@ -64,20 +64,25 @@ AddOption('--no-test', default=os.path.islink(Dir('#laika/').abspath), help='skip building test files') +## Architecture name breakdown (arch) +## - larch64: linux tici aarch64 +## - aarch64: linux pc aarch64 +## - x86_64: linux pc x64 +## - Darwin: mac x64 or arm64 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() if platform.system() == "Darwin": arch = "Darwin" - -if arch == "aarch64" and AGNOS: + brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() +elif arch == "aarch64" and AGNOS: arch = "larch64" - +assert arch in ["larch64", "aarch64", "x86_64", "Darwin"] lenv = { "PATH": os.environ['PATH'], "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath], "PYTHONPATH": Dir("#").abspath, - "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath, + "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath, "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath, "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer" } @@ -110,26 +115,20 @@ else: cflags = [] cxxflags = [] cpppath = [] + rpath += [ + Dir("#cereal").abspath, + Dir("#common").abspath + ] # MacOS if arch == "Darwin": - if real_arch == "x86_64": - lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer" - - brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() - yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64" libpath = [ - f"#third_party/libyuv/{yuv_dir}/lib", + f"#third_party/libyuv/{arch}/lib", + f"#third_party/acados/{arch}/lib", f"{brew_prefix}/lib", - f"{brew_prefix}/Library", f"{brew_prefix}/opt/openssl@3.0/lib", - f"{brew_prefix}/Cellar", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] - if real_arch == "x86_64": - libpath.append(f"#third_party/acados/Darwin_x86_64/lib") - else: - libpath.append(f"#third_party/acados/{arch}/lib") cflags += ["-DGL_SILENCE_DEPRECATION"] cxxflags += ["-DGL_SILENCE_DEPRECATION"] @@ -137,24 +136,26 @@ else: f"{brew_prefix}/include", f"{brew_prefix}/opt/openssl@3.0/include", ] - # Linux 86_64 + lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"] + # Linux else: libpath = [ - "#third_party/acados/x86_64/lib", - "#third_party/snpe/x86_64-linux-clang", - "#third_party/libyuv/x64/lib", - "#third_party/mapbox-gl-native-qt/x86_64", + f"#third_party/acados/{arch}/lib", + f"#third_party/libyuv/{arch}/lib", + f"#third_party/mapbox-gl-native-qt/{arch}", "#cereal", "#common", "/usr/lib", "/usr/local/lib", ] - rpath += [ - Dir("#third_party/snpe/x86_64-linux-clang").abspath, - Dir("#cereal").abspath, - Dir("#common").abspath - ] + if arch == "x86_64": + libpath += [ + f"#third_party/snpe/{arch}" + ] + rpath += [ + Dir(f"#third_party/snpe/{arch}").abspath, + ] if GetOption('asan'): ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"] @@ -200,7 +201,6 @@ env = Environment( "#third_party/catch2/include", "#third_party/libyuv/include", "#third_party/json11", - "#third_party/curl/include", "#third_party/linux/include", "#third_party/snpe/include", "#third_party/mapbox-gl-native-qt/include", @@ -231,7 +231,9 @@ env = Environment( ) if arch == "Darwin": - env['RPATHPREFIX'] = "-rpath " + # RPATH is not supported on macOS, instead use the linker flags + darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]] + env["LINKFLAGS"] += darwin_rpath_link_flags if GetOption('compile_db'): env.CompilationDatabase('compile_commands.json') @@ -268,13 +270,11 @@ py_include = sysconfig.get_paths()['include'] envCython = env.Clone() envCython["CPPPATH"] += [py_include, np.get_include()] envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"] +envCython["CCFLAGS"].remove("-Werror") envCython["LIBS"] = [] if arch == "Darwin": - envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] -elif arch == "aarch64": - envCython["LINKFLAGS"] = ["-shared"] - envCython["LIBS"] = [os.path.basename(py_include)] + envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags else: envCython["LINKFLAGS"] = ["-pthread", "-shared"] @@ -286,10 +286,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", " qt_libs = [] if arch == "Darwin": - if real_arch == "arm64": - qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5" - else: - qt_env['QTDIR'] = "/usr/local/opt/qt@5" + qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5" qt_dirs = [ os.path.join(qt_env['QTDIR'], "include"), ] @@ -337,7 +334,7 @@ qt_flags = [ qt_env['CXXFLAGS'] += qt_flags qt_env['LIBPATH'] += ['#selfdrive/ui'] qt_env['LIBS'] = qt_libs -qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_' +qt_env['QT3_MOCHPREFIX'] = cache_dir + '/moc_files/moc_' if GetOption("clazy"): checks = [ @@ -405,13 +402,17 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', 'system/ubloxd/SConscript', + 'system/loggerd/SConscript', ]) if arch != "Darwin": - SConscript(['system/logcatd/SConscript']) + SConscript([ + 'system/camerad/SConscript', + 'system/sensord/SConscript', + 'system/logcatd/SConscript', + ]) # Build openpilot @@ -428,21 +429,15 @@ SConscript(['third_party/SConscript']) SConscript(['common/kalman/SConscript']) SConscript(['common/transformations/SConscript']) -SConscript(['selfdrive/modeld/SConscript']) - +SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript']) SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) - -SConscript(['selfdrive/boardd/SConscript']) - -SConscript(['system/loggerd/SConscript']) - SConscript(['selfdrive/locationd/SConscript']) -SConscript(['system/sensord/SConscript']) -SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) +SConscript(['selfdrive/modeld/SConscript']) +SConscript(['selfdrive/ui/SConscript']) -if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'): +if (arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'): SConscript(['tools/replay/SConscript']) SConscript(['tools/cabana/SConscript']) diff --git a/body b/body index e1805f65ee..396fa7b923 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit e1805f65ee75fab4454c21eda8b42b49d4bdc48f +Subproject commit 396fa7b923099640d6843f338950ed41300793ec diff --git a/cereal b/cereal index 37157b1364..f01d677e1d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 37157b136403ad42bb262cae2abcb5329392d1f4 +Subproject commit f01d677e1d919bf5e33ec2dd209605943fe4914c diff --git a/common/clutil.cc b/common/clutil.cc index 3cfc8a8c8c..fab1649ee1 100644 --- a/common/clutil.cc +++ b/common/clutil.cc @@ -38,8 +38,8 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) { LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); - LOGD("max work group size: %d", work_group_size); - LOGD("type = %d = ", device_type, type_str); + LOGD("max work group size: %zu", work_group_size); + LOGD("type = %d, %s", (int)device_type, type_str); } void cl_print_build_errors(cl_program program, cl_device_id device) { @@ -62,7 +62,7 @@ cl_device_id cl_get_device_id(cl_device_type device_type) { CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); for (size_t i = 0; i < num_platforms; ++i) { - LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); + LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); // Get first device if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { diff --git a/common/file_helpers.py b/common/file_helpers.py index 8a45fa313c..227d614d72 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -5,7 +5,7 @@ from atomicwrites import AtomicWriter def mkdirs_exists_ok(path): - if path.startswith('http://') or path.startswith('https://'): + if path.startswith(('http://', 'https://')): raise ValueError('URL path') try: os.makedirs(path) diff --git a/common/gpio.cc b/common/gpio.cc index aa65c0bd9d..8a16cd3703 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -53,7 +53,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id); int fd = open(gpiochip_path.c_str(), O_RDONLY); if (fd < 0) { - LOGE("Error opening gpiochip0 fd") + LOGE("Error opening gpiochip0 fd"); return -1; } diff --git a/common/gpio.py b/common/gpio.py index 711fcff85d..5ec23bf7b1 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,4 +1,4 @@ -import glob +from functools import lru_cache from typing import Optional, List def gpio_init(pin: int, output: bool) -> None: @@ -25,12 +25,27 @@ def gpio_read(pin: int) -> Optional[bool]: return val -def get_irq_for_action(action: str) -> List[int]: - ret = [] - for fn in glob.glob('/sys/kernel/irq/*/actions'): - with open(fn) as f: +def gpio_export(pin: int) -> None: + try: + with open("/sys/class/gpio/export", 'w') as f: + f.write(str(pin)) + except Exception: + print(f"Failed to export gpio {pin}") + +@lru_cache(maxsize=None) +def get_irq_action(irq: int) -> List[str]: + try: + with open(f"/sys/kernel/irq/{irq}/actions") as f: actions = f.read().strip().split(',') - if action in actions: - irq = int(fn.split('/')[-2]) + return actions + except FileNotFoundError: + return [] + +def get_irqs_for_action(action: str) -> List[str]: + ret = [] + with open("/proc/interrupts") as f: + for l in f.readlines(): + irq = l.split(':')[0].strip() + if irq.isdigit() and action in get_irq_action(irq): ret.append(irq) return ret diff --git a/common/logging_extra.py b/common/logging_extra.py index 5baaac1f90..e2637d2e05 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter): return record_dict - def format(self, record): + def format(self, record): # noqa: A003 if self.swaglogger is None: raise Exception("must set swaglogger before calling format()") return json_robust_dumps(self.format_dict(record)) @@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter): k += "$a" return k, v - def format(self, record): + def format(self, record): # noqa: A003 if isinstance(record, str): v = json.loads(record) else: @@ -153,9 +153,9 @@ class SwagLogger(logging.Logger): def bind_global(self, **kwargs): self.global_ctx.update(kwargs) - def event(self, event_name, *args, **kwargs): + def event(self, event, *args, **kwargs): evt = NiceOrderedDict() - evt['event'] = event_name + evt['event'] = event if args: evt['args'] = args evt.update(kwargs) diff --git a/common/modeldata.h b/common/modeldata.h index a00d3d49d3..6dc02cc792 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -10,6 +10,9 @@ const int LON_MPC_N = 32; const float MIN_DRAW_DISTANCE = 10.0; const float MAX_DRAW_DISTANCE = 100.0; +const float RYG_GREEN = 0.01165; +const float RYG_YELLOW = 0.06157; + template constexpr std::array build_idxs(float max_val) { std::array result{}; @@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs(10.0); constexpr auto X_IDXS = build_idxs(192.0); constexpr auto X_IDXS_FLOAT = build_idxs(192.0); -const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2, +const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, 0.0, 2648.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; // tici ecam focal probably wrong? magnification is not consistent across frame // Need to retrain model before this can be changed -const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2, +const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, 0.0, 567.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; - -static inline mat3 get_model_yuv_transform() { - float db_s = 1.0; - const mat3 transform = (mat3){{ - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0 - }}; - // Can this be removed since scale is 1? - return transform_scale_buffer(transform, db_s); -} diff --git a/common/params.cc b/common/params.cc index 428830a112..e8ab42c0b0 100644 --- a/common/params.cc +++ b/common/params.cc @@ -85,6 +85,9 @@ private: std::unordered_map keys = { {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, + {"ApiCache_Device", PERSISTENT}, + {"ApiCache_DriveStats", PERSISTENT}, + {"ApiCache_NavDestinations", PERSISTENT}, {"AssistNowToken", PERSISTENT}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, @@ -92,27 +95,28 @@ std::unordered_map keys = { {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, {"CarBatteryCapacity", PERSISTENT}, - {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CarParamsCache", CLEAR_ON_MANAGER_START}, {"CarParamsPersistent", PERSISTENT}, - {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CompletedTrainingVersion", PERSISTENT}, - {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"CurrentBootlog", PERSISTENT}, - {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"DisablePowerDown", PERSISTENT}, - {"ExperimentalMode", PERSISTENT}, - {"ExperimentalModeConfirmed", PERSISTENT}, - {"ExperimentalLongitudinalEnabled", PERSISTENT}, {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, + {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION}, {"DongleId", PERSISTENT}, {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"ForcePowerDown", CLEAR_ON_MANAGER_START}, + {"ExperimentalLongitudinalEnabled", PERSISTENT}, + {"ExperimentalMode", PERSISTENT}, + {"ExperimentalModeConfirmed", PERSISTENT}, + {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"ForcePowerDown", PERSISTENT}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, {"GitDiff", PERSISTENT}, @@ -133,16 +137,17 @@ std::unordered_map keys = { {"IsOffroad", CLEAR_ON_MANAGER_START}, {"IsOnroad", PERSISTENT}, {"IsRhdDetected", PERSISTENT}, + {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, - {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, - {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, + {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastSystemShutdown", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, @@ -150,58 +155,57 @@ std::unordered_map keys = { {"LiveParameters", PERSISTENT}, {"LiveTorqueCarParams", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, - {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"NavSettingTime24h", PERSISTENT}, + {"LongitudinalPersonality", PERSISTENT}, + {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavSettingLeftSide", PERSISTENT}, + {"NavSettingTime24h", PERSISTENT}, {"NavdRender", PERSISTENT}, - {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, + {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, + {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, + {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, + {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, + {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, + {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, + {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, + {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, + {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, {"OpenpilotEnabledToggle", PERSISTENT}, - {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"PandaLogState", PERSISTENT}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, {"Passive", PERSISTENT}, {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, - {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, {"SubscriberInfo", PERSISTENT}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UbloxAvailable", PERSISTENT}, - {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterState", CLEAR_ON_MANAGER_START}, - {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, - {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, + {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, + {"UpdaterState", CLEAR_ON_MANAGER_START}, + {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, - {"WideCameraOnly", PERSISTENT}, - {"ApiCache_Device", PERSISTENT}, - {"ApiCache_DriveStats", PERSISTENT}, - {"ApiCache_NavDestinations", PERSISTENT}, - {"ApiCache_Owner", PERSISTENT}, - {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, - {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, - {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, - {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, - {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, - {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, - {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, - {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, - {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, - {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, + {"WheeledBody", PERSISTENT}, }; } // namespace @@ -305,14 +309,19 @@ std::map Params::readAll() { void Params::clearAll(ParamKeyType key_type) { FileLock file_lock(params_path + "/.lock"); - if (key_type == ALL) { - util::remove_files_in_dir(getParamPath()); - } else { - for (auto &[key, type] : keys) { - if (type & key_type) { - unlink(getParamPath(key).c_str()); + // 1) delete params of key_type + // 2) delete files that are not defined in the keys. + if (DIR *d = opendir(getParamPath().c_str())) { + struct dirent *de = NULL; + while ((de = readdir(d))) { + if (de->d_type != DT_DIR) { + auto it = keys.find(de->d_name); + if (it == keys.end() || (it->second & key_type)) { + unlink(getParamPath(de->d_name).c_str()); + } } } + closedir(d); } fsync_dir(getParamPath()); diff --git a/common/params.h b/common/params.h index aecb3ee471..24b1bffeb1 100644 --- a/common/params.h +++ b/common/params.h @@ -7,8 +7,8 @@ enum ParamKeyType { PERSISTENT = 0x02, CLEAR_ON_MANAGER_START = 0x04, - CLEAR_ON_IGNITION_ON = 0x08, - CLEAR_ON_IGNITION_OFF = 0x10, + CLEAR_ON_ONROAD_TRANSITION = 0x08, + CLEAR_ON_OFFROAD_TRANSITION = 0x10, DONT_LOG = 0x20, ALL = 0xFFFFFFFF }; diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 9d8933609f..abb3199d05 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -9,8 +9,8 @@ cdef extern from "common/params.h": cpdef enum ParamKeyType: PERSISTENT CLEAR_ON_MANAGER_START - CLEAR_ON_IGNITION_ON - CLEAR_ON_IGNITION_OFF + CLEAR_ON_ONROAD_TRANSITION + CLEAR_ON_OFFROAD_TRANSITION ALL cdef cppclass c_Params "Params": diff --git a/common/spinner.py b/common/spinner.py index 57242d644d..34fd720ee9 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -29,11 +29,11 @@ class Spinner(): def close(self): if self.spinner_proc is not None: + self.spinner_proc.kill() try: - self.spinner_proc.stdin.close() - except BrokenPipeError: - pass - self.spinner_proc.terminate() + self.spinner_proc.communicate(timeout=2.) + except subprocess.TimeoutExpired: + print("WARNING: failed to kill spinner") self.spinner_proc = None def __del__(self): diff --git a/common/swaglog.cc b/common/swaglog.cc index 54f1c3478a..060090e18f 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -135,4 +135,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args); va_end(args); } - diff --git a/common/swaglog.h b/common/swaglog.h index 68b05ed2e9..5a3434d624 100644 --- a/common/swaglog.h +++ b/common/swaglog.h @@ -9,23 +9,29 @@ #define CLOUDLOG_CRITICAL 50 +#ifdef __GNUC__ +#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b))) +#else +#define SWAG_LOG_CHECK_FMT(a, b) +#endif + void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7); #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \ __func__, \ - fmt, ## __VA_ARGS__); - + fmt, ## __VA_ARGS__) + #define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \ __func__, \ - __VA_ARGS__); + __VA_ARGS__) #define cloudlog_rl(burst, millis, lvl, fmt, ...) \ diff --git a/common/tests/test_params.py b/common/tests/test_params.py index ec13e82217..d432218c8a 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,7 +1,9 @@ +import os import threading import time import tempfile import shutil +import uuid import unittest from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking @@ -28,9 +30,16 @@ class TestParams(unittest.TestCase): self.params.put("CarParams", "test") self.params.put("DongleId", "cb38263377b873ee") assert self.params.get("CarParams") == b"test" + + undefined_param = self.params.get_param_path(uuid.uuid4().hex) + with open(undefined_param, "w") as f: + f.write("test") + assert os.path.isfile(undefined_param) + self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) assert self.params.get("CarParams") is None assert self.params.get("DongleId") is not None + assert not os.path.isfile(undefined_param) def test_params_two_things(self): self.params.put("DongleId", "bob") diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index b70cc9044a..25ecf09aa9 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") { REQUIRE(util::create_directories("", 0755) == false); } } - -TEST_CASE("util::remove_files_in_dir") { - std::string tmp_dir = "/tmp/test_remove_all_in_dir"; - system("rm /tmp/test_remove_all_in_dir -rf"); - REQUIRE(util::create_directories(tmp_dir, 0755)); - const int tmp_file_cnt = 10; - for (int i = 0; i < tmp_file_cnt; ++i) { - std::string tmp_file = tmp_dir + "/test_XXXXXX"; - int fd = mkstemp((char*)tmp_file.c_str()); - close(fd); - REQUIRE(util::file_exists(tmp_file.c_str())); - } - - REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt); - util::remove_files_in_dir(tmp_dir); - REQUIRE(util::read_files_in_dir(tmp_dir).empty()); -} diff --git a/common/time.py b/common/time.py new file mode 100644 index 0000000000..b9da106fd0 --- /dev/null +++ b/common/time.py @@ -0,0 +1,6 @@ +import datetime + +MIN_DATE = datetime.datetime(year=2023, month=6, day=1) + +def system_time_valid(): + return datetime.datetime.now() > MIN_DATE \ No newline at end of file diff --git a/common/transformations/camera.py b/common/transformations/camera.py index b20ed5c64b..eaed0e7afe 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -61,14 +61,6 @@ device_frame_from_view_frame = np.array([ view_frame_from_device_frame = device_frame_from_view_frame.T -def get_calib_from_vp(vp): - vp_norm = normalize(vp) - yaw_calib = np.arctan(vp_norm[0]) - pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) - roll_calib = 0 - return roll_calib, pitch_calib, yaw_calib - - # aka 'extrinsic_matrix' # road : x->forward, y -> left, z->up def get_view_frame_from_road_frame(roll, pitch, yaw, height): @@ -131,6 +123,14 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf return img_pts_denormalized[:, :2].reshape(input_shape) +def get_calib_from_vp(vp, intrinsics=fcam_intrinsics): + vp_norm = normalize(vp, intrinsics) + yaw_calib = np.arctan(vp_norm[0]) + pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) + roll_calib = 0 + return roll_calib, pitch_calib, yaw_calib + + def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef): # device from ecef frame # device frame is x -> forward, y-> right, z -> down diff --git a/common/util.cc b/common/util.cc index 10dff6a9ea..6ad619c35c 100644 --- a/common/util.cc +++ b/common/util.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -60,6 +61,20 @@ int set_core_affinity(std::vector cores) { #endif } +int set_file_descriptor_limit(uint64_t limit_val) { + struct rlimit limit; + int status; + + if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0) + return status; + + limit.rlim_cur = limit_val; + if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0) + return status; + + return 0; +} + std::string read_file(const std::string& fn) { std::ifstream f(fn, std::ios::binary | std::ios::in); if (f.is_open()) { @@ -99,22 +114,6 @@ std::map read_files_in_dir(const std::string &path) { return ret; } -void remove_files_in_dir(const std::string &path) { - DIR *d = opendir(path.c_str()); - if (!d) return; - - std::string fn; - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type != DT_DIR) { - fn = path + "/" + de->d_name; - unlink(fn.c_str()); - } - } - - closedir(d); -} - int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) { int fd = HANDLE_EINTR(open(path, flags, mode)); if (fd == -1) { @@ -205,7 +204,7 @@ bool create_directories(const std::string& dir, mode_t mode) { return createDirectory(dir, mode); } -std::string getenv(const char* key, const char* default_val) { +std::string getenv(const char* key, std::string default_val) { const char* val = ::getenv(key); return val ? val : default_val; } @@ -229,10 +228,17 @@ std::string hexdump(const uint8_t* in, const size_t size) { return ss.str(); } +int random_int(int min, int max) { + std::random_device dev; + std::mt19937 rng(dev()); + std::uniform_int_distribution dist(min, max); + return dist(rng); +} + std::string random_string(std::string::size_type length) { - const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; + const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; std::mt19937 rg{std::random_device{}()}; - std::uniform_int_distribution pick(0, sizeof(chrs) - 2); + std::uniform_int_distribution pick(0, chrs.length() - 1); std::string s; s.reserve(length); while (length--) { @@ -276,7 +282,7 @@ struct tm get_time() { bool time_valid(struct tm sys_time) { int year = 1900 + sys_time.tm_year; int month = 1 + sys_time.tm_mon; - return (year > 2021) || (year == 2021 && month >= 6); + return (year > 2023) || (year == 2023 && month >= 6); } } // namespace util diff --git a/common/util.h b/common/util.h index 028074384e..aaa54d52a2 100644 --- a/common/util.h +++ b/common/util.h @@ -44,6 +44,7 @@ namespace util { void set_thread_name(const char* name); int set_realtime_priority(int level); int set_core_affinity(std::vector cores); +int set_file_descriptor_limit(uint64_t limit); // ***** Time helpers ***** struct tm get_time(); @@ -70,18 +71,20 @@ std::string string_format(const std::string& format, Args... args) { return std::string(buf.get(), buf.get() + size - 1); } -std::string getenv(const char* key, const char* default_val = ""); +std::string getenv(const char* key, std::string default_val = ""); int getenv(const char* key, int default_val); float getenv(const char* key, float default_val); std::string hexdump(const uint8_t* in, const size_t size); -std::string random_string(std::string::size_type length); std::string dir_name(std::string const& path); -// **** file fhelpers ***** +// ***** random helpers ***** +int random_int(int min, int max); +std::string random_string(std::string::size_type length); + +// **** file helpers ***** std::string read_file(const std::string& fn); std::map read_files_in_dir(const std::string& path); -void remove_files_in_dir(const std::string& path); int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); FILE* safe_fopen(const char* filename, const char* mode); diff --git a/common/version.h b/common/version.h index 5637029cf4..946f6a1fec 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.2" +#define COMMA_VERSION "0.9.5" diff --git a/docs/CARS.md b/docs/CARS.md index 474e66156e..9ec07a3e22 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,265 +4,282 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 243 Supported Cars +# 257 Supported Cars -|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| +|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Buick|LaCrosse 2017-19[4](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|| -|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|| -|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| -|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| -|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| -|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| -|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| -|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Performance Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (2.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (3.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV80 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Škoda|Fabia 2022-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Škoda|Kamiq 2021[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015, 2018-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| - +### Footnotes 1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
-3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
-42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5Requires a red panda for this CAN FD car. All the hardware needed is sold in the CAN FD kit.
-6openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-7Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-8Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-9Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-10Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
+4Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
+52019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+6Requires a comma 3X or CAN FD panda kit for this CAN FD car.
+7In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
+8openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+9Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+10Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+11Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality.
+12Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+13Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). @@ -281,6 +298,7 @@ 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. | +| 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. | | Nissan | Any car with ProPILOT will likely work. | @@ -295,7 +313,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi ### Toyota Security openpilot does not yet support these Toyota models due to a new message authentication method. -[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models. +[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models. * Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ diff --git a/docs/SAFETY.md b/docs/SAFETY.md index 49f88df8c0..4b568728a7 100644 --- a/docs/SAFETY.md +++ b/docs/SAFETY.md @@ -25,9 +25,12 @@ ensuring two main safety requirements. by stepping on the brake pedal or by pressing the cancel button. 2. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained - to operate within reasonable limits. + to operate within reasonable limits[^1]. For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety). **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. + +[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. + diff --git a/docs/conf.py b/docs/conf.py index fea921de1f..beb5924496 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -29,7 +29,7 @@ VERSION = get_version() # -- Project information ----------------------------------------------------- project = 'openpilot docs' -copyright = '2021, comma.ai' +copyright = '2021, comma.ai' # noqa: A001 author = 'comma.ai' version = VERSION release = VERSION @@ -100,7 +100,7 @@ breathe_projects_source = {} # only document files that have accompanying .cc files next to them print("searching for c_docs...") -for root, dirs, files in os.walk(BASEDIR): +for root, _, files in os.walk(BASEDIR): found = False breath_src = {} breathe_srcs_list = [] diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 08b318a59a..63564a6fff 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -1,4 +1,4 @@ -FROM ghcr.io/commaai/openpilot-base:latest +FROM ghcr.io/commaai/openpilot-base:latest as openpilot-docs-base ENV PYTHONUNBUFFERED 1 diff --git a/laika_repo b/laika_repo index e932f32ab9..ef21c612f4 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199 +Subproject commit ef21c612f4b0d68c790b4b1a6d637cd5fce7732e diff --git a/launch_env.sh b/launch_env.sh index 3059ec268e..d07fbe33de 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="6.2" + export AGNOS_VERSION="8.2" fi if [ -z "$PASSIVE" ]; then diff --git a/mypy.ini b/mypy.ini index 9b6d00d2c4..74d0ac2175 100644 --- a/mypy.ini +++ b/mypy.ini @@ -1,5 +1,5 @@ [mypy] -python_version = 3.8 +python_version = 3.11 plugins = numpy.typing.mypy_plugin files = body, common, docs, scripts, selfdrive, site_scons, system, tools exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/) diff --git a/opendbc b/opendbc index 8faada0494..a1582f5e28 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8faada0494c4498a57c2196e80c6da94f508d009 +Subproject commit a1582f5e28fe0df23b6821c907188be477aac11c diff --git a/openpilot/__init__.py b/openpilot/__init__.py new file mode 100644 index 0000000000..b28b04f643 --- /dev/null +++ b/openpilot/__init__.py @@ -0,0 +1,3 @@ + + + diff --git a/openpilot/common b/openpilot/common new file mode 120000 index 0000000000..60d3b0a6a8 --- /dev/null +++ b/openpilot/common @@ -0,0 +1 @@ +../common \ No newline at end of file diff --git a/openpilot/selfdrive b/openpilot/selfdrive new file mode 120000 index 0000000000..e005fd0d04 --- /dev/null +++ b/openpilot/selfdrive @@ -0,0 +1 @@ +../selfdrive/ \ No newline at end of file diff --git a/openpilot/system b/openpilot/system new file mode 120000 index 0000000000..16f8cc2b23 --- /dev/null +++ b/openpilot/system @@ -0,0 +1 @@ +../system/ \ No newline at end of file diff --git a/openpilot/third_party b/openpilot/third_party new file mode 120000 index 0000000000..d838c05a86 --- /dev/null +++ b/openpilot/third_party @@ -0,0 +1 @@ +../third_party \ No newline at end of file diff --git a/openpilot/tools b/openpilot/tools new file mode 120000 index 0000000000..4887d6e0c9 --- /dev/null +++ b/openpilot/tools @@ -0,0 +1 @@ +../tools \ No newline at end of file diff --git a/panda b/panda index dfc38c117c..a42c892722 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dfc38c117cd1fd584786231d95bd423e2abc243f +Subproject commit a42c8927226b8a6fb4b8917535fda741cc719820 diff --git a/poetry.lock b/poetry.lock index 5d60353f80..e85af896dc 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,38 +1,106 @@ -[[package]] -name = "adal" -version = "1.2.7" -description = "Note: This library is already replaced by MSAL Python, available here: https://pypi.org/project/msal/ .ADAL Python remains available here as a legacy. 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+16,110 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] -python = "~3.8" -atomicwrites = "^1.4.0" -casadi = { version = "==3.5.5", platform = "linux" } -cffi = "^1.15.1" -crcmod = "^1.7" -cryptography = "^37.0.4" -Cython = "^0.29.30" -flake8 = "^4.0.1" -Flask = "^2.1.2" -future-fstrings = "^1.2.0" # for acados -gunicorn = "^20.1.0" +python = "~3.11" +atomicwrites = "*" +aiohttp = "*" +aiortc = "*" +casadi = "==3.6.3" +cffi = "*" +crcmod = "*" +cryptography = "*" +Cython = "*" +future-fstrings = "*" # for acados hatanaka = "==2.4" -hexdump = "^3.3" -Jinja2 = "^3.1.2" -json-rpc = "^1.13.0" -libusb1 = "^3.0.0" -nose = "^1.3.7" -numpy = "^1.23.0" -onnx = "^1.12.0" -onnxruntime-gpu = { version = "^1.11.1", platform = "linux" } -pillow = "^9.2.0" -poetry = "==1.2.2" -protobuf = "==3.20.1" -psutil = "^5.9.1" -pycapnp = "==1.1.0" -pycryptodome = "^3.15.0" -PyJWT = "^2.5.0" -pylint = "^2.15.4" -pyopencl = "^2022.2.4" -pyserial = "^3.5" -python-dateutil = "^2.8.2" -PyYAML = 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"linux" } +spidev2 = { version = "*", platform = "linux" } +sympy = "*" +timezonefinder = "*" +tqdm = "*" +urllib3 = "*" +websocket_client = "*" +polyline = "*" sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} [tool.poetry.group.dev.dependencies] -av = "^9.2.0" +av = "*" azure-storage-blob = "~2.1" -breathe = "^4.34.0" -carla = { version = "==0.9.13", platform = "linux" } -control = "^0.9.2" -coverage = "^6.4.1" -dictdiffer = "^0.9.0" -fastcluster = "^1.2.6" -ft4222 = "^1.4.1" -hexdump = "^3.3" +breathe = "*" +carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" } +coverage = "*" +dictdiffer = "*" +ft4222 = "*" hypothesis = "==6.46.7" -inputs = "^0.5" -lru-dict = "^1.1.7" -lxml = "^4.9.1" -markdown-it-py = "^2.1.0" -matplotlib = "^3.5.2" -mpld3 = "^0.5.8" -mypy = "^0.961" -myst-parser = "^0.18.0" -natsort = "^8.1.0" -numpy = "^1.23.0" -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } -pandas = "^1.4.3" -parameterized = "^0.8.1" -paramiko = "^2.11.0" -pprofile = "^2.1.0" -pre-commit = "^2.19.0" -pycurl = "^7.45.1" -pygame = "^2.1.2" -pyprof2calltree = "^1.4.5" -pytest = "^7.1.2" -pytest-xdist = "^2.5.0" -reverse_geocoder = "^1.5.1" -scipy = "^1.8.1" -sphinx = "^5.0.2" -sphinx-rtd-theme = "^1.0.0" -sphinx-sitemap = "^2.2.0" -subprocess32 = "^3.5.4" -tabulate = "^0.8.10" -tenacity = "^8.0.1" -types-atomicwrites = "^1.4.5" -types-certifi = "^2021.10.8" -types-pycurl = "^7.45.1" -types-PyYAML = "^6.0" -types-requests = "^2.28.11" -types-tabulate = "^0.8.10" - - -[tool.poetry.group.xx] -optional = true - -[tool.poetry.group.xx.dependencies] -aenum = "^3.1.11" -aiohttp = "^3.8.1" -albumentations = "^1.2.1" -apex = { url = 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-Pygments = "^2.12.0" -PyMySQL = "~0.9" -pyproj = "^3.3.1" -python-logstash = "^0.4.8" -redis = "^4.3.4" -s2sphere = "^0.2.5" -scikit-image = "^0.19.3" -scikit-learn = "^1.1.1" -segmentation-models-pytorch = "==0.2.1" -simplejson = "^3.17.6" -SQLAlchemy = "^1.4.39" -torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" } -torchsummary = "^1.5.1" -torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" } -triton = "^2.0.0" -Werkzeug = "^2.1.2" -zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } -omegaconf = "^2.3.0" -osmnx = "==1.2.2" -tritonclient = {version = "2.28.0", extras = ["http"]} -tensorrt = "^8.6.0" +inputs = "*" +lru-dict = "*" +markdown-it-py = "*" +matplotlib = "*" +mpld3 = "*" +mypy = "*" +myst-parser = "*" +natsort = "*" +opencv-python-headless = "*" +pandas = "*" +parameterized = "^0.8" +pprofile = "*" +pre-commit = "*" +pycurl = "*" +pygame = "*" +pyprof2calltree = "*" +pytest = "*" +pytest-xdist = "*" +scipy = "*" +sphinx = "*" +sphinx-rtd-theme = "*" +sphinx-sitemap = "*" +tabulate = "*" +tenacity = "*" +types-atomicwrites = "*" +types-certifi = "*" +types-pycurl = "*" +types-PyYAML = "*" +types-requests = "*" +types-tabulate = "*" +pyqt5 = "*" [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" + +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"] +ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] +line-length = 160 +target-version="py311" +exclude = [ + "panda", + "opendbc", + "laika_repo", + "rednose_repo", + "tinygrad_repo", + "third_party", +] +flake8-implicit-str-concat.allow-multiline=false diff --git a/rednose_repo b/rednose_repo index 3b6bd703b7..22f02dd650 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd +Subproject commit 22f02dd650361e091f09f1ae94c5c96a9419c2d4 diff --git a/release/build_devel.sh b/release/build_devel.sh index 668ac0de19..ca04c56f1e 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -44,9 +44,6 @@ git clean -xdff echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR cp -pR --parents $(cat release/files_*) $TARGET_DIR/ -if [ ! -z "$EXTRA_FILES" ]; then - cp -pR --parents $EXTRA_FILES $TARGET_DIR/ -fi # in the directory cd $TARGET_DIR diff --git a/release/build_release.sh b/release/build_release.sh index 60f81fce06..b713876cd6 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -52,17 +52,13 @@ echo "[-] committing version $VERSION T=$SECONDS" git add -f . git commit -a -m "openpilot v$VERSION release" -# Build panda firmware -pushd panda/ -CERT=/data/pandaextra/certs/release RELEASE=1 scons -u . -mv board/obj/panda.bin.signed /tmp/panda.bin.signed -mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed -popd - # Build export PYTHONPATH="$BUILD_DIR" scons -j$(nproc) +# release panda fw +CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/ + # Ensure no submodules in release if test "$(git submodule--helper list | wc -l)" -gt "0"; then echo "submodules found:" @@ -78,15 +74,9 @@ find . -name '*.os' -delete find . -name '*.pyc' -delete find . -name 'moc_*' -delete find . -name '__pycache__' -delete -rm -rf panda/board panda/certs panda/crypto rm -rf .sconsign.dblite Jenkinsfile release/ rm selfdrive/modeld/models/supercombo.onnx -# Move back signed panda fw -mkdir -p panda/board/obj -mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed -mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed - # Restore third_party git checkout third_party/ diff --git a/release/files_common b/release/files_common index 2fcbf90c91..8381546b03 100644 --- a/release/files_common +++ b/release/files_common @@ -35,6 +35,7 @@ common/filter_simple.py common/stat_live.py common/spinner.py common/text_window.py +common/time.py common/kalman/.gitignore common/kalman/* @@ -59,6 +60,7 @@ release/* tools/__init__.py tools/lib/* +tools/bodyteleop/* tools/joystick/* tools/replay/*.cc tools/replay/*.h @@ -181,7 +183,6 @@ selfdrive/controls/lib/desire_helper.py selfdrive/controls/lib/drive_helpers.py selfdrive/controls/lib/events.py selfdrive/controls/lib/latcontrol_angle.py -selfdrive/controls/lib/latcontrol_indi.py selfdrive/controls/lib/latcontrol_torque.py selfdrive/controls/lib/latcontrol_pid.py selfdrive/controls/lib/latcontrol.py @@ -189,7 +190,6 @@ selfdrive/controls/lib/lateral_planner.py selfdrive/controls/lib/longcontrol.py selfdrive/controls/lib/longitudinal_planner.py selfdrive/controls/lib/pid.py -selfdrive/controls/lib/radar_helpers.py selfdrive/controls/lib/vehicle_model.py selfdrive/controls/lib/lateral_mpc_lib/.gitignore @@ -290,9 +290,11 @@ selfdrive/thermald/power_monitoring.py selfdrive/thermald/fan_controller.py selfdrive/test/__init__.py +selfdrive/test/fuzzy_generation.py selfdrive/test/helpers.py selfdrive/test/setup_device_ci.sh selfdrive/test/test_onroad.py +selfdrive/test/test_time_to_onroad.py selfdrive/ui/.gitignore selfdrive/ui/SConscript @@ -416,8 +418,6 @@ selfdrive/assets/navigation/* third_party/.gitignore third_party/SConscript -third_party/cluster/* - third_party/linux/** third_party/opencl/** @@ -431,14 +431,11 @@ third_party/kaitai/*.h third_party/kaitai/*.cpp third_party/libyuv/include/** -third_party/libyuv/lib/** -third_party/libyuv/larch64/** third_party/snpe/include/** third_party/snpe/dsp** -third_party/acados/x86_64/** -third_party/acados/larch64/** +third_party/acados/.gitignore third_party/acados/include/** third_party/acados/acados_template/** @@ -468,6 +465,7 @@ body/crypto/** cereal/.gitignore cereal/__init__.py cereal/car.capnp +cereal/custom.capnp cereal/legacy.capnp cereal/log.capnp cereal/services.py @@ -477,6 +475,10 @@ cereal/logger/logger.h cereal/messaging/.gitignore cereal/messaging/__init__.py cereal/messaging/bridge.cc +cereal/messaging/event.cc +cereal/messaging/event.h +cereal/messaging/impl_fake.cc +cereal/messaging/impl_fake.h cereal/messaging/impl_msgq.cc cereal/messaging/impl_msgq.h cereal/messaging/impl_zmq.cc @@ -559,8 +561,8 @@ opendbc/hyundai_kia_mando_front_radar_generated.dbc opendbc/mazda_2017.dbc -opendbc/nissan_x_trail_2017.dbc -opendbc/nissan_leaf_2018.dbc +opendbc/nissan_x_trail_2017_generated.dbc +opendbc/nissan_leaf_2018_generated.dbc opendbc/subaru_global_2017_generated.dbc opendbc/subaru_outback_2015_generated.dbc diff --git a/release/files_pc b/release/files_pc index 01ecae4327..a331a45c0f 100644 --- a/release/files_pc +++ b/release/files_pc @@ -2,6 +2,7 @@ selfdrive/modeld/runners/onnx* third_party/mapbox-gl-native-qt/x86_64/*.so -third_party/libyuv/x64/** +third_party/libyuv/x86_64/** third_party/snpe/x86_64/** third_party/snpe/x86_64-linux-clang/** +third_party/acados/x86_64/** diff --git a/release/files_tici b/release/files_tici index 892b7cd2f4..ab49de34f6 100644 --- a/release/files_tici +++ b/release/files_tici @@ -1,6 +1,8 @@ +third_party/libyuv/larch64/** third_party/snpe/larch64** third_party/snpe/aarch64-ubuntu-gcc7.5/* third_party/mapbox-gl-native-qt/include/* +third_party/acados/larch64/** system/timezoned.py diff --git a/scripts/cell.sh b/scripts/cell.sh index 3623fe5b16..3f31978af5 100755 --- a/scripts/cell.sh +++ b/scripts/cell.sh @@ -1,3 +1,3 @@ #!/usr/bin/bash nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1 -nmcli con up --wait --ask lte +nmcli con up lte diff --git a/scripts/code_stats.py b/scripts/code_stats.py index 6c6db4335a..59b5724a68 100755 --- a/scripts/code_stats.py +++ b/scripts/code_stats.py @@ -8,7 +8,7 @@ fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']) pyf = [] for d in ["cereal", "common", "scripts", "selfdrive", "tools"]: - for root, dirs, files in os.walk(d): + for root, _, files in os.walk(d): for f in files: if f.endswith(".py"): pyf.append(os.path.join(root, f)) @@ -40,7 +40,7 @@ for f in sorted(pyf): print("%5d %s %s" % (lns, f, xbit)) if 'test' in f: testlns += lns - elif f.startswith('tools/') or f.startswith('scripts/') or f.startswith('selfdrive/debug'): + elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')): scriptlns += lns elif f.startswith('selfdrive/car'): carlns += lns diff --git a/selfdrive/assets/navigation/icon_directions.svg b/selfdrive/assets/navigation/icon_directions.svg new file mode 100644 index 0000000000..66009ac43b --- /dev/null +++ b/selfdrive/assets/navigation/icon_directions.svg @@ -0,0 +1 @@ + diff --git a/selfdrive/assets/navigation/icon_directions_outlined.svg b/selfdrive/assets/navigation/icon_directions_outlined.svg new file mode 100644 index 0000000000..5c0c2fa3be --- /dev/null +++ b/selfdrive/assets/navigation/icon_directions_outlined.svg @@ -0,0 +1 @@ + diff --git a/selfdrive/assets/navigation/icon_favorite.svg b/selfdrive/assets/navigation/icon_favorite.svg new file mode 100644 index 0000000000..ba64df4ab9 --- /dev/null +++ b/selfdrive/assets/navigation/icon_favorite.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/selfdrive/assets/navigation/icon_home.svg b/selfdrive/assets/navigation/icon_home.svg new file mode 100644 index 0000000000..cb87011090 --- /dev/null +++ b/selfdrive/assets/navigation/icon_home.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/selfdrive/assets/navigation/icon_recent.svg b/selfdrive/assets/navigation/icon_recent.svg new file mode 100644 index 0000000000..668aa38209 --- /dev/null +++ b/selfdrive/assets/navigation/icon_recent.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/selfdrive/assets/navigation/icon_settings.svg b/selfdrive/assets/navigation/icon_settings.svg new file mode 100644 index 0000000000..134cc0f31f --- /dev/null +++ b/selfdrive/assets/navigation/icon_settings.svg @@ -0,0 +1 @@ + diff --git a/selfdrive/assets/navigation/icon_work.svg b/selfdrive/assets/navigation/icon_work.svg new file mode 100644 index 0000000000..c1ea6c5e3b --- /dev/null +++ b/selfdrive/assets/navigation/icon_work.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/selfdrive/assets/navigation/screenshot.png b/selfdrive/assets/navigation/screenshot.png deleted file mode 100644 index 3e89c04759..0000000000 Binary files a/selfdrive/assets/navigation/screenshot.png and /dev/null differ diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg new file mode 100644 index 0000000000..95cb0e283e --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png index c4e8668332..77ff9d7368 100644 Binary files a/selfdrive/assets/training/step8.png and b/selfdrive/assets/training/step8.png differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 7cb6d5b845..d7ef064072 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -42,6 +42,10 @@ from selfdrive.statsd import STATS_DIR from system.swaglog import SWAGLOG_DIR, cloudlog from system.version import get_commit, get_origin, get_short_branch, get_version + +# TODO: use socket constant when mypy recognizes this as a valid attribute +TCP_USER_TIMEOUT = 18 + ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) LOCAL_PORT_WHITELIST = {8022} @@ -81,7 +85,7 @@ class UploadItem: url: str headers: Dict[str, str] created_at: int - id: Optional[str] + id: Optional[str] # noqa: A003 (to match the response from the remote server) retry_count: int = 0 current: bool = False progress: float = 0 @@ -137,10 +141,11 @@ class UploadQueueCache: cloudlog.exception("athena.UploadQueueCache.cache.exception") -def handle_long_poll(ws: WebSocket) -> None: +def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None: end_event = threading.Event() threads = [ + threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'), threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'), threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'), threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), @@ -154,8 +159,9 @@ def handle_long_poll(ws: WebSocket) -> None: for thread in threads: thread.start() try: - while not end_event.is_set(): - time.sleep(0.1) + while not end_event.wait(0.1): + if exit_event is not None and exit_event.is_set(): + end_event.set() except (KeyboardInterrupt, SystemExit): end_event.set() raise @@ -171,7 +177,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None: try: data = recv_queue.get(timeout=1) if "method" in data: - cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}") + cloudlog.event("athena.jsonrpc_handler.call_method", data=data) response = JSONRPCResponseManager.handle(data, dispatcher) send_queue.put_nowait(response.json) elif "id" in data and ("result" in data or "error" in data): @@ -207,6 +213,16 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr break +def cb(sm, item, tid, sz: int, cur: int) -> None: + # Abort transfer if connection changed to metered after starting upload + sm.update(0) + metered = sm['deviceState'].networkMetered + if metered and (not item.allow_cellular): + raise AbortTransferException + + cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) + + def upload_handler(end_event: threading.Event) -> None: sm = messaging.SubMaster(['deviceState']) tid = threading.get_ident() @@ -236,15 +252,6 @@ def upload_handler(end_event: threading.Event) -> None: continue try: - def cb(sz: int, cur: int) -> None: - # Abort transfer if connection changed to metered after starting upload - sm.update(0) - metered = sm['deviceState'].networkMetered - if metered and (not item.allow_cellular): - raise AbortTransferException - - cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) - fn = item.path try: sz = os.path.getsize(fn) @@ -252,7 +259,7 @@ def upload_handler(end_event: threading.Event) -> None: sz = -1 cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count) - response = _do_upload(item, cb) + response = _do_upload(item, partial(cb, sm, item, tid)) if response.status_code not in (200, 201, 401, 403, 412): cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered) @@ -517,6 +524,11 @@ def getSshAuthorizedKeys() -> str: return Params().get("GithubSshKeys", encoding='utf8') or '' +@dispatcher.add_method +def getGithubUsername() -> str: + return Params().get("GithubUsername", encoding='utf8') or '' + + @dispatcher.add_method def getSimInfo(): return HARDWARE.get_sim_info() @@ -749,11 +761,30 @@ def ws_send(ws: WebSocket, end_event: threading.Event) -> None: end_event.set() +def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: + params = Params() + onroad_prev = None + sock = ws.sock + + while True: + onroad = params.get_bool("IsOnroad") + if onroad != onroad_prev: + onroad_prev = onroad + + sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) + + if end_event.wait(5): + break + + def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) -def main(): +def main(exit_event: Optional[threading.Event] = None): try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -766,27 +797,31 @@ def main(): ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id api = Api(dongle_id) + conn_start = None conn_retries = 0 - while 1: + while exit_event is None or not exit_event.is_set(): try: - cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri) + if conn_start is None: + conn_start = time.monotonic() + + cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries) ws = create_connection(ws_uri, cookie="jwt=" + api.get_token(), enable_multithread=True, timeout=30.0) - cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri) + cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri, retries=conn_retries, + duration=time.monotonic() - conn_start) + conn_start = None conn_retries = 0 cur_upload_items.clear() - handle_long_poll(ws) + handle_long_poll(ws, exit_event) except (KeyboardInterrupt, SystemExit): break except (ConnectionError, TimeoutError, WebSocketException): conn_retries += 1 params.remove("LastAthenaPingTime") - except socket.timeout: - params.remove("LastAthenaPingTime") except Exception: cloudlog.exception("athenad.main.exception") diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index a43527c260..5087012bcd 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -52,7 +52,8 @@ class MockApi(): class MockParams(): default_params = { "DongleId": b"0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubUsername": b"commaci", "GsmMetered": True, "AthenadUploadQueue": '[]', } diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 128fde0319..7ce6932f2a 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -159,7 +159,7 @@ class TestAthenadMethods(unittest.TestCase): resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) self.assertEqual(resp['enqueued'], 1) self.assertNotIn('failed', resp) - self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0]) + self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items()) self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) @@ -253,7 +253,8 @@ class TestAthenadMethods(unittest.TestCase): end_event.set() def test_cancelUpload(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) + item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, + created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) dispatcher["cancelUpload"](item.id) @@ -317,7 +318,8 @@ class TestAthenadMethods(unittest.TestCase): end_event.set() def test_listUploadQueue(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) + item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, + created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) items = dispatcher["listUploadQueue"]() @@ -377,6 +379,10 @@ class TestAthenadMethods(unittest.TestCase): keys = dispatcher["getSshAuthorizedKeys"]() self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8')) + def test_getGithubUsername(self): + keys = dispatcher["getGithubUsername"]() + self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8')) + def test_getVersion(self): resp = dispatcher["getVersion"]() keys = ["version", "remote", "branch", "commit"] diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py new file mode 100755 index 0000000000..e1fa00a76f --- /dev/null +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 +import subprocess +import threading +import time +import unittest +from typing import Callable, cast, Optional +from unittest.mock import MagicMock + +from common.params import Params +from common.timeout import Timeout +from selfdrive.athena import athenad +from selfdrive.manager.helpers import write_onroad_params +from system.hardware import TICI + + +def wifi_radio(on: bool) -> None: + if not TICI: + return + print(f"wifi {'on' if on else 'off'}") + subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True) + + +class TestAthenadPing(unittest.TestCase): + params: Params + dongle_id: str + + athenad: threading.Thread + exit_event: threading.Event + + _create_connection: Callable + + def _get_ping_time(self) -> Optional[str]: + return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8")) + + def _clear_ping_time(self) -> None: + self.params.remove("LastAthenaPingTime") + + def _received_ping(self) -> bool: + return self._get_ping_time() is not None + + @classmethod + def setUpClass(cls) -> None: + cls.params = Params() + cls.dongle_id = cls.params.get("DongleId", encoding="utf-8") + cls._create_connection = athenad.create_connection + athenad.create_connection = MagicMock(wraps=cls._create_connection) + + @classmethod + def tearDownClass(cls) -> None: + wifi_radio(True) + athenad.create_connection = cls._create_connection + + def setUp(self) -> None: + wifi_radio(True) + self._clear_ping_time() + + self.exit_event = threading.Event() + self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,)) + + athenad.create_connection.reset_mock() + + def tearDown(self) -> None: + if self.athenad.is_alive(): + self.exit_event.set() + self.athenad.join() + + def assertTimeout(self, reconnect_time: float) -> None: + self.athenad.start() + + time.sleep(1) + athenad.create_connection.assert_called_once() + athenad.create_connection.reset_mock() + + # check normal behaviour + with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"): + while not self._received_ping(): + time.sleep(0.1) + print("ping received") + + athenad.create_connection.assert_not_called() + + # websocket should attempt reconnect after short time + with self.subTest("LTE: attempt reconnect"): + wifi_radio(False) + print("waiting for reconnect attempt") + start_time = time.monotonic() + with Timeout(reconnect_time, "no reconnect attempt"): + while not athenad.create_connection.called: + time.sleep(0.1) + print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s") + + self._clear_ping_time() + + # check ping received after reconnect + with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"): + while not self._received_ping(): + time.sleep(0.1) + print("ping received") + + @unittest.skipIf(not TICI, "only run on desk") + def test_offroad(self) -> None: + write_onroad_params(False, self.params) + self.assertTimeout(100) # expect approx 90s + + @unittest.skipIf(not TICI, "only run on desk") + def test_onroad(self) -> None: + write_onroad_params(True, self.params) + self.assertTimeout(30) # expect 20-30s + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index e56e1c2175..31ae0a4102 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -51,7 +51,6 @@ #define MIN_IR_POWER 0.0f #define CUTOFF_IL 400 #define SATURATE_IL 1000 -#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a') using namespace std::chrono_literals; std::atomic ignition(false); @@ -94,11 +93,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) { } } } else if (dir == SyncTimeDir::FROM_PANDA) { + LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str()); + if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) { const struct timeval tv = {mktime(&rtc_time), 0}; settimeofday(&tv, 0); - LOGE("System time wrong, setting from RTC. System: %s RTC: %s", - get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str()); + LOGE("System time wrong, setting from RTC."); } } } @@ -155,7 +155,7 @@ bool safety_setter_thread(std::vector pandas) { } util::sleep_for(100); } - LOGW("got %d bytes CarParams", params.size()); + LOGW("got %lu bytes CarParams", params.size()); AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size())); @@ -199,6 +199,10 @@ Panda *connect(std::string serial="", uint32_t index=0) { } //panda->enable_deepsleep(); + if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) { + throw std::runtime_error("Panda firmware out of date. Run pandad.py to update."); + } + sync_time(panda.get(), SyncTimeDir::FROM_PANDA); return panda.release(); } @@ -225,13 +229,15 @@ void can_send_thread(std::vector pandas, bool fake_send) { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); - //Dont send if older than 1 second + // Don't send if older than 1 second if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { for (const auto& panda : pandas) { LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str()); panda->can_send(event.getSendcan()); LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); } + } else { + LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime()); } } } @@ -239,10 +245,9 @@ void can_send_thread(std::vector pandas, bool fake_send) { void can_recv_thread(std::vector pandas) { util::set_thread_name("boardd_can_recv"); - // can = 8006 PubMaster pm({"can"}); - // run at 100hz + // run at 100Hz const uint64_t dt = 10000000ULL; uint64_t next_frame_time = nanos_since_boot() + dt; std::vector raw_can_data; @@ -272,7 +277,7 @@ void can_recv_thread(std::vector pandas) { std::this_thread::sleep_for(std::chrono::nanoseconds(remaining)); } else { if (ignition) { - LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining); + LOGW("missed cycles (%lu) %lld", (unsigned long)(-1*remaining/dt), (long long)remaining); } next_frame_time = cur_time; } @@ -281,20 +286,6 @@ void can_recv_thread(std::vector pandas) { } } -void send_empty_peripheral_state(PubMaster *pm) { - MessageBuilder msg; - auto peripheralState = msg.initEvent().initPeripheralState(); - peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN); - pm->send("peripheralState", msg); -} - -void send_empty_panda_state(PubMaster *pm) { - MessageBuilder msg; - auto pandaStates = msg.initEvent().initPandaStates(1); - pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN); - pm->send("pandaStates", msg); -} - std::optional send_panda_states(PubMaster *pm, const std::vector &pandas, bool spoofing_started) { bool ignition_local = false; const uint32_t pandas_cnt = pandas.size(); @@ -310,6 +301,10 @@ std::optional send_panda_states(PubMaster *pm, const std::vector std::vector> pandaCanStates; pandaCanStates.reserve(pandas_cnt); + const bool red_panda_comma_three = (pandas.size() == 2) && + (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) && + (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA); + for (const auto& panda : pandas){ auto health_opt = panda->get_state(); if (!health_opt) { @@ -332,6 +327,13 @@ std::optional send_panda_states(PubMaster *pm, const std::vector health.ignition_line_pkt = 1; } + // on comma three setups with a red panda, the dos can + // get false positive ignitions due to the harness box + // without a harness connector, so ignore it + if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) { + health.ignition_line_pkt = 0; + } + ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)); pandaStates.push_back(health); @@ -346,7 +348,6 @@ std::optional send_panda_states(PubMaster *pm, const std::vector panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); } - #ifndef __x86_64__ bool power_save_desired = !ignition_local; if (health.power_save_enabled_pkt != power_save_desired) { panda->set_power_saving(power_save_desired); @@ -356,7 +357,6 @@ std::optional send_panda_states(PubMaster *pm, const std::vector if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); } - #endif if (!panda->comms_healthy()) { evt.setValid(false); @@ -388,6 +388,8 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setFanStallCount(health.fan_stall_count); ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid)); ps.setSpiChecksumErrorCount(health.spi_checksum_error_count); + ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); + ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f); std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; @@ -414,6 +416,10 @@ std::optional send_panda_states(PubMaster *pm, const std::vector cs[j].setCanfdEnabled(can_health.canfd_enabled); cs[j].setBrsEnabled(can_health.brs_enabled); cs[j].setCanfdNonIso(can_health.canfd_non_iso); + cs[j].setIrq0CallRate(can_health.irq0_call_rate); + cs[j].setIrq1CallRate(can_health.irq1_call_rate); + cs[j].setIrq2CallRate(can_health.irq2_call_rate); + cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt); } // Convert faults bitset to capnp list @@ -457,16 +463,23 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { pm->send("peripheralState", msg); } -void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofing_started) { +void panda_state_thread(std::vector pandas, bool spoofing_started) { util::set_thread_name("boardd_panda_state"); Params params; SubMaster sm({"controlsState"}); + PubMaster pm({"pandaStates", "peripheralState"}); Panda *peripheral_panda = pandas[0]; - bool ignition_last = false; + bool is_onroad = false; + bool is_onroad_last = false; std::future safety_future; + std::vector connected_serials; + for (Panda *p : pandas) { + connected_serials.push_back(p->hw_serial()); + } + LOGD("start panda state thread"); // run at 2hz @@ -474,8 +487,8 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin uint64_t start_time = nanos_since_boot(); // send out peripheralState - send_peripheral_state(pm, peripheral_panda); - auto ignition_opt = send_panda_states(pm, pandas, spoofing_started); + send_peripheral_state(&pm, peripheral_panda); + auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); if (!ignition_opt) { continue; @@ -483,27 +496,45 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin ignition = *ignition_opt; - // TODO: make this check fast, currently takes 16ms - // check if we have new pandas and are offroad - if (!ignition && (pandas.size() != Panda::list().size())) { - LOGW("Reconnecting to changed amount of pandas!"); - do_exit = true; - break; + // check if we should have pandad reconnect + if (!ignition) { + bool comms_healthy = true; + for (const auto &panda : pandas) { + comms_healthy &= panda->comms_healthy(); + } + + if (!comms_healthy) { + LOGE("Reconnecting, communication to pandas not healthy"); + do_exit = true; + + } else { + // check for new pandas + for (std::string &s : Panda::list(true)) { + if (!std::count(connected_serials.begin(), connected_serials.end(), s)) { + LOGW("Reconnecting to new panda: %s", s.c_str()); + do_exit = true; + break; + } + } + } + + if (do_exit) { + break; + } } - // clear ignition-based params and set new safety on car start - if (ignition && !ignition_last) { - params.clearAll(CLEAR_ON_IGNITION_ON); + is_onroad = params.getBool("IsOnroad"); + + // set new safety on onroad transition, after params are cleared + if (is_onroad && !is_onroad_last) { if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) { safety_future = std::async(std::launch::async, safety_setter_thread, pandas); } else { LOGW("Safety setter thread already running"); } - } else if (!ignition && ignition_last) { - params.clearAll(CLEAR_ON_IGNITION_OFF); } - ignition_last = ignition; + is_onroad_last = is_onroad; sm.update(0); const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled(); @@ -523,22 +554,20 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { SubMaster sm({"deviceState", "driverCameraState"}); - uint64_t last_front_frame_t = 0; + uint64_t last_driver_camera_t = 0; uint16_t prev_fan_speed = 999; uint16_t ir_pwr = 0; uint16_t prev_ir_pwr = 999; - unsigned int cnt = 0; FirstOrderFilter integ_lines_filter(0, 30.0, 0.05); while (!do_exit && panda->connected()) { - cnt++; - sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update? + sm.update(1000); if (sm.updated("deviceState") && !no_fan_control) { // Fan speed uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); - if (fan_speed != prev_fan_speed || cnt % 100 == 0) { + if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) { panda->set_fan_speed(fan_speed); prev_fan_speed = fan_speed; } @@ -549,7 +578,7 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { int cur_integ_lines = event.getDriverCameraState().getIntegLines(); cur_integ_lines = integ_lines_filter.update(cur_integ_lines); - last_front_frame_t = event.getLogMonoTime(); + last_driver_camera_t = event.getLogMonoTime(); if (cur_integ_lines <= CUTOFF_IL) { ir_pwr = 100.0 * MIN_IR_POWER; @@ -560,48 +589,48 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { } } - // Disable ir_pwr on front frame timeout - uint64_t cur_t = nanos_since_boot(); - if (cur_t - last_front_frame_t > 1e9) { + // Disable IR on input timeout + if (nanos_since_boot() - last_driver_camera_t > 1e9) { ir_pwr = 0; } - if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) { + if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) { panda->set_ir_pwr(ir_pwr); prev_ir_pwr = ir_pwr; } // Write to rtc once per minute when no ignition present - if (!ignition && (cnt % 120 == 1)) { + if (!ignition && (sm.frame % 120 == 1)) { sync_time(panda, SyncTimeDir::TO_PANDA); } } } void boardd_main_thread(std::vector serials) { - PubMaster pm({"pandaStates", "peripheralState"}); - LOGW("attempting to connect"); + LOGW("launching boardd"); if (serials.size() == 0) { - // connect to all serials = Panda::list(); - // exit if no pandas are connected if (serials.size() == 0) { LOGW("no pandas found, exiting"); return; } } + std::string serials_str; + for (int i = 0; i < serials.size(); i++) { + serials_str += serials[i]; + if (i < serials.size() - 1) serials_str += ", "; + } + LOGW("connecting to pandas: %s", serials_str.c_str()); + // connect to all provided serials std::vector pandas; for (int i = 0; i < serials.size() && !do_exit; /**/) { Panda *p = connect(serials[i], i); if (!p) { - // send empty pandaState & peripheralState and try again - send_empty_panda_state(&pm); - send_empty_peripheral_state(&pm); - util::sleep_for(500); + util::sleep_for(100); continue; } @@ -610,12 +639,12 @@ void boardd_main_thread(std::vector serials) { } if (!do_exit) { - LOGW("connected to board"); - Panda *peripheral_panda = pandas[0]; + LOGW("connected to all pandas"); + std::vector threads; - threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr); - threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr); + threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr); + threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr); threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr); threads.emplace_back(can_recv_thread, pandas); @@ -623,7 +652,6 @@ void boardd_main_thread(std::vector serials) { for (auto &t : threads) t.join(); } - // we have exited, clean up pandas for (Panda *panda : pandas) { delete panda; } diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx index 0d428a9259..6a552bb447 100644 --- a/selfdrive/boardd/boardd_api_impl.pyx +++ b/selfdrive/boardd/boardd_api_impl.pyx @@ -4,13 +4,15 @@ from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -cdef struct can_frame: - long address - string dat - long busTime - long src +cdef extern from "panda.h": + cdef struct can_frame: + long address + string dat + long busTime + long src -cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) +cdef extern from "can_list_to_can_capnp.cc": + void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef vector[can_frame] can_list diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc index faa0e37373..c1778c51a2 100644 --- a/selfdrive/boardd/can_list_to_can_capnp.cc +++ b/selfdrive/boardd/can_list_to_can_capnp.cc @@ -1,8 +1,6 @@ #include "cereal/messaging/messaging.h" #include "panda.h" -extern "C" { - void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { MessageBuilder msg; auto event = msg.initEvent(valid); @@ -21,5 +19,3 @@ void can_list_to_can_capnp_cpp(const std::vector &can_list, std::stri kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); capnp::writeMessage(output_stream, msg); } - -} diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 4873040f37..8849a46bd8 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -13,14 +13,17 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { // try USB first, then SPI try { handle = std::make_unique(serial); + LOGW("connected to %s over USB", serial.c_str()); } catch (std::exception &e) { #ifndef __APPLE__ handle = std::make_unique(serial); + LOGW("connected to %s over SPI", serial.c_str()); +#else + throw e; #endif } hw_type = get_hw_type(); - has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) || (hw_type == cereal::PandaState::PandaType::DOS) || (hw_type == cereal::PandaState::PandaType::TRES); @@ -42,13 +45,15 @@ std::string Panda::hw_serial() { return handle->hw_serial; } -std::vector Panda::list() { +std::vector Panda::list(bool usb_only) { std::vector serials = PandaUsbHandle::list(); #ifndef __APPLE__ - for (auto s : PandaSpiHandle::list()) { - if (std::find(serials.begin(), serials.end(), s) == serials.end()) { - serials.push_back(s); + if (!usb_only) { + for (auto s : PandaSpiHandle::list()) { + if (std::find(serials.begin(), serials.end(), s) == serials.end()) { + serials.push_back(s); + } } } #endif @@ -149,6 +154,19 @@ std::optional Panda::get_serial() { return err >= 0 ? std::make_optional(serial_buf) : std::nullopt; } +bool Panda::up_to_date() { + if (auto fw_sig = get_firmware_version()) { + for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) { + auto content = util::read_file(std::string("../../panda/board/obj/") + fn); + if (content.size() >= fw_sig->size() && + memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) { + return true; + } + } + } + return false; +} + void Panda::set_power_saving(bool power_saving) { handle->control_write(0xe7, power_saving, 0); } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 69df2e2b66..5edca04419 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -57,7 +57,7 @@ public: std::string hw_serial(); // Static functions - static std::vector list(); + static std::vector list(bool usb_only=false); // Panda functionality cereal::PandaState::PandaType get_hw_type(); @@ -72,6 +72,7 @@ public: std::optional get_can_state(uint16_t can_number); void set_loopback(bool loopback); std::optional> get_firmware_version(); + bool up_to_date(); std::optional get_serial(); void set_power_saving(bool power_saving); void enable_deepsleep(); diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index 506b96b372..c102642e59 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -1,8 +1,9 @@ #pragma once -#include #include #include +#include +#include #include #ifndef __APPLE__ @@ -13,7 +14,7 @@ #define TIMEOUT 0 -#define SPI_BUF_SIZE 1024 +#define SPI_BUF_SIZE 2048 // comms base class @@ -73,9 +74,9 @@ private: uint8_t rx_buf[SPI_BUF_SIZE]; inline static std::recursive_mutex hw_lock; - int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); - int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len); - int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); - int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); + int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length); + int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout); + int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); + int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); }; #endif diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f0ab76e1dd..be2ed3c4cc 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -3,30 +3,80 @@ import os import usb1 import time +import json import subprocess from typing import List, NoReturn from functools import cmp_to_key -from panda import Panda, PandaDFU +from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH from common.basedir import BASEDIR from common.params import Params +from selfdrive.boardd.set_time import set_time from system.hardware import HARDWARE from system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: try: - return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path) + fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn) + return Panda.get_signature_from_firmware(fn) except Exception: cloudlog.exception("Error computing expected signature") return b"" +def read_panda_logs(panda: Panda) -> None: + """ + Forward panda logs to the cloud + """ + + params = Params() + serial = panda.get_usb_serial() + + log_state = {} + try: + l = json.loads(params.get("PandaLogState")) + for k, v in l.items(): + if isinstance(k, str) and isinstance(v, int): + log_state[k] = v + except (TypeError, json.JSONDecodeError): + cloudlog.exception("failed to parse PandaLogState") + + try: + if serial in log_state: + logs = panda.get_logs(last_id=log_state[serial]) + else: + logs = panda.get_logs(get_all=True) + + # truncate logs to 100 entries if needed + MAX_LOGS = 100 + if len(logs) > MAX_LOGS: + cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}") + logs = logs[-MAX_LOGS:] + + # update log state + if len(logs) > 0: + log_state[serial] = logs[-1]["id"] + + for log in logs: + if log['timestamp'] is not None: + log['timestamp'] = log['timestamp'].isoformat() + cloudlog.event("panda_log", **log, serial=serial) + + params.put("PandaLogState", json.dumps(log_state)) + except Exception: + cloudlog.exception(f"Error getting logs for panda {serial}") + def flash_panda(panda_serial: str) -> Panda: - panda = Panda(panda_serial) + try: + panda = Panda(panda_serial) + except PandaProtocolMismatch: + cloudlog.warning("detected protocol mismatch, reflashing panda") + HARDWARE.recover_internal_panda() + raise fw_signature = get_expected_signature(panda) - internal_panda = panda.is_internal() and not panda.bootstub + internal_panda = panda.is_internal() panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() @@ -39,11 +89,11 @@ def flash_panda(panda_serial: str) -> Panda: if panda.bootstub: bootstub_version = panda.get_version() - cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") + cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}") if internal_panda: HARDWARE.recover_internal_panda() panda.recover(reset=(not internal_panda)) - cloudlog.info("Done flashing bootloader") + cloudlog.info("Done flashing bootstub") if panda.bootstub: cloudlog.info("Panda still not booting, exiting") @@ -76,23 +126,28 @@ def panda_sort_cmp(a: Panda, b: Panda): def main() -> NoReturn: + count = 0 first_run = True params = Params() while True: try: + count += 1 + cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") # Flash all Pandas in DFU mode - for serial in PandaDFU.list(): - cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") - PandaDFU(serial).recover() - time.sleep(1) + dfu_serials = PandaDFU.list() + if len(dfu_serials) > 0: + for serial in dfu_serials: + cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") + PandaDFU(serial).recover() + time.sleep(1) panda_serials = Panda.list() if len(panda_serials) == 0: if first_run: - cloudlog.info("Resetting internal panda") + cloudlog.info("No pandas found, resetting internal panda") HARDWARE.reset_internal_panda() time.sleep(2) # wait to come back up continue @@ -104,17 +159,6 @@ def main() -> NoReturn: for serial in panda_serials: pandas.append(flash_panda(serial)) - # check health for lost heartbeat - for panda in pandas: - health = panda.health() - if health["heartbeat_lost"]: - params.put_bool("PandaHeartbeatLost", True) - cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial()) - - if first_run: - cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") - panda.reset() - # Ensure internal panda is present if expected internal_pandas = [panda for panda in pandas if panda.is_internal()] if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: @@ -125,18 +169,45 @@ def main() -> NoReturn: # sort pandas to have deterministic order pandas.sort(key=cmp_to_key(panda_sort_cmp)) - panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore + panda_serials = [p.get_usb_serial() for p in pandas] # log panda fw versions params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) - # close all pandas + for panda in pandas: + # check health for lost heartbeat + health = panda.health() + if health["heartbeat_lost"]: + params.put_bool("PandaHeartbeatLost", True) + cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial()) + + read_panda_logs(panda) + + if first_run: + if panda.is_internal(): + # update time from RTC + set_time(cloudlog) + + # reset panda to ensure we're in a good state + cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") + if panda.is_internal(): + HARDWARE.reset_internal_panda() + else: + panda.reset(reconnect=False) + for p in pandas: p.close() + # TODO: wrap all panda exceptions in a base panda exception except (usb1.USBErrorNoDevice, usb1.USBErrorPipe): # a panda was disconnected while setting everything up. let's try again cloudlog.exception("Panda USB exception while setting up") continue + except PandaProtocolMismatch: + cloudlog.exception("pandad.protocol_mismatch") + continue + except Exception: + cloudlog.exception("pandad.uncaught_exception") + continue first_run = False diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 2159eba5eb..93453dcd97 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -3,7 +3,7 @@ import os import datetime from panda import Panda -MIN_DATE = datetime.datetime(year=2023, month=4, day=1) +from common.time import MIN_DATE def set_time(logger): sys_time = datetime.datetime.today() diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index d418d2bdac..1732e902d5 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -22,6 +22,12 @@ #define SPI_NACK 0x1FU #define SPI_CHECKSUM_START 0xABU + +enum SpiError { + NACK = -2, + ACK_TIMEOUT = -3, +}; + struct __attribute__((packed)) spi_header { uint8_t sync; uint8_t endpoint; @@ -29,8 +35,7 @@ struct __attribute__((packed)) spi_header { uint16_t max_rx_len; }; -const int SPI_MAX_RETRIES = 5; -const int SPI_ACK_TIMEOUT = 50; // milliseconds +const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds const std::string SPI_DEVICE = "/dev/spidev0.0"; class LockEx { @@ -41,8 +46,8 @@ public: }; ~LockEx() { - m.unlock(); flock(fd, LOCK_UN); + m.unlock(); } private: @@ -63,6 +68,10 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { // revs of the comma three may not support this speed uint32_t spi_speed = 50000000; + if (!util::file_exists(SPI_DEVICE)) { + goto fail; + } + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); if (spi_fd < 0) { LOGE("failed opening SPI device %d", spi_fd); @@ -89,7 +98,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { } // get hw UID/serial - ret = control_read(0xc3, 0, 0, uid, uid_len); + ret = control_read(0xc3, 0, 0, uid, uid_len, 100); if (ret == uid_len) { std::stringstream stream; for (int i = 0; i < uid_len; i++) { @@ -127,38 +136,34 @@ void PandaSpiHandle::cleanup() { int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, .param2 = param2, .length = 0 }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout); } int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); ControlPacket_t packet = { .request = request, .param1 = param1, .param2 = param2, .length = length }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length); + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout); } int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); - return bulk_transfer(endpoint, data, length, NULL, 0); + return bulk_transfer(endpoint, data, length, NULL, 0, timeout); } int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - LockEx lock(spi_fd, hw_lock); - return bulk_transfer(endpoint, NULL, 0, data, length); + return bulk_transfer(endpoint, NULL, 0, data, length, timeout); } -int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) { - const int xfer_size = 0x40 * 15; +int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) { + const int xfer_size = SPI_BUF_SIZE - 0x40; int ret = 0; uint16_t length = (tx_data != NULL) ? tx_len : rx_len; @@ -166,16 +171,16 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t int d; if (tx_data != NULL) { int len = std::min(xfer_size, tx_len - (xfer_size * i)); - d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0); + d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout); } else { uint16_t to_read = std::min(xfer_size, rx_len - ret); - d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read); + d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout); } if (d < 0) { LOGE("SPI: bulk transfer failed with %d", d); comms_healthy = false; - return -1; + return d; } ret += d; @@ -213,21 +218,55 @@ bool check_checksum(uint8_t *data, int data_len) { } -int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { +int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { int ret; + int nack_count = 0; + int timeout_count = 0; + bool timed_out = false; + double start_time = millis_since_boot(); - int count = SPI_MAX_RETRIES; do { - // TODO: handle error - ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); - count--; - } while (ret < 0 && connected && count > 0); + ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout); + + if (ret < 0) { + timed_out = (timeout != 0) && (timeout_count > 5); + timeout_count += ret == SpiError::ACK_TIMEOUT; + + // give other threads a chance to run + std::this_thread::yield(); + + if (ret == SpiError::NACK) { + // prevent busy waiting while the panda is NACK'ing + // due to full TX buffers + nack_count += 1; + if (nack_count > 3) { + usleep(std::clamp(nack_count*10, 200, 2000)); + } + } + } + } while (ret < 0 && connected && !timed_out); + + if (ret < 0) { + LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); + } return ret; } -int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { +int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) { double start_millis = millis_since_boot(); + if (timeout == 0) { + timeout = SPI_ACK_TIMEOUT; + } + timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT); + + spi_ioc_transfer transfer = { + .tx_buf = (uint64_t)tx_buf, + .rx_buf = (uint64_t)rx_buf, + .len = length + }; + tx_buf[0] = tx; + while (true) { int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { @@ -238,23 +277,24 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { if (rx_buf[0] == ack) { break; } else if (rx_buf[0] == SPI_NACK) { - LOGW("SPI: got NACK"); - return -1; + LOGD("SPI: got NACK"); + return SpiError::NACK; } // handle timeout - if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) { + if (millis_since_boot() - start_millis > timeout) { LOGD("SPI: timed out waiting for ACK"); - return -1; + return SpiError::ACK_TIMEOUT; } } return 0; } -int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { +int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { int ret; uint16_t rx_data_len; + LockEx lock(spi_fd, hw_lock); // needs to be less, since we need to have space for the checksum assert(tx_len < SPI_BUF_SIZE); @@ -283,9 +323,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } // Wait for (N)ACK - tx_buf[0] = 0x12; - transfer.len = 1; - ret = wait_for_ack(transfer, SPI_HACK); + ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1); if (ret < 0) { goto transfer_fail; } @@ -303,28 +341,18 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } // Wait for (N)ACK - tx_buf[0] = 0xab; - transfer.len = 1; - ret = wait_for_ack(transfer, SPI_DACK); + ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3); if (ret < 0) { goto transfer_fail; } - // Read data len - transfer.len = 2; - transfer.rx_buf = (uint64_t)(rx_buf + 1); - ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); - if (ret < 0) { - LOGE("SPI: failed to read rx data len"); - goto transfer_fail; - } + // Read data rx_data_len = *(uint16_t *)(rx_buf+1); if (rx_data_len >= SPI_BUF_SIZE) { LOGE("SPI: RX data len larger than buf size %d", rx_data_len); goto transfer_fail; } - // Read data transfer.len = rx_data_len + 1; transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/boardd/tests/bootstub.panda.bin new file mode 100755 index 0000000000..43db537061 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda.bin differ diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/boardd/tests/bootstub.panda_h7.bin new file mode 100755 index 0000000000..1d9445004e Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7.bin differ diff --git a/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin new file mode 100755 index 0000000000..5cf2fa4519 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin differ diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 6217561bd1..74393c6eb1 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -1,14 +1,15 @@ #!/usr/bin/env python3 import os +import copy import random import time import unittest from collections import defaultdict +from pprint import pprint import cereal.messaging as messaging -from cereal import car +from cereal import car, log from common.params import Params -from common.spinner import Spinner from common.timeout import Timeout from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car import make_can_msg @@ -22,21 +23,17 @@ class TestBoardd(unittest.TestCase): def setUpClass(cls): os.environ['STARTED'] = '1' os.environ['BOARDD_LOOPBACK'] = '1' - cls.spinner = Spinner() - - @classmethod - def tearDownClass(cls): - cls.spinner.close() @phone_only @with_processes(['pandad']) def test_loopback(self): - # wait for boardd to init - time.sleep(2) + params = Params() + params.put_bool("IsOnroad", False) - with Timeout(60, "boardd didn't start"): + with Timeout(90, "boardd didn't start"): sm = messaging.SubMaster(['pandaStates']) - while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0: + while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ + any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): sm.update(1000) num_pandas = len(sm['pandaStates']) @@ -44,30 +41,31 @@ class TestBoardd(unittest.TestCase): self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \ connect another panda for multipanda tests.") - # boardd blocks on CarVin and CarParams + # boardd safety setting relies on these params cp = car.CarParams.new_message() safety_config = car.CarParams.SafetyConfig.new_message() safety_config.safetyModel = car.CarParams.SafetyModel.allOutput cp.safetyConfigs = [safety_config]*num_pandas - params = Params() + params.put_bool("IsOnroad", True) params.put_bool("FirmwareQueryDone", True) params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) - time.sleep(0.2) + sm = messaging.SubMaster(['pandaStates']) + time.sleep(0.5) n = 200 for i in range(n): - self.spinner.update(f"boardd loopback {i}/{n}") + print(f"boardd loopback {i}/{n}") sent_msgs = defaultdict(set) - for _ in range(random.randrange(10)): + for _ in range(random.randrange(20, 100)): to_send = [] - for __ in range(random.randrange(100)): + for __ in range(random.randrange(20)): bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) addr = random.randrange(1, 1<<29) dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) @@ -75,21 +73,29 @@ class TestBoardd(unittest.TestCase): to_send.append(make_can_msg(addr, dat, bus)) sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) - for _ in range(100 * 2): + sent_loopback = copy.deepcopy(sent_msgs) + sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()}) + sent_total = {k: len(v) for k, v in sent_loopback.items()} + for _ in range(100 * 5): + sm.update(0) recvd = messaging.drain_sock(can, wait_for_one=True) for msg in recvd: for m in msg.can: - if m.src >= 128: - key = (m.address, m.dat) - assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" - sent_msgs[m.src-128].discard(key) + key = (m.address, m.dat) + assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" + sent_loopback[m.src].discard(key) - if all(len(v) == 0 for v in sent_msgs.values()): + if all(len(v) == 0 for v in sent_loopback.values()): break # if a set isn't empty, messages got dropped - for bus in sent_msgs.keys(): - assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages" + pprint(sent_msgs) + pprint(sent_loopback) + print({k: len(x) for k, x in sent_loopback.items()}) + print(sum([len(x) for x in sent_loopback.values()])) + pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow + for bus in sent_loopback.keys(): + assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages" if __name__ == "__main__": diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index 3b78eb7bd2..52cb11ec32 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -1,18 +1,11 @@ #define CATCH_CONFIG_MAIN #define CATCH_CONFIG_ENABLE_BENCHMARKING -#include #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" +#include "common/util.h" #include "selfdrive/boardd/panda.h" -int random_int(int min, int max) { - std::random_device dev; - std::mt19937 rng(dev()); - std::uniform_int_distribution dist(min, max); - return dist(rng); -} - struct PandaTest : public Panda { PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); void test_can_send(); @@ -44,10 +37,10 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState auto can_list = msg.initEvent().initSendcan(can_list_size); for (uint8_t i = 0; i < can_list_size; ++i) { auto can = can_list[i]; - uint32_t id = random_int(0, std::size(dlc_to_len) - 1); + uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1); const std::string &dat = test_data[dlc_to_len[id]]; can.setAddress(i); - can.setSrc(random_int(0, 3) + bus_offset); + can.setSrc(util::random_int(0, 3) + bus_offset); can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); total_pakets_size += sizeof(can_header) + dat.size(); } diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 09dba6ec7a..1d49446bf5 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -1,36 +1,72 @@ #!/usr/bin/env python3 +import os import time import unittest import cereal.messaging as messaging -from panda import Panda +from cereal import log from common.gpio import gpio_set, gpio_init +from common.params import Params +from panda import Panda, PandaDFU, PandaProtocolMismatch from selfdrive.test.helpers import phone_only from selfdrive.manager.process_config import managed_processes from system.hardware import HARDWARE from system.hardware.tici.pins import GPIO +HERE = os.path.dirname(os.path.realpath(__file__)) + class TestPandad(unittest.TestCase): + def setUp(self): + self.params = Params() + self.start_log_state = self.params.get("PandaLogState") + def tearDown(self): managed_processes['pandad'].stop() def _wait_for_boardd(self, timeout=30): sm = messaging.SubMaster(['peripheralState']) - for _ in range(timeout): - sm.update(1000) - if sm.updated['peripheralState']: + for _ in range(timeout*10): + sm.update(100) + if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: break - if not sm.updated['peripheralState']: + if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: raise Exception("boardd failed to start") + # simple check that we did something with the panda logs + cur_log_state = self.params.get("PandaLogState") + assert cur_log_state != self.start_log_state + + def _go_to_dfu(self): + HARDWARE.recover_internal_panda() + assert Panda.wait_for_dfu(None, 10) + + def _flash_and_test(self, fn, expect_mismatch=False): + self._go_to_dfu() + pd = PandaDFU(None) + if fn is None: + fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn) + with open(fn, "rb") as f: + pd.program_bootstub(f.read()) + pd.reset() + HARDWARE.reset_internal_panda() + + assert Panda.wait_for_panda(None, 10) + if expect_mismatch: + with self.assertRaises(PandaProtocolMismatch): + Panda() + else: + with Panda() as p: + assert p.bootstub + + managed_processes['pandad'].start() + self._wait_for_boardd(45) + @phone_only def test_in_dfu(self): HARDWARE.recover_internal_panda() - time.sleep(1) - managed_processes['pandad'].start() self._wait_for_boardd(60) @@ -54,9 +90,29 @@ class TestPandad(unittest.TestCase): assert any(Panda(s).is_internal() for s in Panda.list()) - #def test_out_of_date_fw(self): - # pass + @phone_only + def test_best_case_startup_time(self): + # run once so we're setup + managed_processes['pandad'].start() + self._wait_for_boardd() + managed_processes['pandad'].stop() + # should be fast this time + managed_processes['pandad'].start() + self._wait_for_boardd(8) + + @phone_only + def test_protocol_version_check(self): + if HARDWARE.get_device_type() == 'tici': + self.skipTest("") + + # flash old fw + fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") + self._flash_and_test(fn, expect_mismatch=True) + + @phone_only + def test_release_to_devel_bootstub(self): + self._flash_and_test(None) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 8a879954fa..ef64f6aa1e 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -1,6 +1,10 @@ -{% set footnote_tag = '[{}](#footnotes)' -%} -{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%} -{% set video_icon = '' -%} +{% set footnote_tag = '[{}](#footnotes)' %} +{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %} +{% set video_icon = '' %} +{# Force hardware column wider by using a blank image with max width. #} +{% set width_tag = '%s
 ' %} +{% set hardware_col_name = 'Hardware Needed' %} +{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%} @@ -10,14 +14,14 @@ A supported vehicle is one that just works when you install a comma three. All s # {{all_car_info | length}} Supported Cars -|{{Column | map(attribute='value') | join('|')}}| +|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}| |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%} {% for car_info in all_car_info %} |{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %} {% endfor %} - +### Footnotes {% for footnote in footnotes %} {{loop.index}}{{footnote}}
{% endfor %} @@ -39,6 +43,7 @@ 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. | +| 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. | | Nissan | Any car with ProPILOT will likely work. | @@ -53,7 +58,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi ### Toyota Security openpilot does not yet support these Toyota models due to a new message authentication method. -[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models. +[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models. * Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 58cde85817..fdcbb98197 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,10 +1,12 @@ # functions common among cars -import capnp from collections import namedtuple +from typing import Dict, Optional + +import capnp from cereal import car from common.numpy_fast import clip, interp -from typing import Dict + # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. @@ -130,6 +132,30 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim) +def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int, + max_above_limit_frames: int, max_mismatching_frames: int = 1): + """ + Several cars have the ability to work around their EPS limits by cutting the + request bit of their LKAS message after a certain number of frames above the limit. + """ + + # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault + if request and fault_condition: + above_limit_frames += 1 + else: + above_limit_frames = 0 + + # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again. + # Some brands do not respect our workaround without multiple messages on the bus, for example + if above_limit_frames > max_above_limit_frames: + request = False + + if above_limit_frames >= max_above_limit_frames + max_mismatching_frames: + above_limit_frames = 0 + + return above_limit_frames, request + + def crc8_pedal(data): crc = 0xFF # standard init value poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 @@ -175,3 +201,15 @@ def get_safety_config(safety_model, safety_param = None): if safety_param is not None: ret.safetyParam = safety_param return ret + + +class CanBusBase: + offset: int + + def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None: + if CP is None: + assert fingerprint is not None + num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1 + else: + num = len(CP.safetyConfigs) + self.offset = 4 * (num - 1) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index bcaf6f6f93..4993b1865f 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,5 +1,6 @@ import numpy as np +from common.params import Params from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car.body import bodycan @@ -23,10 +24,14 @@ class CarController: self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL) self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL) self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL) + self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL) self.torque_r_filtered = 0. self.torque_l_filtered = 0. + params = Params() + self.wheeled_body = params.get("WheeledBody") + @staticmethod def deadband_filter(torque, deadband): if torque > 0: @@ -40,24 +45,27 @@ class CarController: torque_l = 0 torque_r = 0 - llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0 + llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1 if CC.enabled and llk_valid: # Read these from the joystick # TODO: this isn't acceleration, okay? speed_desired = CC.actuators.accel / 5. - speed_diff_desired = -CC.actuators.steer + speed_diff_desired = -CC.actuators.steer / 2. speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2. speed_error = speed_desired - speed_measured - freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or - (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR)) - angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator) + if self.wheeled_body is None: + freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or + (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR)) + angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator) - # Clip angle error, this is enough to get up from stands - angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR) - angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.) - torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate) + # Clip angle error, this is enough to get up from stands + angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR) + angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.) + torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate) + else: + torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False) speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) turn_error = speed_diff_measured - speed_diff_desired diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py index dbbd85950d..a1ef17360f 100644 --- a/selfdrive/car/body/carstate.py +++ b/selfdrive/car/body/carstate.py @@ -32,29 +32,9 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("SPEED_L", "MOTORS_DATA"), - ("SPEED_R", "MOTORS_DATA"), - ("ELEC_ANGLE_L", "MOTORS_DATA"), - ("ELEC_ANGLE_R", "MOTORS_DATA"), - ("COUNTER", "MOTORS_DATA"), - ("CHECKSUM", "MOTORS_DATA"), - ("IGNITION", "VAR_VALUES"), - ("ENABLE_MOTORS", "VAR_VALUES"), - ("FAULT", "VAR_VALUES"), - ("MOTOR_ERR_L", "VAR_VALUES"), - ("MOTOR_ERR_R", "VAR_VALUES"), - ("MCU_TEMP", "BODY_DATA"), - ("BATT_VOLTAGE", "BODY_DATA"), - ("BATT_PERCENTAGE", "BODY_DATA"), - ("CHARGER_CONNECTED", "BODY_DATA"), - ] - - checks = [ + messages = [ ("MOTORS_DATA", 100), ("VAR_VALUES", 10), ("BODY_DATA", 1), ] - - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 3d8ea22ef2..1ad584de26 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -13,6 +13,8 @@ from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint +FRAME_FINGERPRINT = 100 # 1s + EventName = car.CarEvent.EventName @@ -79,6 +81,7 @@ interfaces = load_interfaces(interface_names) def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) + disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False) ecu_rx_addrs = set() params = Params() @@ -88,11 +91,12 @@ def fingerprint(logcan, sendcan, num_pandas): cached_params = params.get("CarParamsCache") if cached_params is not None: - cached_params = car.CarParams.from_bytes(cached_params) - if cached_params.carName == "mock": - cached_params = None + with car.CarParams.from_bytes(cached_params) as cached_params: + if cached_params.carName == "mock": + cached_params = None - if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN: + if cached_params is not None and len(cached_params.carFw) > 0 and \ + cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache: cloudlog.warning("Using cached CarParams") vin, vin_rx_addr = cached_params.carVin, 0 car_fw = list(cached_params.carFw) @@ -124,7 +128,6 @@ def fingerprint(logcan, sendcan, num_pandas): finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 frame = 0 - frame_fingerprint = 100 # 1s car_fingerprint = None done = False @@ -150,12 +153,12 @@ def fingerprint(logcan, sendcan, num_pandas): # if we only have one car choice and the time since we got our first # message has elapsed, exit for b in candidate_cars: - if len(candidate_cars[b]) == 1 and frame > frame_fingerprint: + if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT: # fingerprint done car_fingerprint = candidate_cars[b][0] # bail if no cars left or we've been waiting for more than 2s - failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200 + failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200 succeeded = car_fingerprint is not None done = failed or succeeded @@ -175,7 +178,8 @@ def fingerprint(logcan, sendcan, num_pandas): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, - fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger, + error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index fdc5aa338a..7b250ddf9b 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -80,7 +80,8 @@ class CarState(CarStateBase): ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0 if self.CP.carFingerprint in RAM_CARS: - self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message + # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message + self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1 else: ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1 @@ -97,51 +98,16 @@ class CarState(CarStateBase): return ret @staticmethod - def get_cruise_signals(): - signals = [ - ("ACC_AVAILABLE", "DAS_3"), - ("ACC_ACTIVE", "DAS_3"), - ("ACC_FAULTED", "DAS_3"), - ("ACC_STANDSTILL", "DAS_3"), - ("COUNTER", "DAS_3"), - ("ACC_SET_SPEED_KPH", "DAS_4"), - ("ACC_STATE", "DAS_4"), - ] - checks = [ + def get_cruise_messages(): + messages = [ ("DAS_3", 50), ("DAS_4", 50), ] - return signals, checks + return messages @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("DOOR_OPEN_FL", "BCM_1"), - ("DOOR_OPEN_FR", "BCM_1"), - ("DOOR_OPEN_RL", "BCM_1"), - ("DOOR_OPEN_RR", "BCM_1"), - ("Brake_Pedal_State", "ESP_1"), - ("Accelerator_Position", "ECM_5"), - ("WHEEL_SPEED_FL", "ESP_6"), - ("WHEEL_SPEED_RR", "ESP_6"), - ("WHEEL_SPEED_RL", "ESP_6"), - ("WHEEL_SPEED_FR", "ESP_6"), - ("STEERING_ANGLE", "STEERING"), - ("STEERING_ANGLE_HP", "STEERING"), - ("STEERING_RATE", "STEERING"), - ("TURN_SIGNALS", "STEERING_LEVERS"), - ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), - ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), - ("COUNTER", "EPS_2",), - ("COLUMN_TORQUE", "EPS_2"), - ("EPS_TORQUE_MOTOR", "EPS_2"), - ("LKAS_TEMPORARY_FAULT", "EPS_2"), - ("LKAS_STATE", "EPS_2"), - ("COUNTER", "CRUISE_BUTTONS"), - ] - - checks = [ + messages = [ # sig_address, frequency ("ESP_1", 50), ("EPS_2", 100), @@ -155,53 +121,30 @@ class CarState(CarStateBase): ] if CP.enableBsm: - signals += [ - ("RIGHT_STATUS", "BSM_1"), - ("LEFT_STATUS", "BSM_1"), - ] - checks.append(("BSM_1", 2)) + messages.append(("BSM_1", 2)) if CP.carFingerprint in RAM_CARS: - signals += [ - ("DASM_FAULT", "EPS_3"), - ("Vehicle_Speed", "ESP_8"), - ("Gear_State", "Transmission_Status"), - ] - checks += [ + messages += [ ("ESP_8", 50), ("EPS_3", 50), ("Transmission_Status", 50), ] else: - signals += [ - ("PRNDL", "GEAR"), - ("SPEED_LEFT", "SPEED_1"), - ("SPEED_RIGHT", "SPEED_1"), - ] - checks += [ + messages += [ ("GEAR", 50), ("SPEED_1", 100), ] - signals += CarState.get_cruise_signals()[0] - checks += CarState.get_cruise_signals()[1] + messages += CarState.get_cruise_messages() - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): - signals = [ - # sig_name, sig_address, default - ("CAR_MODEL", "DAS_6"), - ] - checks = [ + messages = [ ("DAS_6", 4), ] if CP.carFingerprint in RAM_CARS: - signals += [ - ("AUTO_HIGH_BEAM_ON", "DAS_6"), - ] - signals += CarState.get_cruise_signals()[0] - checks += CarState.get_cruise_signals()[1] + messages += CarState.get_cruise_messages() - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index 0ab8c10b44..fc795a36ca 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -22,18 +22,12 @@ def _create_radar_can_parser(car_fingerprint): # ('LONG_DIST', 1074), # ('LONG_DIST', 1075), - signals = list(zip(['LONG_DIST'] * msg_n + - ['LAT_DIST'] * msg_n + - ['REL_SPEED'] * msg_n, - RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST - RADAR_MSGS_D)) # REL_SPEED + messages = list(zip(RADAR_MSGS_C + + RADAR_MSGS_D, + [20] * msg_n + # 20Hz (0.05s) + [20] * msg_n, strict=True)) # 20Hz (0.05s) - checks = list(zip(RADAR_MSGS_C + - RADAR_MSGS_D, - [20] * msg_n + # 20Hz (0.05s) - [20] * msg_n)) # 20Hz (0.05s) - - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) def _address_to_track(address): if address in RADAR_MSGS_C: @@ -52,7 +46,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None or self.CP.radarUnavailable: - return super().update(None) + return None vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) @@ -89,4 +83,4 @@ class RadarInterface(RadarInterfaceBase): ret.points = [x for x in self.pts.values() if x.dRel != 0] self.updated_messages.clear() - return ret \ No newline at end of file + return ret diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8799f073c9..172d3a08cc 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,12 +1,12 @@ +# ruff: noqa: E501 from enum import IntFlag -from dataclasses import dataclass -from enum import Enum +from dataclasses import dataclass, field from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -61,13 +61,13 @@ RAM_CARS = RAM_DT | RAM_HD @dataclass class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" - harness: Enum = Harness.fca + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca])) CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), + CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), @@ -75,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram), - ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram), + ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], } @@ -127,9 +127,12 @@ FINGERPRINTS = { # Based on "8190c7275a24557b|2020-02-24--09-57-23" { 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 + }, + { + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 }], CAR.JEEP_CHEROKEE: [{ - 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }, # Based on c88f65eeaee4003a|2022-08-04--15-37-16 { @@ -165,7 +168,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission], + whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission], bus=0, ), Request( @@ -176,8 +179,8 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], extra_ecus=[ - (Ecu.hcp, 0x7e2, None), # manages transmission on hybrids - (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids + (Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids ], ) @@ -222,8 +225,11 @@ FW_VERSIONS = { b'68453511AC', b'68453513AD', b'68453514AD', + b'68510280AG', b'68510283AG', + b'68527346AE', b'68527375AD', + b'68527382AE', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -232,6 +238,7 @@ FW_VERSIONS = { b'68490898AA', b'68500728AA', b'68615033AA', + b'68615034AA', ], (Ecu.abs, 0x747, None): [ b'68292406AH', @@ -245,11 +252,14 @@ FW_VERSIONS = { b'68438456AF', b'68535469AB', b'68535470AC', + b'68548900AB', b'68586307AB', ], (Ecu.fwdRadar, 0x753, None): [ b'04672892AB', b'04672932AB', + b'04672932AC', + b'22DTRHD_AA', b'68320950AH', b'68320950AI', b'68320950AJ', @@ -261,8 +271,10 @@ FW_VERSIONS = { b'68475160AG', ], (Ecu.eps, 0x75A, None): [ + b'21590101AA', b'68273275AF', b'68273275AG', + b'68273275AH', b'68312176AE', b'68312176AG', b'68440789AC', @@ -271,13 +283,21 @@ FW_VERSIONS = { b'68522583AB', b'68522585AB', b'68552788AA', + b'68552789AA', b'68552790AA', + b'68585106AB', + b'68585109AB', b'68585112AB', ], (Ecu.engine, 0x7e0, None): [ b'05036065AE ', b'05036066AE ', + b'05149592AE ', + b'05149591AD ', + b'05149846AA ', + b'05149848AA ', b'68378701AI ', + b'68378748AL ', b'68378758AM ', b'68448163AJ', b'68448165AK', @@ -286,6 +306,7 @@ FW_VERSIONS = { b'68539650AD', ], (Ecu.transmission, 0x7e1, None): [ + b'05149536AC', b'68360078AL', b'68360080AM', b'68360081AM', @@ -295,6 +316,7 @@ FW_VERSIONS = { b'68445533AB', b'68484467AC', b'68502994AD', + b'68520867AE', b'68540431AB', ], }, @@ -307,6 +329,7 @@ FW_VERSIONS = { b'68525485AB', b'68525487AB', b'68525498AB', + b'68528791AF', ], (Ecu.srs, 0x744, None): [ b'68399794AC', @@ -322,9 +345,11 @@ FW_VERSIONS = { b'68504022AC', b'68530686AB', b'68530686AC', + b'68544596AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', + b'04672934AB', b'56029827AG', b'56029827AH', b'68462657AE', @@ -334,6 +359,7 @@ FW_VERSIONS = { (Ecu.eps, 0x761, None): [ b'68421036AC', b'68507906AB', + b'68534023AC', ], (Ecu.engine, 0x7e0, None): [ b'52370131AF', @@ -342,6 +368,7 @@ FW_VERSIONS = { b'52370931CT', b'52401032AE', b'52421132AF', + b'52421332AF', b'68527616AD ', b'M2370131MB', b'M2421132MB', diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index cd3e93fa80..36ebe12fa8 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03' COM_CONT_RESPONSE = b'' -def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False): +def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False): """Silence an ECU by disabling sending and receiving messages using UDS 0x28. The ECU will stay silent as long as openpilot keeps sending Tester Present. This is used to disable the radar in some cars. Openpilot will emulate the radar. WARNING: THIS DISABLES AEB!""" - cloudlog.warning(f"ecu disable {hex(addr)} ...") + cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...") for i in range(retry): try: - query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) + query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) for _, _ in query.get_data(timeout).items(): cloudlog.warning("communication control disable tx/rx ...") - query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug) + query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug) query.get_data(0) cloudlog.warning("ecu disabled") @@ -31,8 +31,8 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01' except Exception: cloudlog.exception("ecu disable exception") - print(f"ecu disable retry ({i+1}) ...") - cloudlog.warning("ecu disable failed") + cloudlog.error(f"ecu disable retry ({i + 1}) ...") + cloudlog.error("ecu disable failed") return False diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 74fd4616fd..02075a5e11 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -10,7 +10,7 @@ from typing import Dict, List from cereal import car from common.basedir import BASEDIR from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote +from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType from selfdrive.car.car_helpers import interfaces, get_interface_attr @@ -29,7 +29,9 @@ def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True) + # If available, uses experimental longitudinal limits for the docs + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), + car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) if CP.dashcamOnly or car_info is None: continue @@ -61,8 +63,9 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) footnotes = [fn.value.text for fn in get_all_footnotes()] - cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make, - footnotes=footnotes, Column=Column) + cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType, + group_by_make=group_by_make, footnotes=footnotes, + Column=Column) return cars_md diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index fa95b03fd8..2220205e8f 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -1,5 +1,6 @@ import re from collections import namedtuple +import copy from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Optional, Tuple, Union @@ -20,7 +21,7 @@ class Column(Enum): FSR_STEERING = "No ALC below" STEERING_TORQUE = "Steering Torque" AUTO_RESUME = "Resume from stop" - HARNESS = "Harness" + HARDWARE = "Hardware Needed" VIDEO = "Video" @@ -30,43 +31,142 @@ class Star(Enum): EMPTY = "empty" -class Harness(Enum): - nidec = "Honda Nidec" - bosch_a = "Honda Bosch A" - bosch_b = "Honda Bosch B" - toyota = "Toyota" - subaru_a = "Subaru A" - subaru_b = "Subaru B" - fca = "FCA" - ram = "Ram" - vw = "VW" - j533 = "J533" - hyundai_a = "Hyundai A" - hyundai_b = "Hyundai B" - hyundai_c = "Hyundai C" - hyundai_d = "Hyundai D" - hyundai_e = "Hyundai E" - hyundai_f = "Hyundai F" - hyundai_g = "Hyundai G" - hyundai_h = "Hyundai H" - hyundai_i = "Hyundai I" - hyundai_j = "Hyundai J" - hyundai_k = "Hyundai K" - hyundai_l = "Hyundai L" - hyundai_m = "Hyundai M" - hyundai_n = "Hyundai N" - hyundai_o = "Hyundai O" - hyundai_p = "Hyundai P" - hyundai_q = "Hyundai Q" - custom = "Developer" - obd_ii = "OBD-II" - gm = "GM" - nissan_a = "Nissan A" - nissan_b = "Nissan B" - mazda = "Mazda" - ford_q3 = "Ford Q3" - ford_q4 = "Ford Q4" - none = "None" +# A part + its comprised parts +@dataclass +class BasePart: + name: str + parts: List[Enum] = field(default_factory=list) + + def all_parts(self): + # Recursively get all parts + _parts = 'parts' + parts = [] + parts.extend(getattr(self, _parts)) + for part in getattr(self, _parts): + parts.extend(part.value.all_parts()) + + return parts + + +class EnumBase(Enum): + @property + def part_type(self): + return PartType(self.__class__) + + +class Mount(EnumBase): + mount = BasePart("mount") + angled_mount_8_degrees = BasePart("angled mount (8 degrees)") + + +class Cable(EnumBase): + rj45_cable_7ft = BasePart("RJ45 cable (7 ft)") + long_obdc_cable = BasePart("long OBD-C cable") + usb_a_2_a_cable = BasePart("USB A-A cable") + usbc_otg_cable = BasePart("USB C OTG cable") + usbc_coupler = BasePart("USB-C coupler") + obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)") + right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)") + + +class Accessory(EnumBase): + harness_box = BasePart("harness box") + comma_power_v2 = BasePart("comma power v2") + + +@dataclass +class BaseCarHarness(BasePart): + parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft]) + has_connector: bool = True # without are hidden on the harness connector page + + +class CarHarness(EnumBase): + nidec = BaseCarHarness("Honda Nidec connector") + bosch_a = BaseCarHarness("Honda Bosch A connector") + bosch_b = BaseCarHarness("Honda Bosch B connector") + toyota_a = BaseCarHarness("Toyota A connector") + subaru_a = BaseCarHarness("Subaru A connector") + subaru_b = BaseCarHarness("Subaru B connector") + subaru_c = BaseCarHarness("Subaru C connector") + subaru_d = BaseCarHarness("Subaru D connector") + fca = BaseCarHarness("FCA connector") + ram = BaseCarHarness("Ram connector") + vw = BaseCarHarness("VW connector") + j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) + hyundai_a = BaseCarHarness("Hyundai A connector") + hyundai_b = BaseCarHarness("Hyundai B connector") + hyundai_c = BaseCarHarness("Hyundai C connector") + hyundai_d = BaseCarHarness("Hyundai D connector") + hyundai_e = BaseCarHarness("Hyundai E connector") + hyundai_f = BaseCarHarness("Hyundai F connector") + hyundai_g = BaseCarHarness("Hyundai G connector") + hyundai_h = BaseCarHarness("Hyundai H connector") + hyundai_i = BaseCarHarness("Hyundai I connector") + hyundai_j = BaseCarHarness("Hyundai J connector") + hyundai_k = BaseCarHarness("Hyundai K connector") + hyundai_l = BaseCarHarness("Hyundai L connector") + hyundai_m = BaseCarHarness("Hyundai M connector") + hyundai_n = BaseCarHarness("Hyundai N connector") + hyundai_o = BaseCarHarness("Hyundai O connector") + hyundai_p = BaseCarHarness("Hyundai P connector") + hyundai_q = BaseCarHarness("Hyundai Q connector") + custom = BaseCarHarness("Developer connector") + obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False) + gm = BaseCarHarness("GM connector") + nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + mazda = BaseCarHarness("Mazda connector") + ford_q3 = BaseCarHarness("Ford Q3 connector") + ford_q4 = BaseCarHarness("Ford Q4 connector") + + +class Device(EnumBase): + three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft]) + # variant of comma three with angled mounts + three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft]) + red_panda = BasePart("red panda") + + +class Kit(EnumBase): + red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, + Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft]) + + +class Tool(EnumBase): + socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)") + pry_tool = BasePart("Pry Tool") + + +class PartType(Enum): + accessory = Accessory + cable = Cable + connector = CarHarness + device = Device + kit = Kit + mount = Mount + tool = Tool + + +DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three] + + +@dataclass +class CarParts: + parts: List[EnumBase] = field(default_factory=list) + + def __call__(self): + return copy.deepcopy(self) + + @classmethod + def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None): + p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] + return cls(p) + + def all_parts(self): + parts = [] + for part in self.parts: + parts.extend(part.value.all_parts()) + return self.parts + parts CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) @@ -74,10 +174,12 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo class CommonFootnote(Enum): EXP_LONG_AVAIL = CarFootnote( - "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ", + "Experimental openpilot longitudinal control is available behind a toggle; " + + "the toggle is only available in non-release branches such as `devel` or `master-ci`. ", Column.LONGITUDINAL, docs_only=True) EXP_LONG_DSU = CarFootnote( - "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " + + "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " + + "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " + "stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", Column.LONGITUDINAL) @@ -135,7 +237,10 @@ class CarInfo: footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None - harness: Enum = Harness.none + auto_resume: Optional[bool] = None + + # all the parts needed for the supported car + car_parts: CarParts = field(default_factory=CarParts) def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName @@ -144,14 +249,14 @@ class CarInfo: # longitudinal column op_long = "Stock" - if CP.openpilotLongitudinalControl and not CP.enableDsu: - op_long = "openpilot" - elif CP.experimentalLongitudinalAvailable or CP.enableDsu: + if CP.experimentalLongitudinalAvailable or CP.enableDsu: op_long = "openpilot available" if CP.enableDsu: self.footnotes.append(CommonFootnote.EXP_LONG_DSU) else: self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL) + elif CP.openpilotLongitudinalControl and not CP.enableDsu: + op_long = "openpilot" # min steer & enable speed columns # TODO: set all the min steer speeds in carParams and remove this @@ -164,13 +269,26 @@ class CarInfo: if self.min_enable_speed is None: self.min_enable_speed = CP.minEnableSpeed - # harness column - harness_col = self.harness.value - if self.harness is not Harness.none: - model_years = self.model + (' ' + self.years if self.years else '') - harness_col = f'{harness_col}' + if self.auto_resume is None: + self.auto_resume = CP.autoResumeSng - self.row = { + # hardware column + hardware_col = "None" + if self.car_parts.parts: + model_years = self.model + (' ' + self.years if self.years else '') + buy_link = f'Buy Here' + + tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)] + parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)] + + def display_func(parts): + return '
'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))]) + + hardware_col = f'
Parts{display_func(parts_docs)}
{buy_link}
' + if len(tools_docs): + hardware_col += f'
Tools{display_func(tools_docs)}
' + + self.row: Dict[Enum, Union[str, Star]] = { Column.MAKE: self.make, Column.MODEL: self.model, Column.PACKAGE: self.package, @@ -178,8 +296,8 @@ class CarInfo: Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.STEERING_TORQUE: Star.EMPTY, - Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY, - Column.HARNESS: harness_col, + Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY, + Column.HARDWARE: hardware_col, Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column } @@ -210,7 +328,7 @@ class CarInfo: acc = "" if self.min_enable_speed > 0: acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" - elif CP.autoResumeSng: + elif self.auto_resume: acc = " that automatically resumes from a stop" if self.row[Column.STEERING_TORQUE] != Star.FULL: @@ -220,8 +338,6 @@ class CarInfo: exp_link = "Experimental mode" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable: sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}." - else: - sentence_builder += f" {exp_link}, with traffic light and stop sign handling, is not currently available for this car, but may be added in a future software update." return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 868f12cdb8..25938f0d3c 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -1,16 +1,15 @@ #!/usr/bin/env python3 import capnp import time -from typing import Optional, Set, Tuple +from typing import Optional, Set import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE from selfdrive.car import make_can_msg +from selfdrive.car.fw_query_definitions import EcuAddrBusType from selfdrive.boardd.boardd import can_list_to_can_capnp from system.swaglog import cloudlog -EcuAddrBusType = Tuple[int, Optional[int], int] - def make_tester_present_msg(addr, bus, subaddr=None): dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] @@ -90,7 +89,7 @@ if __name__ == "__main__": print() print("Found ECUs on addresses:") - for addr, subaddr, bus in ecu_addrs: + for addr, subaddr, _ in ecu_addrs: msg = f" 0x{hex(addr)}" if subaddr is not None: msg += f" (sub-address: {hex(subaddr)})" diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 99072ae975..dd30bc57e1 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,18 +2,32 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ - create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams +from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ + create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg +from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert +def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw): + # No blending at low speed due to lack of torque wind-up and inaccurate current curvature + if v_ego_raw > 9: + apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, + current_curvature + CarControllerParams.CURVATURE_ERROR) + + # Curvature rate limit after driver torque limit + apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams) + + return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) + self.CAN = CanBus(CP) self.frame = 0 self.apply_curvature_last = 0 @@ -29,65 +43,66 @@ class CarController: main_on = CS.out.cruiseState.available steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + fcw_alert = hud_control.visualAlert == VisualAlert.fcw ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### - # send steering commands at 20Hz + # send steer msg at 20Hz if (self.frame % CarControllerParams.STEER_STEP) == 0: if CC.latActive: - # apply limits to curvature and clip to signal range - apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) - apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + # apply rate limits, curvature error limit, and clip to signal range + current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) + apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) else: apply_curvature = 0. self.apply_curvature_last = apply_curvature - can_sends.append(create_lka_msg(self.packer)) - if self.CP.carFingerprint in CANFD_CARS: + if self.CP.carFingerprint in CANFD_CAR: # TODO: extended mode mode = 1 if CC.latActive else 0 - counter = self.frame // CarControllerParams.STEER_STEP - can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter)) + counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF + can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: - can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) + + # send lka msg at 33Hz + if (self.frame % CarControllerParams.LKA_STEP) == 0: + can_sends.append(create_lka_msg(self.packer, self.CAN)) ### longitudinal control ### - # send acc command at 50Hz + # send acc msg at 50Hz if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: + # Both gas and accel are in m/s^2, accel is used solely for braking accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + gas = accel + if not CC.longActive or gas < CarControllerParams.MIN_GAS: + gas = CarControllerParams.INACTIVE_GAS - precharge_brake = accel < -0.1 - if accel > -0.5: - gas = accel - decel = False - else: - gas = -5.0 - decel = True - - can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) + stopping = CC.actuators.longControlState == LongCtrlState.stopping + can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) - - # send lkas ui command at 1Hz or if ui state changes + # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) - - # send acc ui command at 20Hz or if ui state changes + can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) + can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, + fcw_alert, CS.out.cruiseState.standstill, hud_control, + CS.acc_tja_status_stock_values)) self.main_on_last = main_on self.lkas_enabled_last = CC.latActive diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 21af1062f3..824d929930 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -3,7 +3,8 @@ from common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -16,9 +17,21 @@ class CarState(CarStateBase): if CP.transmissionType == TransmissionType.automatic: self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] + self.vehicle_sensors_valid = False + self.hybrid_platform = False + def update(self, cp, cp_cam): ret = car.CarState.new_message() + # Hybrid variants experience a bug where a message from the PCM sends invalid checksums, + # we do not support these cars at this time. + # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants + self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 + + # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement + # The vehicle usually recovers out of this state within a minute of normal driving + self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 + # car speed ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) @@ -42,12 +55,19 @@ class CarState(CarStateBase): ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) # ret.espDisabled = False # TODO: find traction control signal + if self.CP.carFingerprint in CANFD_CAR: + # this signal is always 0 on non-CAN FD cars + ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3) + # cruise state ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5) ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5) ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0 ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3 + ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2) + if not self.CP.openpilotLongitudinalControl: + ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1 # gear if self.CP.transmissionType == TransmissionType.automatic: @@ -62,7 +82,7 @@ class CarState(CarStateBase): # safety ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"]) - ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled + ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"]) # button presses ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1 @@ -77,8 +97,9 @@ class CarState(CarStateBase): # blindspot sensors if self.CP.enableBsm: - ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 - ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 + cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp + ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 + ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 # Stock steering buttons so that we can passthru blinkers etc. self.buttons_stock_values = cp.vl["Steering_Data_FD1"] @@ -90,70 +111,9 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph) - ("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s) - ("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped - ("PrkBrkStatus", "DesiredTorqBrk"), # ABS park brake status - ("ApedPos_Pc_ActlArb", "EngVehicleSpThrottle"), # PCM throttle (pct) - ("BrkTot_Tq_Actl", "BrakeSnData_4"), # ABS brake torque (Nm) - ("BpedDrvAppl_D_Actl", "EngBrakeData"), # PCM driver brake pedal pressed - ("Veh_V_DsplyCcSet", "EngBrakeData"), # PCM ACC set speed (mph) - # The units might change with IPC settings? - ("CcStat_D_Actl", "EngBrakeData"), # PCM ACC status - ("AccStopMde_D_Rq", "EngBrakeData"), # PCM ACC standstill - ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"), # PCM ACC enable - ("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg) - # Calculates steering angle (and offset) from pinion - # angle and driving measurements. - # StePinRelInit_An_Sns is the pinion angle, initialised - # to zero at the beginning of the drive. - ("SteeringColumnTorque", "EPAS_INFO"), # PSCM steering column torque (Nm) - ("EPAS_Failure", "EPAS_INFO"), # PSCM EPAS status - ("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"), # SCCM Turn signal switch - ("TjaButtnOnOffPress", "Steering_Data_FD1"), # SCCM ACC button, lane-centering/traffic jam assist toggle - ("DrStatDrv_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, driver - ("DrStatPsngr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, passenger - ("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left - ("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right - ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver - ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons - ("WiprFront_D_Stat", "Steering_Data_FD1"), - ("LghtAmb_D_Sns", "Steering_Data_FD1"), - ("AccButtnGapDecPress", "Steering_Data_FD1"), - ("AccButtnGapIncPress", "Steering_Data_FD1"), - ("AslButtnOnOffCnclPress", "Steering_Data_FD1"), - ("AslButtnOnOffPress", "Steering_Data_FD1"), - ("CcAslButtnCnclPress", "Steering_Data_FD1"), - ("LaSwtchPos_D_Stat", "Steering_Data_FD1"), - ("CcAslButtnCnclResPress", "Steering_Data_FD1"), - ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"), - ("CcAslButtnIndxDecPress", "Steering_Data_FD1"), - ("CcAslButtnIndxIncPress", "Steering_Data_FD1"), - ("CcAslButtnOffCnclPress", "Steering_Data_FD1"), - ("CcAslButtnOnOffCncl", "Steering_Data_FD1"), - ("CcAslButtnOnPress", "Steering_Data_FD1"), - ("CcAslButtnResDecPress", "Steering_Data_FD1"), - ("CcAslButtnResIncPress", "Steering_Data_FD1"), - ("CcAslButtnSetDecPress", "Steering_Data_FD1"), - ("CcAslButtnSetIncPress", "Steering_Data_FD1"), - ("CcAslButtnSetPress", "Steering_Data_FD1"), - ("CcAsllButtnResPress", "Steering_Data_FD1"), - ("CcButtnOffPress", "Steering_Data_FD1"), - ("CcButtnOnOffCnclPress", "Steering_Data_FD1"), - ("CcButtnOnOffPress", "Steering_Data_FD1"), - ("CcButtnOnPress", "Steering_Data_FD1"), - ("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"), - ("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"), - ("AhbStat_B_Dsply", "Steering_Data_FD1"), - ("AccButtnGapTogglePress", "Steering_Data_FD1"), - ("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"), - ("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"), - ] - - checks = [ + messages = [ # sig_address, frequency + ("VehicleOperatingModes", 100), ("BrakeSysFeatures", 50), ("Yaw_Data_FD1", 100), ("DesiredTorqBrk", 50), @@ -163,93 +123,48 @@ class CarState(CarStateBase): ("Cluster_Info1_FD1", 10), ("SteeringPinion_Data", 100), ("EPAS_INFO", 50), - ("Lane_Assist_Data3_FD1", 33), ("Steering_Data_FD1", 10), ("BodyInfo_3_FD1", 2), ("RCMStatusMessage2_FD1", 10), ] - if CP.transmissionType == TransmissionType.automatic: - signals += [ - ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position + if CP.carFingerprint in CANFD_CAR: + messages += [ + ("Lane_Assist_Data3_FD1", 33), ] - checks += [ + + if CP.transmissionType == TransmissionType.automatic: + messages += [ ("Gear_Shift_by_Wire_FD1", 10), ] elif CP.transmissionType == TransmissionType.manual: - signals += [ - ("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"), # PCM clutch (pct) - ("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"), # BCM reverse light - ] - checks += [ + messages += [ ("Engine_Clutch_Data", 33), ("BCM_Lamp_Stat_FD1", 1), ] - if CP.enableBsm: - signals += [ - ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left - ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right - ] - checks += [ + if CP.enableBsm and CP.carFingerprint not in CANFD_CAR: + messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main) @staticmethod def get_cam_can_parser(CP): - signals = [ - # sig_name, sig_address - ("HaDsply_No_Cs", "ACCDATA_3"), - ("HaDsply_No_Cnt", "ACCDATA_3"), - ("AccStopStat_D_Dsply", "ACCDATA_3"), # ACC stopped status message - ("AccTrgDist2_D_Dsply", "ACCDATA_3"), # ACC target distance - ("AccStopRes_B_Dsply", "ACCDATA_3"), - ("TjaWarn_D_Rq", "ACCDATA_3"), # TJA warning - ("Tja_D_Stat", "ACCDATA_3"), # TJA status - ("TjaMsgTxt_D_Dsply", "ACCDATA_3"), # TJA text - ("IaccLamp_D_Rq", "ACCDATA_3"), # iACC status icon - ("AccMsgTxt_D2_Rq", "ACCDATA_3"), # ACC text - ("FcwDeny_B_Dsply", "ACCDATA_3"), # FCW disabled - ("FcwMemStat_B_Actl", "ACCDATA_3"), # FCW enabled setting - ("AccTGap_B_Dsply", "ACCDATA_3"), # ACC time gap display setting - ("CadsAlignIncplt_B_Actl", "ACCDATA_3"), - ("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC follow mode display setting - ("CadsRadrBlck_B_Actl", "ACCDATA_3"), - ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"), # AEB event status - ("AccStopMde_B_Dsply", "ACCDATA_3"), # ACC stop mode display setting - ("FcwMemSens_D_Actl", "ACCDATA_3"), # FCW sensitivity setting - ("FcwMsgTxt_D_Rq", "ACCDATA_3"), # FCW text - ("AccWarn_D_Dsply", "ACCDATA_3"), # ACC warning - ("FcwVisblWarn_B_Rq", "ACCDATA_3"), # FCW visible alert - ("FcwAudioWarn_B_Rq", "ACCDATA_3"), # FCW audio alert - ("AccTGap_D_Dsply", "ACCDATA_3"), # ACC time gap - ("AccMemEnbl_B_RqDrv", "ACCDATA_3"), # ACC adaptive/normal setting - ("FdaMem_B_Stat", "ACCDATA_3"), # FDA enabled setting - - ("FeatConfigIpmaActl", "IPMA_Data"), - ("FeatNoIpmaActl", "IPMA_Data"), - ("PersIndexIpma_D_Actl", "IPMA_Data"), - ("AhbcRampingV_D_Rq", "IPMA_Data"), # AHB ramping - ("LaActvStats_D_Dsply", "IPMA_Data"), # LKAS status (lines) - ("LaDenyStats_B_Dsply", "IPMA_Data"), # LKAS error - ("LaHandsOff_D_Dsply", "IPMA_Data"), # LKAS hands on chime - ("CamraDefog_B_Req", "IPMA_Data"), # Windshield heater? - ("CamraStats_D_Dsply", "IPMA_Data"), # Camera status - ("DasAlrtLvl_D_Dsply", "IPMA_Data"), # DAS alert level - ("DasStats_D_Dsply", "IPMA_Data"), # DAS status - ("DasWarn_D_Dsply", "IPMA_Data"), # DAS warning - ("AhbHiBeam_D_Rq", "IPMA_Data"), # AHB status - ("Passthru_63", "IPMA_Data"), - ("Passthru_48", "IPMA_Data"), - ] - - checks = [ + messages = [ # sig_address, frequency + ("ACCDATA", 50), + ("ACCDATA_2", 50), ("ACCDATA_3", 5), ("IPMA_Data", 1), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera) + if CP.enableBsm and CP.carFingerprint in CANFD_CAR: + messages += [ + ("Side_Detect_L_Stat", 5), + ("Side_Detect_R_Stat", 5), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index d2fb6fad55..a49d7ad85d 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,31 +1,52 @@ from cereal import car -from selfdrive.car.ford.values import CANBUS +from selfdrive.car import CanBusBase HUDControl = car.CarControl.HUDControl -def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): +class CanBus(CanBusBase): + def __init__(self, CP=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + @property + def main(self) -> int: + return self.offset + + @property + def radar(self) -> int: + return self.offset + 1 + + @property + def camera(self) -> int: + return self.offset + 2 + + +def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int: + curvature = (dat[2] << 3) | ((dat[3]) >> 5) + curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) + path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2) + path_offset = ((dat[4] & 0x3) << 8) | dat[5] + checksum = mode + counter - checksum += dat[2] + ((dat[3] & 0xE0) >> 5) # curvature - checksum += dat[6] + ((dat[7] & 0xE0) >> 5) # curvature rate - checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2) # path angle - checksum += (dat[4] & 0x3) + dat[5] # path offset + for sig_val in (curvature, curvature_rate, path_angle, path_offset): + checksum += sig_val + (sig_val >> 8) + return 0xFF - (checksum & 0xFF) -def create_lka_msg(packer): +def create_lka_msg(packer, CAN: CanBus): """ Creates an empty CAN message for the Ford LKA Command. This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. - Frequency is 20Hz. + Frequency is 33Hz. """ - return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) + return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) -def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, +def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. @@ -62,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } - return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl", CAN.main, values) -def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float, +def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float, curvature_rate: float, counter: int): """ Create a CAN message for the new Ford Lane Centering command. @@ -91,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float } # calculate checksum - dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2] + dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2] values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) - return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl2", CAN.main, values) -def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): +def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool): """ Creates a CAN message for the Ford ACC Command. @@ -107,17 +128,101 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec Frequency is 50Hz. """ + decel = accel < 0 and long_active values = { "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes + "AccResumEnbl_B_Rq": 1 if long_active else 0, + # TODO: we may be able to improve braking response by utilizing pre-charging better + "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active + "AccStopStat_B_Rq": 1 if stopping else 0, } - return packer.make_can_msg("ACCDATA", CANBUS.main, values) + return packer.make_can_msg("ACCDATA", CAN.main, values) -def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): +def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool, + hud_control, stock_values: dict): + """ + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam + assist status. + + Stock functionality is maintained by passing through unmodified signals. + + Frequency is 5Hz. + """ + + # Tja_D_Stat + if enabled: + if hud_control.leftLaneDepart: + status = 3 # ActiveInterventionLeft + elif hud_control.rightLaneDepart: + status = 4 # ActiveInterventionRight + else: + status = 2 # Active + elif main_on: + if hud_control.leftLaneDepart: + status = 5 # ActiveWarningLeft + elif hud_control.rightLaneDepart: + status = 6 # ActiveWarningRight + else: + status = 1 # Standby + else: + status = 0 # Off + + values = {s: stock_values[s] for s in [ + "HaDsply_No_Cs", + "HaDsply_No_Cnt", + "AccStopStat_D_Dsply", # ACC stopped status message + "AccTrgDist2_D_Dsply", # ACC target distance + "AccStopRes_B_Dsply", + "TjaWarn_D_Rq", # TJA warning + "TjaMsgTxt_D_Dsply", # TJA text + "IaccLamp_D_Rq", # iACC status icon + "AccMsgTxt_D2_Rq", # ACC text + "FcwDeny_B_Dsply", # FCW disabled + "FcwMemStat_B_Actl", # FCW enabled setting + "AccTGap_B_Dsply", # ACC time gap display setting + "CadsAlignIncplt_B_Actl", + "AccFllwMde_B_Dsply", # ACC follow mode display setting + "CadsRadrBlck_B_Actl", + "CmbbPostEvnt_B_Dsply", # AEB event status + "AccStopMde_B_Dsply", # ACC stop mode display setting + "FcwMemSens_D_Actl", # FCW sensitivity setting + "FcwMsgTxt_D_Rq", # FCW text + "AccWarn_D_Dsply", # ACC warning + "FcwVisblWarn_B_Rq", # FCW visible alert + "FcwAudioWarn_B_Rq", # FCW audio alert + "AccTGap_D_Dsply", # ACC time gap + "AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting + "FdaMem_B_Stat", # FDA enabled setting + ]} + + values.update({ + "Tja_D_Stat": status, # TJA status + }) + + if CP.openpilotLongitudinalControl: + values.update({ + "AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text + "AccMsgTxt_D2_Rq": 0, # ACC text + "AccTGap_B_Dsply": 0, # Show time gap control UI + "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator + "AccStopMde_B_Dsply": 1 if standstill else 0, + "AccWarn_D_Dsply": 0, # ACC warning + "AccTGap_D_Dsply": 4, # Fixed time gap in UI + }) + + # Forwards FCW alert from IPMA + if fcw_alert: + values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert + + return packer.make_can_msg("ACCDATA_3", CAN.main, values) + + +def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control, + stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -160,60 +265,75 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hands_on_wheel_dsply = 1 if steer_alert else 0 - values = { - **stock_values, + values = {s: stock_values[s] for s in [ + "FeatConfigIpmaActl", + "FeatNoIpmaActl", + "PersIndexIpma_D_Actl", + "AhbcRampingV_D_Rq", # AHB ramping + "LaDenyStats_B_Dsply", # LKAS error + "CamraDefog_B_Req", # Windshield heater? + "CamraStats_D_Dsply", # Camera status + "DasAlrtLvl_D_Dsply", # DAS alert level + "DasStats_D_Dsply", # DAS status + "DasWarn_D_Dsply", # DAS warning + "AhbHiBeam_D_Rq", # AHB status + "Passthru_63", + "Passthru_48", + ]} + + values.update({ "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed - } - return packer.make_can_msg("IPMA_Data", CANBUS.main, values) + }) + return packer.make_can_msg("IPMA_Data", CAN.main, values) -def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): - """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 20Hz. - """ - - # Tja_D_Stat - if enabled: - if hud_control.leftLaneDepart: - status = 3 # ActiveInterventionLeft - elif hud_control.rightLaneDepart: - status = 4 # ActiveInterventionRight - else: - status = 2 # Active - elif main_on: - if hud_control.leftLaneDepart: - status = 5 # ActiveWarningLeft - elif hud_control.rightLaneDepart: - status = 6 # ActiveWarningRight - else: - status = 1 # Standby - else: - status = 0 # Off - - values = { - **stock_values, - "Tja_D_Stat": status, - } - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) - - -def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, - bus: int = CANBUS.camera): +def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False): """ Creates a CAN message for the Ford SCCM buttons/switches. Includes cruise control buttons, turn lights and more. + + Frequency is 10Hz. """ - values = { - **stock_values, + values = {s: stock_values[s] for s in [ + "HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons + "TurnLghtSwtch_D_Stat", # SCCM Turn signal switch + "WiprFront_D_Stat", + "LghtAmb_D_Sns", + "AccButtnGapDecPress", + "AccButtnGapIncPress", + "AslButtnOnOffCnclPress", + "AslButtnOnOffPress", + "LaSwtchPos_D_Stat", + "CcAslButtnCnclResPress", + "CcAslButtnDeny_B_Actl", + "CcAslButtnIndxDecPress", + "CcAslButtnIndxIncPress", + "CcAslButtnOffCnclPress", + "CcAslButtnOnOffCncl", + "CcAslButtnOnPress", + "CcAslButtnResDecPress", + "CcAslButtnResIncPress", + "CcAslButtnSetDecPress", + "CcAslButtnSetIncPress", + "CcAslButtnSetPress", + "CcButtnOffPress", + "CcButtnOnOffCnclPress", + "CcButtnOnOffPress", + "CcButtnOnPress", + "HeadLghtHiFlash_D_Actl", + "HeadLghtHiOn_B_StatAhb", + "AhbStat_B_Dsply", + "AccButtnGapTogglePress", + "WiprFrontSwtch_D_Stat", + "HeadLghtHiCtrl_D_RqAhb", + ]} + + values.update({ "CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button "CcAsllButtnResPress": 1 if resume else 0, # CC resume button - "TjaButtnOnOffPress": 1 if tja_toggle else 0, # TJA toggle button - } + "TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button + }) return packer.make_can_msg("Steering_Data_FD1", bus, values) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 60571b42ef..d74baa3ce4 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,8 +1,10 @@ #!/usr/bin/env python3 from cereal import car +from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.ford.values import CAR, Ecu +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase TransmissionType = car.CarParams.TransmissionType @@ -13,16 +15,27 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] - - # These cars are dashcam only until the port is finished - ret.dashcamOnly = True + ret.dashcamOnly = candidate in {CAR.F_150_MK14} ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + CAN = CanBus(fingerprint=fingerprint) + cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] + if CAN.main >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs + + ret.experimentalLongitudinalAvailable = True + if experimental_long: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL + ret.openpilotLongitudinalControl = True + + if candidate in CANFD_CAR: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD + if candidate == CAR.BRONCO_SPORT_MK1: ret.wheelbase = 2.67 ret.steerRatio = 17.7 @@ -38,6 +51,12 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.8 ret.mass = 2050 + STD_CARGO_KG + elif candidate == CAR.F_150_MK14: + # required trim only on SuperCrew + ret.wheelbase = 3.69 + ret.steerRatio = 17.0 + ret.mass = 2000 + STD_CARGO_KG + elif candidate == CAR.FOCUS_MK4: ret.wheelbase = 2.7 ret.steerRatio = 15.0 @@ -53,7 +72,7 @@ class CarInterface(CarInterfaceBase): # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] - if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]: + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -61,7 +80,7 @@ class CarInterface(CarInterfaceBase): # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat # TODO: detect bsm in car_fw? - ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0] + ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main] # LCA can steer down to zero ret.minSteerSpeed = 0. @@ -74,6 +93,11 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam) events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) + if not self.CS.vehicle_sensors_valid: + events.add(car.CarEvent.EventName.vehicleSensorsInvalid) + if self.CS.hybrid_platform: + events.add(car.CarEvent.EventName.startupNoControl) + ret.events = events.to_msg() return ret diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index ee4efb311d..39a62b9e43 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -3,7 +3,8 @@ from math import cos, sin from cereal import car from opendbc.can.parser import CANParser from common.conversions import Conversions as CV -from selfdrive.car.ford.values import CANBUS, DBC, RADAR +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import DBC, RADAR from selfdrive.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) @@ -12,32 +13,21 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120 DELPHI_MRR_RADAR_MSG_COUNT = 64 -def _create_delphi_esr_radar_can_parser(): +def _create_delphi_esr_radar_can_parser(CP) -> CANParser: msg_n = len(DELPHI_ESR_RADAR_MSGS) - signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, - DELPHI_ESR_RADAR_MSGS * 3)) - checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n)) + messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True)) - return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar) + return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar) -def _create_delphi_mrr_radar_can_parser(): - signals = [] - checks = [] +def _create_delphi_mrr_radar_can_parser(CP) -> CANParser: + messages = [] for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1): msg = f"MRR_Detection_{i:03d}" - signals += [ - (f"CAN_DET_VALID_LEVEL_{i:02d}", msg), - (f"CAN_DET_AZIMUTH_{i:02d}", msg), - (f"CAN_DET_RANGE_{i:02d}", msg), - (f"CAN_DET_RANGE_RATE_{i:02d}", msg), - (f"CAN_DET_AMPLITUDE_{i:02d}", msg), - (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg), - ] - checks += [(msg, 20)] + messages += [(msg, 20)] - return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar) + return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar) class RadarInterface(RadarInterfaceBase): @@ -50,18 +40,18 @@ class RadarInterface(RadarInterfaceBase): if self.radar is None or CP.radarUnavailable: self.rcp = None elif self.radar == RADAR.DELPHI_ESR: - self.rcp = _create_delphi_esr_radar_can_parser() + self.rcp = _create_delphi_esr_radar_can_parser(CP) self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1] self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS} elif self.radar == RADAR.DELPHI_MRR: - self.rcp = _create_delphi_mrr_radar_can_parser() + self.rcp = _create_delphi_mrr_radar_can_parser(CP) self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1 else: raise ValueError(f"Unsupported radar: {self.radar}") def update(self, can_strings): if self.rcp is None: - return super().update(None) + return None vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index c3652443c2..6687204b46 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,27 +1,24 @@ from collections import defaultdict -from dataclasses import dataclass +from dataclasses import dataclass, field from enum import Enum -from typing import Dict, List, Set, Union +from typing import Dict, List, Union from cereal import car from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ + Device from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu class CarControllerParams: - # Messages: Lane_Assist_Data1, LateralMotionControl - STEER_STEP = 5 - # Message: ACCDATA - ACC_CONTROL_STEP = 2 - # Message: IPMA_Data - LKAS_UI_STEP = 100 - # Message: ACCDATA_3 - ACC_UI_STEP = 5 - # Message: Steering_Data_FD1, but send twice as fast - BUTTONS_STEP = 10 / 2 + STEER_STEP = 5 # LateralMotionControl, 20Hz + LKA_STEP = 3 # Lane_Assist_Data1, 33Hz + ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz + LKAS_UI_STEP = 100 # IPMA_Data, 1Hz + ACC_UI_STEP = 20 # ACCDATA_3, 5Hz + BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm @@ -32,29 +29,27 @@ class CarControllerParams: # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) + CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s - ACCEL_MAX = 2.0 # m/s^s max acceleration - ACCEL_MIN = -3.5 # m/s^s max deceleration + ACCEL_MAX = 2.0 # m/s^2 max acceleration + ACCEL_MIN = -3.5 # m/s^2 max deceleration + MIN_GAS = -0.5 + INACTIVE_GAS = -5.0 def __init__(self, CP): pass -class CANBUS: - main = 0 - radar = 1 - camera = 2 - - class CAR: BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN" ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" EXPLORER_MK6 = "FORD EXPLORER 6TH GEN" + F_150_MK14 = "FORD F-150 14TH GEN" FOCUS_MK4 = "FORD FOCUS 4TH GEN" MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" -CANFD_CARS: Set[str] = set() +CANFD_CAR = {CAR.F_150_MK14} class RADAR: @@ -64,44 +59,68 @@ class RADAR: DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) +# F-150 radar is not yet supported +DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None) + + +class Footnote(Enum): + FOCUS = CarFootnote( + "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " + + "North and South America/Southeast Asia.", + Column.MODEL, + ) + @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - harness: Enum = Harness.ford_q3 + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3])) + + def init_make(self, CP: car.CarParams): + if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): + self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.ESCAPE_MK4: [ FordCarInfo("Ford Escape 2020-22"), - FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"), - FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), - FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"), + FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), ], CAR.EXPLORER_MK6: [ FordCarInfo("Ford Explorer 2020-22"), - FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), - FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"), + FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"), + ], + CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), + CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), + CAR.MAVERICK_MK1: [ + FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), + FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"), ], - CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), - CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), } FW_QUERY_CONFIG = FwQueryConfig( requests=[ + # CAN and CAN FD queries are combined. + # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus + # TODO: properly handle auxiliary requests to separate queries and add back whitelists Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine], + # whitelist_ecus=[Ecu.engine], + auxiliary=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], bus=0, - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], + auxiliary=True, ), ], + extra_ecus=[ + (Ecu.shiftByWire, 0x732, None), + ], ) FW_VERSIONS = { @@ -123,10 +142,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.shiftByWire, 0x732, None): [ - b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.ESCAPE_MK4: { @@ -137,6 +153,7 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -149,24 +166,25 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7E0, None): [ b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -176,22 +194,38 @@ FW_VERSIONS = { b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + }, + CAR.F_150_MK14: { + (Ecu.eps, 0x730, None): [ + b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7E0, None): [ + b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.FOCUS_MK4: { @@ -210,8 +244,6 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - ], }, CAR.MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ @@ -233,8 +265,5 @@ FW_VERSIONS = { b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, } diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 7ae9bee404..1caedcd321 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -3,10 +3,13 @@ import capnp import copy from dataclasses import dataclass, field import struct -from typing import Dict, List, Optional, Tuple +from typing import Callable, Dict, List, Optional, Set, Tuple import panda.python.uds as uds +AddrType = Tuple[int, Optional[int]] +EcuAddrBusType = Tuple[int, Optional[int], int] + def p16(val): return struct.pack("!H", val) @@ -74,6 +77,9 @@ class FwQueryConfig: non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) # Ecus added for data collection, not to be fingerprinted on extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, + # returns set of candidates. Only will match if one candidate is returned + match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None def __post_init__(self): for i in range(len(self.requests)): diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 1c0d5003ec..7fa47da998 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,12 +1,14 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Dict, List, Set +from typing import Any, DefaultDict, Dict, List, Optional, Set from tqdm import tqdm +import capnp import panda.python.uds as uds from cereal import car from common.params import Params -from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs +from selfdrive.car.ecu_addrs import get_ecu_addrs +from selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -14,6 +16,7 @@ from system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) @@ -27,86 +30,97 @@ def chunks(l, n=128): yield l[i:i + n] -def build_fw_dict(fw_versions, filter_brand=None): - fw_versions_dict = defaultdict(set) +def is_brand(brand: str, filter_brand: Optional[str]) -> bool: + """Returns if brand matches filter_brand or no brand filter is specified""" + return filter_brand is None or brand == filter_brand + + +def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], + filter_brand: Optional[str] = None) -> Dict[AddrType, Set[bytes]]: + fw_versions_dict: DefaultDict[AddrType, Set[bytes]] = defaultdict(set) for fw in fw_versions: - if (filter_brand is None or fw.brand == filter_brand) and not fw.logging: + if is_brand(fw.brand, filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) return dict(fw_versions_dict) -def get_brand_addrs(): - brand_addrs = defaultdict(set) +def get_brand_addrs() -> Dict[str, Set[AddrType]]: + brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set) for brand, cars in VERSIONS.items(): # Add ecus in database + extra ecus to match against brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} - return brand_addrs + return dict(brand_addrs) -def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): +def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars the match is rejected.""" - # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) - # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost - # impossible to get 3 matching versions, even if two models with shared parts are released at the same - # time and only one is in our database. - exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] - # Build lookup table from (addr, sub_addr, fw) to list of candidate cars all_fw_versions = defaultdict(list) for candidate, fw_by_addr in FW_VERSIONS.items(): + if not is_brand(MODEL_TO_BRAND[candidate], match_brand): + continue + if candidate == exclude: continue for addr, fws in fw_by_addr.items(): - if addr[0] in exclude_types: + # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) + # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost + # impossible to get 3 matching versions, even if two models with shared parts are released at the same + # time and only one is in our database. + if addr[0] in FUZZY_EXCLUDE_ECUS: continue for f in fws: all_fw_versions[(addr[1], addr[2], f)].append(candidate) - match_count = 0 + matched_ecus = set() candidate = None - for addr, versions in fw_versions_dict.items(): + for addr, versions in live_fw_versions.items(): + ecu_key = (addr[0], addr[1]) for version in versions: # All cars that have this FW response on the specified address - candidates = all_fw_versions[(addr[0], addr[1], version)] + candidates = all_fw_versions[(*ecu_key, version)] if len(candidates) == 1: - match_count += 1 + matched_ecus.add(ecu_key) if candidate is None: candidate = candidates[0] # We uniquely matched two different cars. No fuzzy match possible elif candidate != candidates[0]: return set() - if match_count >= 2: + # Note that it is possible to match to a candidate without all its ECUs being present + # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching + if len(matched_ecus) >= 2: if log: - cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") + cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs") return {candidate} else: return set() -def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" - invalid = [] - candidates = FW_VERSIONS + invalid = set() + candidates = {c: f for c, f in FW_VERSIONS.items() if + is_brand(MODEL_TO_BRAND[c], match_brand)} for candidate, fws in candidates.items(): + config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): - config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] ecu_type = ecu[0] addr = ecu[1:] - found_versions = fw_versions_dict.get(addr, set()) + found_versions = live_fw_versions.get(addr, set()) if not len(found_versions): # Some models can sometimes miss an ecu, or show on two different addresses if candidate in config.non_essential_ecus.get(ecu_type, []): @@ -120,14 +134,14 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: if ecu_type == Ecu.debug: continue - if not any([found_version in expected_versions for found_version in found_versions]): - invalid.append(candidate) + if not any(found_version in expected_versions for found_version in found_versions): + invalid.add(candidate) break - return set(candidates.keys()) - set(invalid) + return set(candidates.keys()) - invalid -def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): +def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # Try exact matching first exact_matches = [] if allow_exact: @@ -140,7 +154,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): matches = set() for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - matches |= match_func(fw_versions_dict) + matches |= match_func(fw_versions_dict, match_brand=brand, log=log) + + # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function + config = FW_QUERY_CONFIGS[brand] + if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None: + matches |= config.match_fw_to_car_fuzzy(fw_versions_dict) if len(matches): return exact_match, matches @@ -194,7 +213,7 @@ def get_brand_ecu_matches(ecu_rx_addrs): brand_addrs = get_brand_addrs() brand_matches = {brand: set() for brand, _, _ in REQUESTS} - brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS) + brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS} for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -214,7 +233,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool): cloudlog.warning("OBD multiplexing set successfully") -def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ + List[capnp.lib.capnp._DynamicStructBuilder]: """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] @@ -227,22 +247,20 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) - # Try to match using FW returned from this brand only - matches = match_fw_to_car_exact(build_fw_dict(car_fw)) + + # If there is a match using this brand's FW alone, finish querying early + _, matches = match_fw_to_car(car_fw, log=False) if len(matches) == 1: break return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ + List[capnp.lib.capnp._DynamicStructBuilder]: versions = VERSIONS.copy() params = Params() - # Each brand can define extra ECUs to query for data collection - for brand, config in FW_QUERY_CONFIGS.items(): - versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus} - if query_brand is not None: versions = {query_brand: versions[query_brand]} @@ -256,8 +274,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, ecu_types = {} for brand, brand_versions in versions.items(): + config = FW_QUERY_CONFIGS[brand] for ecu in brand_versions.values(): - for ecu_type, addr, sub_addr in ecu.keys(): + # Each brand can define extra ECUs to query for data collection + for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus: a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type @@ -273,7 +293,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for brand, config, r in requests: @@ -286,11 +306,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, set_obd_multiplexing(params, r.obd_multiplexing) try: - addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and - (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] + query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and + (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] - if addrs: - query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) + if query_addrs: + query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug) for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 2a996c0ff6..1b2424afaf 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -85,6 +85,7 @@ class CarController: if self.CP.openpilotLongitudinalControl: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: + stopping = actuators.longControlState == LongCtrlState.stopping if not CC.longActive: # ASCM sends max regen when not enabled self.apply_gas = self.params.INACTIVE_REGEN @@ -92,6 +93,10 @@ class CarController: else: self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + # Don't allow any gas above inactive regen while stopping + # FIXME: brakes aren't applied immediately when enabling at a stop + if stopping: + self.apply_gas = self.params.INACTIVE_REGEN idx = (self.frame // 4) % 4 @@ -101,12 +106,13 @@ class CarController: # GM Camera exceptions # TODO: can we always check the longControlState? if self.CP.networkLocation == NetworkLocation.fwdCamera: - at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping + at_full_stop = at_full_stop and stopping friction_brake_bus = CanBus.POWERTRAIN # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop)) - can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP)) + can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, + idx, CC.enabled, near_stop, at_full_stop, self.CP)) # Send dashboard UI commands (ACC status) send_fcw = hud_alert == VisualAlert.fcw @@ -157,7 +163,8 @@ class CarController: lka_icon_status = (lka_active, lka_critical) # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): + if self.CP.networkLocation != NetworkLocation.fwdCamera and \ + (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) self.lka_icon_status_last = lka_icon_status diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 2f9c952876..43cdee18d4 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -117,64 +117,19 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - ("AEBCmdActive", "AEBCmd"), - ("RollingCounter", "ASCMLKASteeringCmd"), - ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), - ("ACCCruiseState", "ASCMActiveCruiseControlStatus"), - ] - checks += [ + messages += [ ("AEBCmd", 10), ("ASCMLKASteeringCmd", 10), ("ASCMActiveCruiseControlStatus", 25), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA) @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("BrakePedalPos", "ECMAcceleratorPos"), - ("FrontLeftDoor", "BCMDoorBeltStatus"), - ("FrontRightDoor", "BCMDoorBeltStatus"), - ("RearLeftDoor", "BCMDoorBeltStatus"), - ("RearRightDoor", "BCMDoorBeltStatus"), - ("LeftSeatBelt", "BCMDoorBeltStatus"), - ("RightSeatBelt", "BCMDoorBeltStatus"), - ("TurnSignals", "BCMTurnSignals"), - ("AcceleratorPedal2", "AcceleratorPedal2"), - ("CruiseState", "AcceleratorPedal2"), - ("ACCButtons", "ASCMSteeringButton"), - ("RollingCounter", "ASCMSteeringButton"), - ("SteeringWheelAngle", "PSCMSteeringAngle"), - ("SteeringWheelRate", "PSCMSteeringAngle"), - ("FLWheelSpd", "EBCMWheelSpdFront"), - ("FRWheelSpd", "EBCMWheelSpdFront"), - ("RLWheelSpd", "EBCMWheelSpdRear"), - ("RRWheelSpd", "EBCMWheelSpdRear"), - ("MovingBackward", "EBCMWheelSpdRear"), - ("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"), - ("PRNDL2", "ECMPRDNL2"), - ("ManualMode", "ECMPRDNL2"), - ("LKADriverAppldTrq", "PSCMStatus"), - ("LKATorqueDelivered", "PSCMStatus"), - ("LKATorqueDeliveredStatus", "PSCMStatus"), - ("HandsOffSWlDetectionStatus", "PSCMStatus"), - ("HandsOffSWDetectionMode", "PSCMStatus"), - ("LKATotalTorqueDelivered", "PSCMStatus"), - ("PSCMStatusChecksum", "PSCMStatus"), - ("RollingCounter", "PSCMStatus"), - ("TractionControlOn", "ESPStatus"), - ("ParkBrake", "VehicleIgnitionAlt"), - ("CruiseMainOn", "ECMEngineStatus"), - ("BrakePressed", "ECMEngineStatus"), - ] - - checks = [ + messages = [ ("BCMTurnSignals", 1), ("ECMPRDNL2", 10), ("PSCMStatus", 10), @@ -193,27 +148,19 @@ class CarState(CarStateBase): # Used to read back last counter sent to PT by camera if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - ("RollingCounter", "ASCMLKASteeringCmd"), - ] - checks += [ + messages += [ ("ASCMLKASteeringCmd", 0), ] if CP.transmissionType == TransmissionType.direct: - signals.append(("RegenPaddle", "EBCMRegenPaddle")) - checks.append(("EBCMRegenPaddle", 50)) + messages.append(("EBCMRegenPaddle", 50)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN) @staticmethod def get_loopback_can_parser(CP): - signals = [ - ("RollingCounter", "ASCMLKASteeringCmd"), - ] - - checks = [ + messages = [ ("ASCMLKASteeringCmd", 0), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 63189bcd89..0de2066678 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -20,10 +20,20 @@ def create_buttons(packer, bus, idx, button): def create_pscm_status(packer, bus, pscm_status): - checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 - pscm_status["HandsOffSWlDetectionStatus"] = 1 - pscm_status["PSCMStatusChecksum"] += checksum_mod - return packer.make_can_msg("PSCMStatus", bus, pscm_status) + values = {s: pscm_status[s] for s in [ + "HandsOffSWDetectionMode", + "HandsOffSWlDetectionStatus", + "LKATorqueDeliveredStatus", + "LKADriverAppldTrq", + "LKATorqueDelivered", + "LKATotalTorqueDelivered", + "RollingCounter", + "PSCMStatusChecksum", + ]} + checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5 + values["HandsOffSWlDetectionStatus"] = 1 + values["PSCMStatusChecksum"] += checksum_mod + return packer.make_can_msg("PSCMStatus", bus, values) def create_steering_control(packer, bus, apply_steer, idx, lkas_active): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index ff578da986..7e18ef1f74 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -19,6 +19,12 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} +NON_LINEAR_TORQUE_PARAMS = { + CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178], + CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772] +} + + class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): @@ -31,23 +37,14 @@ class CarInterface(CarInterfaceBase): sigmoid = desired_angle / (1 + fabs(desired_angle)) return 0.10006696 * sigmoid * (v_ego + 3.12485927) - @staticmethod - def get_steer_feedforward_acadia(desired_angle, v_ego): - desired_angle *= 0.09760208 - sigmoid = desired_angle / (1 + fabs(desired_angle)) - return 0.04689655 * sigmoid * (v_ego + 10.028217) - def get_steer_feedforward_function(self): if self.CP.carFingerprint == CAR.VOLT: return self.get_steer_feedforward_volt - elif self.CP.carFingerprint == CAR.ACADIA: - return self.get_steer_feedforward_acadia else: return CarInterfaceBase.get_steer_feedforward_default - @staticmethod - def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, - lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) def sig(val): @@ -57,14 +54,15 @@ class CarInterface(CarInterfaceBase): # An important thing to consider is that the slope at 0 should be > 0 (ideally >1) # This has big effect on the stability about 0 (noise when going straight) # ToDo: To generalize to other GMs, explore tanh function as the nonlinear - a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178] # weights computed offline - + non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint) + assert non_linear_torque_params, "The params are not defined" + a, b, c, _ = non_linear_torque_params steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c) return float(steer_torque) + friction def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: - if self.CP.carFingerprint == CAR.BOLT_EUV: - return self.torque_from_lateral_accel_bolt + if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: + return self.torque_from_lateral_accel_siglin else: return self.torque_from_lateral_accel_linear @@ -169,7 +167,8 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 - ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_LACROSSE: ret.mass = 1712. + STD_CARGO_KG @@ -219,11 +218,16 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: - ret.mass = 2200. + STD_CARGO_KG + ret.mass = 2450. + STD_CARGO_KG ret.wheelbase = 3.75 ret.steerRatio = 16.3 ret.centerToFront = ret.wheelbase * 0.5 tire_stiffness_factor = 1.0 + # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop + # with foot on brake to allow engagement, but this platform only has that check in the camera. + # TODO: check if this is split by EV/ICE with more platforms in the future + if ret.openpilotLongitudinalControl: + ret.minEnableSpeed = -1. CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.EQUINOX: diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index b86a85f915..0424b95a77 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -25,11 +25,11 @@ def create_radar_can_parser(car_fingerprint): ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS + ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS + ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS, - [RADAR_HEADER_MSG] * 7 + radar_targets * 6)) + [RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True)) - checks = list({(s[1], 14) for s in signals}) + messages = list({(s[1], 14) for s in signals}) - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE) + return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE) class RadarInterface(RadarInterfaceBase): @@ -44,7 +44,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None: - return super().update(None) + return None vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/third_party/cluster/__init__.py b/selfdrive/car/gm/tests/__init__.py similarity index 100% rename from third_party/cluster/__init__.py rename to selfdrive/car/gm/tests/__init__.py diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py new file mode 100755 index 0000000000..1fc8a25611 --- /dev/null +++ b/selfdrive/car/gm/tests/test_gm.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +from parameterized import parameterized +import unittest + +from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET + +CAMERA_DIAGNOSTIC_ADDRESS = 0x24b + + +class TestGMFingerprint(unittest.TestCase): + @parameterized.expand(FINGERPRINTS.items()) + def test_can_fingerprints(self, car_model, fingerprints): + self.assertGreater(len(fingerprints), 0) + + # Trailblazer is in dashcam + if car_model != CAR.TRAILBLAZER: + self.assertTrue(all(len(finger) for finger in fingerprints)) + + # The camera can sometimes be communicating on startup + if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}: + for finger in fingerprints: + for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET): + self.assertEqual(finger.get(required_addr), 8, required_addr) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index bc2858a667..3907f1c17e 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,3 +1,4 @@ +# ruff: noqa: E501 from collections import defaultdict from dataclasses import dataclass from enum import Enum @@ -5,7 +6,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column Ecu = car.CarParams.Ecu @@ -89,9 +90,9 @@ class GMCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: - self.harness = Harness.gm + self.car_parts = CarParts.common([CarHarness.gm]) else: - self.harness = Harness.obd_ii + self.car_parts = CarParts.common([CarHarness.obd_ii]) self.footnotes.append(Footnote.OBD_II) @@ -199,24 +200,26 @@ FINGERPRINTS = { }], CAR.BOLT_EUV: [ { - 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 }], CAR.SILVERADO: [ { - 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 }], CAR.EQUINOX: [ { - 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 }], # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. # TODO: split with FW versions CAR.TRAILBLAZER: [ { - # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 + # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 }], } +GM_RX_OFFSET = 0x400 + DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index bcc239c2df..d6d2b18a0a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -12,39 +12,8 @@ from selfdrive.car.interfaces import CarStateBase TransmissionType = car.CarParams.TransmissionType -def get_can_signals(CP, gearbox_msg, main_on_sig_msg): - signals = [ - ("XMISSION_SPEED", "ENGINE_DATA"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("STEER_ANGLE", "STEERING_SENSORS"), - ("STEER_ANGLE_RATE", "STEERING_SENSORS"), - ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"), - ("STEER_TORQUE_SENSOR", "STEER_STATUS"), - ("IMPERIAL_UNIT", "CAR_SPEED"), - ("ROUGH_CAR_SPEED_2", "CAR_SPEED"), - ("LEFT_BLINKER", "SCM_FEEDBACK"), - ("RIGHT_BLINKER", "SCM_FEEDBACK"), - ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"), - ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"), - ("BRAKE_PRESSED", "POWERTRAIN_DATA"), - ("BRAKE_SWITCH", "POWERTRAIN_DATA"), - ("CRUISE_BUTTONS", "SCM_BUTTONS"), - ("ESP_DISABLED", "VSA_STATUS"), - ("USER_BRAKE", "VSA_STATUS"), - ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"), - ("STEER_STATUS", "STEER_STATUS"), - ("GEAR_SHIFTER", gearbox_msg), - ("GEAR", gearbox_msg), - ("PEDAL_GAS", "POWERTRAIN_DATA"), - ("CRUISE_SETTING", "SCM_BUTTONS"), - ("ACC_STATUS", "POWERTRAIN_DATA"), - ("MAIN_ON", main_on_sig_msg), - ] - - checks = [ +def get_can_messages(CP, gearbox_msg): + messages = [ ("ENGINE_DATA", 100), ("WHEEL_SPEEDS", 50), ("STEERING_SENSORS", 100), @@ -58,79 +27,59 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ] if CP.carFingerprint == CAR.ODYSSEY_CHN: - checks += [ + messages += [ ("SCM_FEEDBACK", 25), ("SCM_BUTTONS", 50), ] else: - checks += [ + messages += [ ("SCM_FEEDBACK", 10), ("SCM_BUTTONS", 25), ] if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): - checks.append((gearbox_msg, 50)) + messages.append((gearbox_msg, 50)) else: - checks.append((gearbox_msg, 100)) + messages.append((gearbox_msg, 100)) if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: - signals.append(("BRAKE_PRESSED", "BRAKE_MODULE")) - checks.append(("BRAKE_MODULE", 50)) + messages.append(("BRAKE_MODULE", 50)) if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): - signals.append(("EPB_STATE", "EPB_STATUS")) - checks.append(("EPB_STATUS", 50)) + messages.append(("EPB_STATUS", 50)) if CP.carFingerprint in HONDA_BOSCH: # these messages are on camera bus on radarless cars if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: - signals += [ - ("CRUISE_CONTROL_LABEL", "ACC_HUD"), - ("CRUISE_SPEED", "ACC_HUD"), - ("ACCEL_COMMAND", "ACC_CONTROL"), - ("AEB_STATUS", "ACC_CONTROL"), - ] - checks += [ + messages += [ ("ACC_HUD", 10), ("ACC_CONTROL", 50), ] else: # Nidec signals - signals += [("CRUISE_SPEED_PCM", "CRUISE"), - ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")] - if CP.carFingerprint == CAR.ODYSSEY_CHN: - checks.append(("CRUISE_PARAMS", 10)) + messages.append(("CRUISE_PARAMS", 10)) else: - checks.append(("CRUISE_PARAMS", 50)) + messages.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): - signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) + # TODO: clean this up + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, + CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): + pass elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): - signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) + pass else: - signals += [("DOOR_OPEN_FL", "DOORS_STATUS"), - ("DOOR_OPEN_FR", "DOORS_STATUS"), - ("DOOR_OPEN_RL", "DOORS_STATUS"), - ("DOOR_OPEN_RR", "DOORS_STATUS")] - checks.append(("DOORS_STATUS", 3)) + messages.append(("DOORS_STATUS", 3)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: - signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) - signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) - checks.append(("GAS_SENSOR", 50)) + messages.append(("GAS_SENSOR", 50)) if CP.carFingerprint in HONDA_BOSCH_RADARLESS: - signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS")) - checks.append(("CRUISE_FAULT_STATUS", 50)) + messages.append(("CRUISE_FAULT_STATUS", 50)) elif CP.openpilotLongitudinalControl: - signals += [ - ("BRAKE_ERROR_1", "STANDSTILL"), - ("BRAKE_ERROR_2", "STANDSTILL") - ] - checks.append(("STANDSTILL", 50)) + messages.append(("STANDSTILL", 50)) - return signals, checks + return messages class CarState(CarStateBase): @@ -148,7 +97,6 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) - self.brake_error = False self.brake_switch_prev = False self.brake_switch_active = False self.cruise_setting = 0 @@ -179,7 +127,8 @@ class CarState(CarStateBase): # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 # TODO: find a common signal across all cars - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, + CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -195,9 +144,17 @@ class CarState(CarStateBase): ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: - self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] - elif self.CP.openpilotLongitudinalControl: - self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] + ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]) + else: + # On some cars, these two signals are always 1, this flag is masking a bug in release + # FIXME: find and set the ACC faulted signals on more platforms + if self.CP.openpilotLongitudinalControl: + ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]) + + # Log non-critical stock ACC/LKAS faults if Nidec (camera) + if self.CP.carFingerprint not in HONDA_BOSCH: + ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"]) + ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 ret.wheelSpeeds = self.get_wheel_speeds( @@ -307,52 +264,36 @@ class CarState(CarStateBase): return ret def get_can_parser(self, CP): - signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint)) + messages = get_can_messages(CP, self.gearbox_msg) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint)) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [ + messages = [ ("STEERING_CONTROL", 100), ] if CP.carFingerprint in HONDA_BOSCH_RADARLESS: - signals.append(("LKAS_PROBLEM", "LKAS_HUD")) - checks.append(("LKAS_HUD", 10)) + messages.append(("LKAS_HUD", 10)) if not CP.openpilotLongitudinalControl: - signals += [ - ("CRUISE_SPEED", "ACC_HUD"), - ("CRUISE_CONTROL_LABEL", "ACC_HUD"), - ] - checks.append(("ACC_HUD", 10)) + messages.append(("ACC_HUD", 10)) elif CP.carFingerprint not in HONDA_BOSCH: - signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"), - ("AEB_REQ_1", "BRAKE_COMMAND"), - ("FCW", "BRAKE_COMMAND"), - ("CHIME", "BRAKE_COMMAND"), - ("FCM_OFF", "ACC_HUD"), - ("FCM_OFF_2", "ACC_HUD"), - ("FCM_PROBLEM", "ACC_HUD"), - ("ICONS", "ACC_HUD")] - checks += [ + messages += [ ("ACC_HUD", 10), + ("LKAS_HUD", 10), ("BRAKE_COMMAND", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) @staticmethod def get_body_can_parser(CP): if CP.enableBsm: - signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), - ("BSM_ALERT", "BSM_STATUS_LEFT")] - - checks = [ + messages = [ ("BSM_STATUS_LEFT", 3), ("BSM_STATUS_RIGHT", 3), ] bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port) - return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body) + return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body) return None diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 65deab7401..29c6fa0327 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -3,7 +3,8 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV from common.numpy_fast import interp -from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS +from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ + HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -292,8 +293,8 @@ class CarInterface(CarInterfaceBase): # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc - stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor - ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS + ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor + ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors @@ -326,9 +327,6 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret, pcm_enable=False) - if self.CS.brake_error: - events.add(EventName.brakeUnavailable) - if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 660be4c449..43fe422026 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -1,4 +1,6 @@ #!/usr/bin/env python3 +from collections import defaultdict + from cereal import car from opendbc.can.parser import CANParser from selfdrive.car.interfaces import RadarInterfaceBase @@ -7,12 +9,8 @@ from selfdrive.car.honda.values import DBC def _create_nidec_can_parser(car_fingerprint): radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446)) - signals = list(zip(['RADAR_STATE'] + - ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 + - ['REL_SPEED'] * 16, - [0x400] + radar_messages[1:] * 4)) - checks = [(s[1], 20) for s in signals] - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + messages = [(m, 20) for m in radar_messages] + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) class RadarInterface(RadarInterfaceBase): @@ -32,50 +30,61 @@ class RadarInterface(RadarInterfaceBase): else: self.rcp = _create_nidec_can_parser(CP.carFingerprint) self.trigger_msg = 0x445 - self.updated_messages = set() + self.updated_values = defaultdict(lambda: defaultdict(list)) def update(self, can_strings): # in Bosch radar and we are only steering for now, so sleep 0.05s to keep # radard at 20Hz and return no points if self.radar_off_can: - return super().update(None) - - vls = self.rcp.update_strings(can_strings) - self.updated_messages.update(vls) - - if self.trigger_msg not in self.updated_messages: return None - rr = self._update(self.updated_messages) - self.updated_messages.clear() - return rr + addresses = self.rcp.update_strings(can_strings) + for addr in addresses: + vals_dict = self.rcp.vl_all[addr] + for sig_name, vals in vals_dict.items(): + self.updated_values[addr][sig_name].extend(vals) - def _update(self, updated_messages): + if self.trigger_msg not in self.updated_values: + return None + + radar_data = self._radar_msg_from_buffer(self.updated_values, self.rcp.can_valid) + self.updated_values.clear() + + return radar_data + + def _radar_msg_from_buffer(self, updated_values, can_valid): ret = car.RadarData.new_message() - for ii in sorted(updated_messages): - cpt = self.rcp.vl[ii] - if ii == 0x400: - # check for radar faults - self.radar_fault = cpt['RADAR_STATE'] != 0x79 - self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69 - elif cpt['LONG_DIST'] < 255: - if ii not in self.pts or cpt['NEW_TRACK']: - self.pts[ii] = car.RadarData.RadarPoint.new_message() - self.pts[ii].trackId = self.track_id - self.track_id += 1 - self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car - self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive - self.pts[ii].vRel = cpt['REL_SPEED'] - self.pts[ii].aRel = float('nan') - self.pts[ii].yvRel = float('nan') - self.pts[ii].measured = True - else: - if ii in self.pts: - del self.pts[ii] + for ii in sorted(updated_values): + msgs = updated_values[ii] + n_vals_per_addr = len(list(msgs.values())[0]) + cpts = [ + {k: v[i] for k, v in msgs.items()} + for i in range(n_vals_per_addr) + ] + + for cpt in cpts: + if ii == 0x400: + # check for radar faults + self.radar_fault = cpt['RADAR_STATE'] != 0x79 + self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69 + elif cpt['LONG_DIST'] < 255: + if ii not in self.pts or cpt['NEW_TRACK']: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car + self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['REL_SPEED'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = True + else: + if ii in self.pts: + del self.pts[ii] errors = [] - if not self.rcp.can_valid: + if not can_valid: errors.append("canError") if self.radar_fault: errors.append("fault") diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 951d3c8218..b149fd2a02 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -6,7 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.carFingerprint in HONDA_BOSCH: - self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a + self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) else: - self.harness = Harness.nidec + self.car_parts = CarParts.common([CarHarness.nidec]) CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { @@ -123,7 +123,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", + footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform @@ -146,7 +147,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.PILOT: [ HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), @@ -1114,6 +1115,7 @@ FW_VERSIONS = { b'28101-5EZ-A210\x00\x00', b'28101-5EZ-A600\x00\x00', b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A700\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-RLV-4060\x00\x00', @@ -1128,6 +1130,8 @@ FW_VERSIONS = { b'37805-RLV-B220\x00\x00', b'37805-RLV-B210\x00\x00', b'37805-RLV-L160\x00\x00', + b'37805-RLV-B420\x00\x00', + b'37805-RLV-F120\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', @@ -1141,6 +1145,7 @@ FW_VERSIONS = { b'39990-TG7-A060\x00\x00', b'39990-TG7-A070\x00\x00', b'39990-TGS-A230\x00\x00', + b'39990-TGS-A320\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TG7-A310\x00\x00', @@ -1161,6 +1166,7 @@ FW_VERSIONS = { b'36161-TGT-A030\x00\x00', b'36161-TGT-A130\x00\x00', b'36161-TGS-A030\x00\x00', + b'36161-TGS-A220\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TG7-A020\x00\x00', @@ -1168,6 +1174,7 @@ FW_VERSIONS = { b'77959-TG7-A210\x00\x00', b'77959-TG7-Y210\x00\x00', b'77959-TGS-A010\x00\x00', + b'77959-TGS-A110\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ b'78109-TG7-A040\x00\x00', @@ -1201,6 +1208,7 @@ FW_VERSIONS = { b'78109-TGS-AT20\x00\x00', b'78109-TGS-AX20\x00\x00', b'78109-TGS-AJ20\x00\x00', + b'78109-TGS-AC10\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TG7-A130\x00\x00', diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 5ae756ae5e..095fb1ecbd 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import clip from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance from selfdrive.car.hyundai import hyundaicanfd, hyundaican from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR @@ -64,9 +64,17 @@ class CarController: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + # >90 degree steering fault prevention + self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive, + self.angle_limit_counter, MAX_ANGLE_FRAMES, + MAX_ANGLE_CONSECUTIVE_FRAMES) + if not CC.latActive: apply_steer = 0 + # Hold torque with induced temporary fault when cutting the actuation bit + torque_fault = CC.latActive and not apply_steer_req + self.apply_steer_last = apply_steer # accel + longitudinal @@ -95,27 +103,13 @@ class CarController: if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN]) - # >90 degree steering fault prevention - # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault - if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE: - self.angle_limit_counter += 1 - else: - self.angle_limit_counter = 0 - - # Cut steer actuation bit for two frames and hold torque with induced temporary fault - torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES - lat_active = CC.latActive and not torque_fault - - if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: - self.angle_limit_counter = 0 - # CAN-FD platforms if self.CP.carFingerprint in CANFD_CAR: hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer)) # disable LFA on HDA2 if self.frame % 5 == 0 and hda2: @@ -142,7 +136,7 @@ class CarController: # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info)) + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) self.last_button_frame = self.frame else: for _ in range(20): @@ -159,7 +153,7 @@ class CarController: can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning)) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 686081896c..09a6778fef 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -22,8 +22,8 @@ class CarState(CarStateBase): self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) - self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ - "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] @@ -34,6 +34,11 @@ class CarState(CarStateBase): else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] + self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \ + "ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \ + "ACCELERATOR_BRAKE_ALT" + self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \ + "CRUISE_BUTTONS" self.is_metric = False self.buttons_counter = 0 @@ -167,18 +172,16 @@ class CarState(CarStateBase): speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR): - if self.CP.carFingerprint in EV_CAR: - ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. - else: - ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. + offset = 255. if self.CP.carFingerprint in EV_CAR else 1023. + ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset ret.gasPressed = ret.gas > 1e-5 else: - ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"]) + ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"]) ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 - ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 - ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 + ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1 + ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0 gear = cp.vl[self.gear_msg_canfd]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) @@ -221,11 +224,10 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] - self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) - self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) - self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] + self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) + self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) + self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: @@ -233,67 +235,11 @@ class CarState(CarStateBase): return ret - @staticmethod - def get_can_parser(CP): + def get_can_parser(self, CP): if CP.carFingerprint in CANFD_CAR: - return CarState.get_can_parser_canfd(CP) + return self.get_can_parser_canfd(CP) - signals = [ - # signal_name, signal_address - ("WHL_SPD_FL", "WHL_SPD11"), - ("WHL_SPD_FR", "WHL_SPD11"), - ("WHL_SPD_RL", "WHL_SPD11"), - ("WHL_SPD_RR", "WHL_SPD11"), - - ("YAW_RATE", "ESP12"), - - ("CF_Gway_DrvSeatBeltInd", "CGW4"), - - ("CF_Gway_DrvSeatBeltSw", "CGW1"), - ("CF_Gway_DrvDrSw", "CGW1"), # Driver Door - ("CF_Gway_AstDrSw", "CGW1"), # Passenger Door - ("CF_Gway_RLDrSw", "CGW2"), # Rear left Door - ("CF_Gway_RRDrSw", "CGW2"), # Rear right Door - ("CF_Gway_TurnSigLh", "CGW1"), - ("CF_Gway_TurnSigRh", "CGW1"), - ("CF_Gway_ParkBrakeSw", "CGW1"), - - ("CYL_PRES", "ESP12"), - - ("CF_Clu_CruiseSwState", "CLU11"), - ("CF_Clu_CruiseSwMain", "CLU11"), - ("CF_Clu_SldMainSW", "CLU11"), - ("CF_Clu_ParityBit1", "CLU11"), - ("CF_Clu_VanzDecimal" , "CLU11"), - ("CF_Clu_Vanz", "CLU11"), - ("CF_Clu_SPEED_UNIT", "CLU11"), - ("CF_Clu_DetentOut", "CLU11"), - ("CF_Clu_RheostatLevel", "CLU11"), - ("CF_Clu_CluInfo", "CLU11"), - ("CF_Clu_AmpInfo", "CLU11"), - ("CF_Clu_AliveCnt1", "CLU11"), - - ("CF_Clu_VehicleSpeed", "CLU15"), - - ("ACCEnable", "TCS13"), - ("ACC_REQ", "TCS13"), - ("DriverBraking", "TCS13"), - ("StandStill", "TCS13"), - ("PBRAKE_ACT", "TCS13"), - - ("ESC_Off_Step", "TCS15"), - ("AVH_LAMP", "TCS15"), - - ("CR_Mdps_StrColTq", "MDPS12"), - ("CF_Mdps_ToiActive", "MDPS12"), - ("CF_Mdps_ToiUnavail", "MDPS12"), - ("CF_Mdps_ToiFlt", "MDPS12"), - ("CR_Mdps_OutTq", "MDPS12"), - - ("SAS_Angle", "SAS11"), - ("SAS_Speed", "SAS11"), - ] - checks = [ + messages = [ # address, frequency ("MDPS12", 50), ("TCS13", 50), @@ -309,193 +255,68 @@ class CarState(CarStateBase): ] if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR: - signals += [ - ("MainMode_ACC", "SCC11"), - ("VSetDis", "SCC11"), - ("SCCInfoDisplay", "SCC11"), - ("ACC_ObjDist", "SCC11"), - ("ACCMode", "SCC12"), - ] - checks += [ + messages += [ ("SCC11", 50), ("SCC12", 50), ] - if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("FCA_CmdAct", "FCA11"), - ("CF_VSM_Warn", "FCA11"), - ("CF_VSM_DecCmdAct", "FCA11"), - ] - checks.append(("FCA11", 50)) - else: - signals += [ - ("AEB_CmdAct", "SCC12"), - ("CF_VSM_Warn", "SCC12"), - ("CF_VSM_DecCmdAct", "SCC12"), - ] + messages.append(("FCA11", 50)) if CP.enableBsm: - signals += [ - ("CF_Lca_IndLeft", "LCA11"), - ("CF_Lca_IndRight", "LCA11"), - ] - checks.append(("LCA11", 50)) + messages.append(("LCA11", 50)) if CP.carFingerprint in (HYBRID_CAR | EV_CAR): - if CP.carFingerprint in HYBRID_CAR: - signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11")) - else: - signals.append(("Accel_Pedal_Pos", "E_EMS11")) - checks.append(("E_EMS11", 50)) + messages.append(("E_EMS11", 50)) else: - signals += [ - ("PV_AV_CAN", "EMS12"), - ("CF_Ems_AclAct", "EMS16"), - ] - checks += [ + messages += [ ("EMS12", 100), ("EMS16", 100), ] if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: - signals.append(("CF_Clu_Gear", "CLU15")) + pass elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: - signals.append(("CUR_GR", "TCU12")) - checks.append(("TCU12", 100)) + messages.append(("TCU12", 100)) elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]: - signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) - checks.append(("ELECT_GEAR", 20)) + messages.append(("ELECT_GEAR", 20)) else: - signals.append(("CF_Lvr_Gear", "LVR12")) - checks.append(("LVR12", 100)) + messages.append(("LVR12", 100)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in CANFD_CAR: return CarState.get_cam_can_parser_canfd(CP) - signals = [ - # signal_name, signal_address - ("CF_Lkas_LdwsActivemode", "LKAS11"), - ("CF_Lkas_LdwsSysState", "LKAS11"), - ("CF_Lkas_SysWarning", "LKAS11"), - ("CF_Lkas_LdwsLHWarning", "LKAS11"), - ("CF_Lkas_LdwsRHWarning", "LKAS11"), - ("CF_Lkas_HbaLamp", "LKAS11"), - ("CF_Lkas_FcwBasReq", "LKAS11"), - ("CF_Lkas_HbaSysState", "LKAS11"), - ("CF_Lkas_FcwOpt", "LKAS11"), - ("CF_Lkas_HbaOpt", "LKAS11"), - ("CF_Lkas_FcwSysState", "LKAS11"), - ("CF_Lkas_FcwCollisionWarning", "LKAS11"), - ("CF_Lkas_FusionState", "LKAS11"), - ("CF_Lkas_FcwOpt_USM", "LKAS11"), - ("CF_Lkas_LdwsOpt_USM", "LKAS11"), - ] - checks = [ + messages = [ ("LKAS11", 100) ] if CP.carFingerprint in CAMERA_SCC_CAR: if CP.openpilotLongitudinalControl: if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("CF_VSM_Prefill", "FCA11"), - ("CF_VSM_HBACmd", "FCA11"), - ("CF_VSM_BeltCmd", "FCA11"), - ("CR_VSM_DecCmd", "FCA11"), - ("FCA_Status", "FCA11"), - ("FCA_StopReq", "FCA11"), - ("FCA_DrvSetStatus", "FCA11"), - ("FCA_Failinfo", "FCA11"), - ("CR_FCA_Alive", "FCA11"), - ("FCA_RelativeVelocity", "FCA11"), - ("FCA_TimetoCollision", "FCA11"), - ("CR_FCA_ChkSum", "FCA11"), - ("PAINT1_Status", "FCA11"), - ("FCA_CmdAct", "FCA11"), - ("CF_VSM_Warn", "FCA11"), - ("CF_VSM_DecCmdAct", "FCA11"), - - ("FCA_USM", "FCA12"), - ("FCA_DrvSetState", "FCA12"), - ] - checks += [ + messages += [ ("FCA11", 50), ("FCA12", 50), ] else: - signals += [ - ("MainMode_ACC", "SCC11"), - ("VSetDis", "SCC11"), - ("SCCInfoDisplay", "SCC11"), - ("ACC_ObjDist", "SCC11"), - ("ACCMode", "SCC12"), - ] - checks += [ + messages += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("FCA_CmdAct", "FCA11"), - ("CF_VSM_Warn", "FCA11"), - ("CF_VSM_DecCmdAct", "FCA11"), - ] - checks.append(("FCA11", 50)) - else: - signals += [ - ("AEB_CmdAct", "SCC12"), - ("CF_VSM_Warn", "SCC12"), - ("CF_VSM_DecCmdAct", "SCC12"), - ] + messages.append(("FCA11", 50)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) - @staticmethod - def get_can_parser_canfd(CP): - - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" - gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ - "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ - "GEAR_SHIFTER" - signals = [ - ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_3", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), - - ("GEAR", gear_msg), - - ("STEERING_RATE", "STEERING_SENSORS"), - ("STEERING_ANGLE", "STEERING_SENSORS"), - ("STEERING_COL_TORQUE", "MDPS"), - ("STEERING_OUT_TORQUE", "MDPS"), - ("LKA_FAULT", "MDPS"), - - ("DriverBraking", "TCS"), - ("ACCEnable", "TCS"), - ("ACC_REQ", "TCS"), - - ("COUNTER", cruise_btn_msg), - ("CRUISE_BUTTONS", cruise_btn_msg), - ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), - ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"), - - ("LEFT_LAMP", "BLINKERS"), - ("RIGHT_LAMP", "BLINKERS"), - - ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"), - ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), - ] - - checks = [ + def get_can_parser_canfd(self, CP): + messages = [ + (self.gear_msg_canfd, 100), + (self.cruise_btns_msg_canfd, 50), + (self.accelerator_msg_canfd, 100), ("WHEEL_SPEEDS", 100), - (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), @@ -504,75 +325,26 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] - if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): - checks.append(("CRUISE_BUTTONS", 50)) - if CP.enableBsm: - signals += [ - ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), - ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), - ] - checks += [ + messages += [ ("BLINDSPOTS_REAR_CORNERS", 20), ] if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: - signals += [ - ("ACCMode", "SCC_CONTROL"), - ("VSetDis", "SCC_CONTROL"), - ("CRUISE_STANDSTILL", "SCC_CONTROL"), - ] - checks += [ + messages += [ ("SCC_CONTROL", 50), ] - if CP.carFingerprint in EV_CAR: - signals += [ - ("ACCELERATOR_PEDAL", "ACCELERATOR"), - ] - checks += [ - ("ACCELERATOR", 100), - ] - elif CP.carFingerprint in HYBRID_CAR: - signals += [ - ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), - ] - checks += [ - ("ACCELERATOR_ALT", 100), - ] - else: - signals += [ - ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"), - ] - checks += [ - ("ACCELERATOR_BRAKE_ALT", 100), - ] - - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN) @staticmethod def get_cam_can_parser_canfd(CP): - signals = [] - checks = [] + messages = [] if CP.flags & HyundaiFlags.CANFD_HDA2: - signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] - checks += [("CAM_0x2a4", 20)] + messages += [("CAM_0x2a4", 20)] elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: - signals += [ - ("COUNTER", "SCC_CONTROL"), - ("NEW_SIGNAL_1", "SCC_CONTROL"), - ("MainMode_ACC", "SCC_CONTROL"), - ("ACCMode", "SCC_CONTROL"), - ("CRUISE_INACTIVE", "SCC_CONTROL"), - ("ZEROS_9", "SCC_CONTROL"), - ("CRUISE_STANDSTILL", "SCC_CONTROL"), - ("ZEROS_5", "SCC_CONTROL"), - ("DISTANCE_SETTING", "SCC_CONTROL"), - ("VSetDis", "SCC_CONTROL"), - ] - - checks += [ + messages += [ ("SCC_CONTROL", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 004f4aa2b6..7d5a19bede 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -7,7 +7,23 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): - values = lkas11 + values = {s: lkas11[s] for s in [ + "CF_Lkas_LdwsActivemode", + "CF_Lkas_LdwsSysState", + "CF_Lkas_SysWarning", + "CF_Lkas_LdwsLHWarning", + "CF_Lkas_LdwsRHWarning", + "CF_Lkas_HbaLamp", + "CF_Lkas_FcwBasReq", + "CF_Lkas_HbaSysState", + "CF_Lkas_FcwOpt", + "CF_Lkas_HbaOpt", + "CF_Lkas_FcwSysState", + "CF_Lkas_FcwCollisionWarning", + "CF_Lkas_FusionState", + "CF_Lkas_FcwOpt_USM", + "CF_Lkas_LdwsOpt_USM", + ]} values["CF_Lkas_LdwsSysState"] = sys_state values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 values["CF_Lkas_LdwsLHWarning"] = left_lane_depart @@ -21,7 +37,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 @@ -79,7 +95,20 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, def create_clu11(packer, frame, clu11, button, car_fingerprint): - values = clu11 + values = {s: clu11[s] for s in [ + "CF_Clu_CruiseSwState", + "CF_Clu_CruiseSwMain", + "CF_Clu_SldMainSW", + "CF_Clu_ParityBit1", + "CF_Clu_VanzDecimal", + "CF_Clu_Vanz", + "CF_Clu_SPEED_UNIT", + "CF_Clu_DetentOut", + "CF_Clu_RheostatLevel", + "CF_Clu_CluInfo", + "CF_Clu_AmpInfo", + "CF_Clu_AliveCnt1", + ]} values["CF_Clu_CruiseSwState"] = button values["CF_Clu_AliveCnt1"] = frame % 0x10 # send buttons to camera on camera-scc based cars diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 3717a45909..e78e02ae50 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,17 +1,15 @@ -import math - from common.numpy_fast import clip +from selfdrive.car import CanBusBase from selfdrive.car.hyundai.values import HyundaiFlags -class CanBus: - def __init__(self, CP, hda2=None, fingerprint=None): - if CP is None: - assert None not in (hda2, fingerprint) - num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) - else: +class CanBus(CanBusBase): + def __init__(self, CP, hda2=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + if hda2 is None: + assert CP is not None hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value - num = len(CP.safetyConfigs) # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars # have a different harness than the HDA1 and non-HDA variants in order to split @@ -20,10 +18,9 @@ class CanBus: if hda2: self._a, self._e = 0, 1 - offset = 4*(num - 1) - self._a += offset - self._e += offset - self._cam = 2 + offset + self._a += self.offset + self._e += self.offset + self._cam = 2 + self.offset @property def ECAN(self): @@ -63,11 +60,11 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): return ret -def create_cam_0x2a4(packer, CAN, camera_values): - camera_values.update({ - "BYTE7": 0, - }) - return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values) +def create_cam_0x2a4(packer, CAN, cam_0x2a4): + values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)} + values['COUNTER'] = cam_0x2a4['COUNTER'] + values["BYTE7"] = 0 + return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) def create_buttons(packer, CP, CAN, cnt, btn): values = { @@ -79,10 +76,33 @@ def create_buttons(packer, CP, CAN, cnt, btn): bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM return packer.make_can_msg("CRUISE_BUTTONS", bus, values) -def create_acc_cancel(packer, CAN, cruise_info_copy): - values = cruise_info_copy +def create_acc_cancel(packer, CP, CAN, cruise_info_copy): + # TODO: why do we copy different values here? + if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: + values = {s: cruise_info_copy[s] for s in [ + "COUNTER", + "CHECKSUM", + "NEW_SIGNAL_1", + "MainMode_ACC", + "ACCMode", + "ZEROS_9", + "CRUISE_STANDSTILL", + "ZEROS_5", + "DISTANCE_SETTING", + "VSetDis", + ]} + else: + values = {s: cruise_info_copy[s] for s in [ + "COUNTER", + "CHECKSUM", + "ACCMode", + "VSetDis", + "CRUISE_STANDSTILL", + ]} values.update({ "ACCMode": 4, + "aReqRaw": 0.0, + "aReqValue": 0.0, }) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6ae038c617..882db0cfc3 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -3,7 +3,8 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ + EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -26,7 +27,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6} hda2 = Ecu.adas in [fw.ecu for fw in car_fw] CAN = CanBus(None, hda2, fingerprint) @@ -132,7 +133,8 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.SANTA_CRUZ_1ST_GEN: ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim ret.wheelbase = 3.000 - ret.steerRatio = 14.2 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf + # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf + ret.steerRatio = 14.2 # Kia elif candidate == CAR.KIA_SORENTO: @@ -186,10 +188,10 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.9 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - elif candidate == CAR.IONIQ_5: - ret.mass = 2012 + STD_CARGO_KG - ret.wheelbase = 3.0 - ret.steerRatio = 16. + elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6): + ret.mass = 1948 + STD_CARGO_KG + ret.wheelbase = 2.97 + ret.steerRatio = 14.26 tire_stiffness_factor = 0.65 elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only @@ -202,12 +204,17 @@ class CarInterface(CarInterfaceBase): ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG else: ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG + elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: + ret.mass = 2087. + STD_CARGO_KG + ret.wheelbase = 3.09 + ret.steerRatio = 14.23 # Genesis elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: ret.mass = 2205 + STD_CARGO_KG ret.wheelbase = 2.9 - ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. + # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. + ret.steerRatio = 12.6 elif candidate == CAR.GENESIS_G70: ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG @@ -229,6 +236,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 + elif candidate == CAR.GENESIS_GV80: + ret.mass = 2258. + STD_CARGO_KG + ret.wheelbase = 2.95 + ret.steerRatio = 14.14 # *** longitudinal control *** if candidate in CANFD_CAR: @@ -308,7 +319,7 @@ class CarInterface(CarInterfaceBase): # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: - disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') + disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 4ecca542b5..7301ad18ce 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -14,20 +14,8 @@ def get_radar_can_parser(CP): if DBC[CP.carFingerprint]['radar'] is None: return None - signals = [] - checks = [] - - for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT): - msg = f"RADAR_TRACK_{addr:x}" - signals += [ - ("STATE", msg), - ("AZIMUTH", msg), - ("LONG_DIST", msg), - ("REL_ACCEL", msg), - ("REL_SPEED", msg), - ] - checks += [(msg, 50)] - return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1) + messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)] + return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1) class RadarInterface(RadarInterfaceBase): @@ -42,7 +30,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.radar_off_can or (self.rcp is None): - return super().update(None) + return None vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py new file mode 100755 index 0000000000..1bc8a4e366 --- /dev/null +++ b/selfdrive/car/hyundai/tests/print_platform_codes.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +from cereal import car +from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes + +Ecu = car.CarParams.Ecu +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + +if __name__ == "__main__": + for car_model, ecus in FW_VERSIONS.items(): + print() + print(car_model) + for ecu in sorted(ecus, key=lambda x: int(x[0])): + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + platform_codes = get_platform_codes(ecus[ecu]) + codes = {code for code, _ in platform_codes} + dates = {date for _, date in platform_codes if date is not None} + print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') + print(f' Codes: {codes}') + print(f' Dates: {dates}') diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index fba99ae74d..3d2b704e55 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,11 +2,38 @@ import unittest from cereal import car -from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR +from selfdrive.car.fw_versions import build_fw_dict +from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ + EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ + PLATFORM_CODE_ECUS, get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} +# Some platforms have date codes in a different format we don't yet parse (or are missing). +# For now, assert list of expected missing date cars +NO_DATES_PLATFORMS = { + # CAN FD + CAR.KIA_SPORTAGE_5TH_GEN, + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, + CAR.SANTA_CRUZ_1ST_GEN, + CAR.TUCSON_4TH_GEN, + CAR.TUCSON_HYBRID_4TH_GEN, + # CAN + CAR.ELANTRA, + CAR.KIA_CEED, + CAR.KIA_FORTE, + CAR.KIA_OPTIMA_G4, + CAR.KIA_OPTIMA_G4_FL, + CAR.KIA_SORENTO, + CAR.KONA, + CAR.KONA_EV, + CAR.KONA_EV_2022, + CAR.KONA_HEV, + CAR.SONATA_LF, + CAR.VELOSTER, +} + class TestHyundaiFingerprint(unittest.TestCase): def test_canfd_not_in_can_features(self): @@ -21,8 +48,129 @@ class TestHyundaiFingerprint(unittest.TestCase): for car_model in CANFD_CAR: ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} ecus_not_in_whitelist = ecus - whitelisted_ecus - ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist]) - self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}') + ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist]) + self.assertEqual(len(ecus_not_in_whitelist), 0, + f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}") + + def test_blacklisted_parts(self): + # Asserts no ECUs known to be shared across platforms exist in the database. + # Tucson having Santa Cruz camera and EPS for example + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + if car_model == CAR.SANTA_CRUZ_1ST_GEN: + raise unittest.SkipTest("Skip checking Santa Cruz for its parts") + + for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]): + if b"-" not in code: + continue + part = code.split(b"-")[1] + self.assertFalse(part.startswith(b'CW'), "Car has bad part number") + + # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy + # fingerprint in the absence of full FW matches: + def test_platform_code_ecus_available(self): + # TODO: add queries for these non-CAN FD cars to get EPS + no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, + CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80} + + # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + for platform_code_ecu in PLATFORM_CODE_ECUS: + if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS: + continue + if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms: + continue + self.assertIn(platform_code_ecu, [e[0] for e in ecus]) + + def test_fw_format(self): + # Asserts: + # - every supported ECU FW version returns one platform code + # - every supported ECU FW version has a part number + # - expected parsing of ECU FW dates + + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + for ecu, fws in ecus.items(): + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + codes = set() + for fw in fws: + result = get_platform_codes([fw]) + self.assertEqual(1, len(result), f"Unable to parse FW: {fw}") + codes |= result + + if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS: + self.assertTrue(all(date is None for _, date in codes)) + else: + self.assertTrue(all(date is not None for _, date in codes)) + + if car_model == CAR.HYUNDAI_GENESIS: + raise unittest.SkipTest("No part numbers for car model") + + # Hyundai places the ECU part number in their FW versions, assert all parsable + # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300" + self.assertTrue(all(b"-" in code for code, _ in codes), + f"FW does not have part number: {fw}") + + def test_platform_codes_spot_check(self): + # Asserts basic platform code parsing behavior for a few cases + results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"]) + self.assertEqual(results, {(b"DH", b"150210")}) + + # Some cameras and all radars do not have dates + results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "]) + self.assertEqual(results, {(b"AEhe-G2000", None)}) + + results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "]) + self.assertEqual(results, {(b"CV1-CV000", None)}) + + results = get_platform_codes([ + b"\xf1\x00DH LKAS 1.1 -150210", + b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ", + b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ", + ]) + self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}) + + results = get_platform_codes([ + b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222", + b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103", + b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405", + b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720", + ]) + self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"), + (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}) + + def test_fuzzy_excluded_platforms(self): + # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. + # This list can be shrunk as we combine platforms and detect features + excluded_platforms = { + CAR.GENESIS_G70, # shared platform code, part number, and date + CAR.GENESIS_G70_2020, + CAR.TUCSON_4TH_GEN, # shared platform code and part number + CAR.TUCSON_HYBRID_4TH_GEN, + } + excluded_platforms |= CANFD_CAR - EV_CAR # shared platform codes + excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match + + platforms_with_shared_codes = set() + for platform, fw_by_addr in FW_VERSIONS.items(): + car_fw = [] + for ecu, fw_versions in fw_by_addr.items(): + ecu_name, addr, sub_addr = ecu + for fw in fw_versions: + car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr, + "subAddress": 0 if sub_addr is None else sub_addr}) + + CP = car.CarParams.new_message(carFw=car_fw) + matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + if len(matches) == 1: + self.assertEqual(list(matches)[0], platform) + else: + platforms_with_shared_codes.add(platform) + + self.assertEqual(platforms_with_shared_codes, excluded_platforms) if __name__ == "__main__": diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index efd1578135..72408a6006 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,12 +1,14 @@ +# ruff: noqa: E501 +import re from dataclasses import dataclass from enum import Enum, IntFlag -from typing import Dict, List, Optional, Union +from typing import Dict, List, Optional, Set, Tuple, Union from cereal import car from panda.python import uds from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -91,6 +93,7 @@ class CAR: VELOSTER = "HYUNDAI VELOSTER 2019" SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" IONIQ_5 = "HYUNDAI IONIQ 5 2022" + IONIQ_6 = "HYUNDAI IONIQ 6 2023" TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN" SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" @@ -117,6 +120,7 @@ class CAR: KIA_STINGER_2022 = "KIA STINGER 2022" KIA_CEED = "KIA CEED INTRO ED 2019" KIA_EV6 = "KIA EV6 2022" + KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN" # Genesis GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN" @@ -125,13 +129,13 @@ class CAR: GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" GENESIS_G80 = "GENESIS G80 2017" GENESIS_G90 = "GENESIS G90 2017" + GENESIS_GV80 = "GENESIS GV80 2023" class Footnote(Enum): - # footnotes which mention "red panda" will be replaced with the CAN FD panda kit on the shop page CANFD = CarFootnote( - "Requires a red panda for this CAN FD car. " + - "All the hardware needed is sold in the CAN FD kit.", + "Requires a comma 3X or CAN FD panda kit " + + "for this CAN FD car.", Column.MODEL, shop_footnote=True) @@ -146,107 +150,131 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ - HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), - HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e), + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", + car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.HYUNDAI_GENESIS: [ - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages - HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + # TODO: check 2015 packages + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], - CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness - CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), - CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness=Harness.hyundai_h), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), - CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), - CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), - CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), + CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness + CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), + CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", + car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", + car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", + car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), - CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), + CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_q), - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q), + HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + ], + CAR.IONIQ_6: [ + # TODO: unknown + HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), ], CAR.TUCSON_4TH_GEN: [ - HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n), - HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n), + HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), # Kia - CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), - CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a), - CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + CAR.KIA_FORTE: [ + HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_NIRO_EV: [ + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_NIRO_PHEV: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], - CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), + CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", + car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019"), ], - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n), + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", + car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", + car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p) + HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) + ], + CAR.KIA_CARNIVAL_4TH_GEN: [ + HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], # Genesis CAR.GENESIS_GV60_EV_1ST_GEN: [ - HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness=Harness.hyundai_a), - HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness=Harness.hyundai_k), + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), - CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), - CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), + CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + CAR.GENESIS_GV70_1ST_GEN: [ + HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + ], + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), } class Buttons: @@ -334,6 +362,76 @@ FINGERPRINTS = { }], } + +def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]: + # Returns unique, platform-specific identification codes for a set of versions + codes = set() # (code-Optional[part], date) + for fw in fw_versions: + code_match = PLATFORM_CODE_FW_PATTERN.search(fw) + part_match = PART_NUMBER_FW_PATTERN.search(fw) + date_match = DATE_FW_PATTERN.search(fw) + if code_match is not None: + code: bytes = code_match.group() + part = part_match.group() if part_match else None + date = date_match.group() if date_match else None + if part is not None: + # part number starts with generic ECU part type, add what is specific to platform + code += b"-" + part[-5:] + + codes.add((code, date)) + return codes + + +def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: + # Non-electric CAN FD platforms often do not have platform code specifiers needed + # to distinguish between hybrid and ICE. All EVs so far are either exclusively + # electric or specify electric in the platform code. + fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR) + candidates = set() + + for candidate, fws in FW_VERSIONS.items(): + # Keep track of ECUs which pass all checks (platform codes, within date range) + valid_found_ecus = set() + valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} + for ecu, expected_versions in fws.items(): + addr = ecu[1:] + # Only check ECUs expected to have platform codes + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + # Expected platform codes & dates + codes = get_platform_codes(expected_versions) + expected_platform_codes = {code for code, _ in codes} + expected_dates = {date for _, date in codes if date is not None} + + # Found platform codes & dates + codes = get_platform_codes(live_fw_versions.get(addr, set())) + found_platform_codes = {code for code, _ in codes} + found_dates = {date for _, date in codes if date is not None} + + # Check platform code + part number matches for any found versions + if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): + break + + if ecu[0] in DATE_FW_ECUS: + # If ECU can have a FW date, require it to exist + # (this excludes candidates in the database without dates) + if not len(expected_dates) or not len(found_dates): + break + + # Check any date within range in the database, format is %y%m%d + if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates): + break + + valid_found_ecus.add(addr) + + # If all live ECUs pass all checks for candidate, add it as a match + if valid_expected_ecus.issubset(valid_found_ecus): + candidates.add(candidate) + + return candidates - fuzzy_platform_blacklist + + HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description @@ -347,6 +445,18 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER] HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) +# Regex patterns for parsing platform code, FW date, and part number from FW versions +PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] + + b')[A-Z]{2}[A-Za-z0-9]{0,2})') +DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)') +PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') + +# List of ECUs expected to have platform codes, camera and radar should exist on all cars +# TODO: use abs, it has the platform code and part number on many platforms +PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] +# So far we've only seen dates in fwdCamera +DATE_FW_ECUS = [Ecu.fwdCamera] + FW_QUERY_CONFIG = FwQueryConfig( requests=[ # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD @@ -403,6 +513,8 @@ FW_QUERY_CONFIG = FwQueryConfig( (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], + # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates: + match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) FW_VERSIONS = { @@ -534,14 +646,12 @@ FW_VERSIONS = { }, CAR.SONATA: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', - b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', - b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -556,6 +666,7 @@ FW_VERSIONS = { b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81HM6M1_0a0_F00', @@ -566,9 +677,11 @@ FW_VERSIONS = { b'\xf1\x82DNCVN5GMCCXXXG2B', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', b'\xf1\x87391162M003', b'\xf1\x87391162M013', b'\xf1\x87391162M023', + b'\xf1\x87391162M010', b'HM6M1_0a0_F00', b'HM6M1_0a0_G20', b'HM6M2_0a0_BD0', @@ -579,12 +692,11 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', @@ -593,11 +705,13 @@ FW_VERSIONS = { b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', + b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', @@ -610,12 +724,14 @@ FW_VERSIONS = { b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', + b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', @@ -744,7 +860,7 @@ FW_VERSIONS = { b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', - b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102' + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', @@ -782,10 +898,10 @@ FW_VERSIONS = { CAR.SANTA_FE_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', ], (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', @@ -794,8 +910,11 @@ FW_VERSIONS = { b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', + b'\xf1\x81HM6M1_0a0_H00', b'\xf1\x82TACVN5GMI3XXXH0A', b'\xf1\x82TMBZN5TMD3XXXG2E', b'\xf1\x82TACVN5GSI3XXXH0A', @@ -804,6 +923,7 @@ FW_VERSIONS = { b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', b'\xf1\x81HM6M2_0a0_G00', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', @@ -814,8 +934,11 @@ FW_VERSIONS = { b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', @@ -827,6 +950,7 @@ FW_VERSIONS = { b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', ], }, CAR.SANTA_FE_HEV_2022: { @@ -835,19 +959,25 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x87391312MTC1', b'\xf1\x87391312MTE0', + b'\xf1\x87391312MTL0', ], }, CAR.SANTA_FE_PHEV_2022: { @@ -1086,12 +1216,14 @@ FW_VERSIONS = { b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', @@ -1105,6 +1237,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.GENESIS_G80: { @@ -1127,7 +1260,10 @@ FW_VERSIONS = { ], }, CAR.GENESIS_G90: { - (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + ], (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], @@ -1156,21 +1292,27 @@ FW_VERSIONS = { b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x01TBDM1NU06F200H01', b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", ], @@ -1319,6 +1461,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', ], }, CAR.KIA_NIRO_PHEV: { @@ -1462,10 +1605,8 @@ FW_VERSIONS = { b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106', - b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', - b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', @@ -1503,6 +1644,7 @@ FW_VERSIONS = { b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', @@ -1549,8 +1691,8 @@ FW_VERSIONS = { }, CAR.SONATA_HYBRID: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', ], @@ -1558,23 +1700,27 @@ FW_VERSIONS = { b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\000PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e', - b'\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab', - b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x87391162J012', b'\xf1\x87391162J013', + b'\xf1\x87391162J014', b'\xf1\x87391062J002', ], }, @@ -1615,6 +1761,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', ], }, @@ -1631,13 +1778,21 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + ], + }, + CAR.IONIQ_6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', ], }, CAR.TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', @@ -1649,9 +1804,11 @@ FW_VERSIONS = { b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { @@ -1681,16 +1838,19 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', ], }, CAR.GENESIS_GV70_1ST_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', ], }, CAR.GENESIS_GV60_EV_1ST_GEN: { @@ -1722,10 +1882,29 @@ FW_VERSIONS = { b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', ], }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, + CAR.KIA_CARNIVAL_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', + b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', + ], + }, } CHECKSUM = { - "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020], + "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, + CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020], "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } @@ -1733,22 +1912,34 @@ CAN_GEARS = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, - "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, + CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, + CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, + CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, + CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, + CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} +# these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, + CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} + +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, + CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, + CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. @@ -1800,6 +1991,7 @@ DBC = { CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), + CAR.IONIQ_6: dbc_dict('hyundai_canfd', None), CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), @@ -1809,4 +2001,6 @@ DBC = { CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), + CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e5d7430878..0c1a8e3db1 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,6 +1,5 @@ import yaml import os -import time from abc import abstractmethod, ABC from typing import Any, Dict, Optional, Tuple, List, Callable @@ -115,7 +114,8 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): + def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], + car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError @staticmethod @@ -131,8 +131,7 @@ class CarInterfaceBase(ABC): def get_steer_feedforward_function(self): return self.get_steer_feedforward_default - @staticmethod - def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, + def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) @@ -312,14 +311,9 @@ class RadarInterfaceBase(ABC): self.rcp = None self.pts = {} self.delay = 0 - self.radar_ts = CP.radarTimeStep - self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ def update(self, can_strings): - ret = car.RadarData.new_message() - if not self.no_radar_sleep: - time.sleep(self.radar_ts) # radard runs on RI updates - return ret + pass class CarStateBase(ABC): diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 965d2e1836..93033126a0 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -90,12 +90,14 @@ class IsoTpParallelQuery: for addr in self.functional_addrs: self._create_isotp_msg(addr, None, -1).send(self.request[0]) - # If querying functional addrs, set up physical IsoTpMessages to send consecutive frames + # Send first frame (single or first) to all addresses and receive asynchronously in the loop below. + # If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames for msg in msgs.values(): msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0) results = {} start_time = time.monotonic() + addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} while True: self.rx() @@ -110,14 +112,21 @@ class IsoTpParallelQuery: # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses if rx_in_progress: + addrs_responded.add(tx_addr) response_timeouts[tx_addr] = time.monotonic() + timeout - if not dat: + if dat is None: + continue + + # Log unexpected empty responses + if len(dat) == 0: + cloudlog.error(f"iso-tp query empty response: {tx_addr}") + request_done[tx_addr] = True continue counter = request_counter[tx_addr] expected_response = self.response[counter] - response_valid = dat[:len(expected_response)] == expected_response + response_valid = dat.startswith(expected_response) if response_valid: if counter + 1 < len(self.request): @@ -140,8 +149,14 @@ class IsoTpParallelQuery: cur_time = time.monotonic() for tx_addr in response_timeouts: if cur_time - response_timeouts[tx_addr] > 0: - if request_counter[tx_addr] > 0 and not request_done[tx_addr]: - cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") + if not request_done[tx_addr]: + if request_counter[tx_addr] > 0: + cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}") + elif tx_addr in addrs_responded: + cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}") + # TODO: handle functional addresses + # else: + # cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}") request_done[tx_addr] = True # Break if all requests are done (finished or timed out) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 944d79809b..d782e59dee 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -38,8 +38,8 @@ class CarState(CarStateBase): ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"]) - ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1 - ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1 + ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0 + ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0 ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1, cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1) @@ -107,22 +107,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("LEFT_BLINK", "BLINK_INFO"), - ("RIGHT_BLINK", "BLINK_INFO"), - ("HIGH_BEAMS", "BLINK_INFO"), - ("STEER_ANGLE", "STEER"), - ("STEER_ANGLE_RATE", "STEER_RATE"), - ("STEER_TORQUE_SENSOR", "STEER_TORQUE"), - ("STEER_TORQUE_MOTOR", "STEER_TORQUE"), - ("FL", "WHEEL_SPEEDS"), - ("FR", "WHEEL_SPEEDS"), - ("RL", "WHEEL_SPEEDS"), - ("RR", "WHEEL_SPEEDS"), - ] - - checks = [ + messages = [ # sig_address, frequency ("BLINK_INFO", 10), ("STEER", 67), @@ -132,30 +117,7 @@ class CarState(CarStateBase): ] if CP.carFingerprint in GEN1: - signals += [ - ("LKAS_BLOCK", "STEER_RATE"), - ("LKAS_TRACK_STATE", "STEER_RATE"), - ("HANDS_OFF_5_SECONDS", "STEER_RATE"), - ("CRZ_ACTIVE", "CRZ_CTRL"), - ("CRZ_AVAILABLE", "CRZ_CTRL"), - ("CRZ_SPEED", "CRZ_EVENTS"), - ("STANDSTILL", "PEDALS"), - ("BRAKE_ON", "PEDALS"), - ("BRAKE_PRESSURE", "BRAKE"), - ("GEAR", "GEAR"), - ("DRIVER_SEATBELT", "SEATBELT"), - ("FL", "DOORS"), - ("FR", "DOORS"), - ("BL", "DOORS"), - ("BR", "DOORS"), - ("PEDAL_GAS", "ENGINE_DATA"), - ("SPEED", "ENGINE_DATA"), - ("CTR", "CRZ_BTNS"), - ("LEFT_BS1", "BSM"), - ("RIGHT_BS1", "BSM"), - ] - - checks += [ + messages += [ ("ENGINE_DATA", 100), ("CRZ_CTRL", 50), ("CRZ_EVENTS", 50), @@ -168,41 +130,17 @@ class CarState(CarStateBase): ("BSM", 10), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.carFingerprint in GEN1: - signals += [ - # sig_name, sig_address - ("LKAS_REQUEST", "CAM_LKAS"), - ("CTR", "CAM_LKAS"), - ("ERR_BIT_1", "CAM_LKAS"), - ("LINE_NOT_VISIBLE", "CAM_LKAS"), - ("BIT_1", "CAM_LKAS"), - ("ERR_BIT_2", "CAM_LKAS"), - ("STEERING_ANGLE", "CAM_LKAS"), - ("ANGLE_ENABLED", "CAM_LKAS"), - ("CHKSUM", "CAM_LKAS"), - - ("LINE_VISIBLE", "CAM_LANEINFO"), - ("LINE_NOT_VISIBLE", "CAM_LANEINFO"), - ("LANE_LINES", "CAM_LANEINFO"), - ("BIT1", "CAM_LANEINFO"), - ("BIT2", "CAM_LANEINFO"), - ("BIT3", "CAM_LANEINFO"), - ("NO_ERR_BIT", "CAM_LANEINFO"), - ("S1", "CAM_LANEINFO"), - ("S1_HBEAM", "CAM_LANEINFO"), - ] - - checks += [ + messages += [ # sig_address, frequency ("CAM_LANEINFO", 2), ("CAM_LKAS", 16), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index e2ee93e022..58a505f917 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,5 +1,3 @@ -import copy - from selfdrive.car.mazda.values import GEN1, Buttons @@ -46,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): csum = csum % 256 + values = {} if car_fingerprint in GEN1: values = { "LKAS_REQUEST": apply_steer, @@ -64,7 +63,17 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool): - values = copy.copy(cam_msg) + values = {s: cam_msg[s] for s in [ + "LINE_VISIBLE", + "LINE_NOT_VISIBLE", + "LANE_LINES", + "BIT1", + "BIT2", + "BIT3", + "NO_ERR_BIT", + "S1", + "S1_HBEAM", + ]} values.update({ # TODO: what's the difference between all these? do we need to send all? "HANDS_WARN_3_BITS": 0b111 if steer_required else 0, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 8f993e2651..fbdf8961af 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -1,10 +1,9 @@ -from dataclasses import dataclass -from enum import Enum +from dataclasses import dataclass, field from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -38,7 +37,7 @@ class CAR: @dataclass class MazdaCarInfo(CarInfo): package: str = "All" - harness: Enum = Harness.mazda + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { @@ -71,6 +70,13 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], ), + # Log responses on powertrain bus + Request( + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + bus=0, + logging=True, + ), ], ) @@ -82,6 +88,8 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -94,10 +102,13 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, @@ -179,6 +190,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -203,10 +215,12 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 45c3dd720c..2c628b102d 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -26,13 +26,11 @@ class CarController: can_sends = [] ### STEER ### - lkas_hud_msg = CS.lkas_hud_msg - lkas_hud_info_msg = CS.lkas_hud_info_msg steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if CC.latActive: # windup slower - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams) # Max torque from driver before EPS will give up and not apply torque if not bool(CS.out.steeringPressed): @@ -63,16 +61,17 @@ class CarController: can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd)) can_sends.append(nissancan.create_steering_control( - self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque)) + self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque)) - if lkas_hud_msg and lkas_hud_info_msg: + # Below are the HUD messages. We copy the stock message and modify + if self.CP.carFingerprint != CAR.ALTIMA: if self.frame % 2 == 0: - can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( - self.packer, lkas_hud_info_msg, steer_hud_alert + self.packer, CS.lkas_hud_info_msg, steer_hud_alert )) new_actuators = actuators.copy() diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index d6b6d17d55..f17e2d8dc4 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -14,8 +14,8 @@ class CarState(CarStateBase): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.lkas_hud_msg = None - self.lkas_hud_info_msg = None + self.lkas_hud_msg = {} + self.lkas_hud_info_msg = {} self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES) self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] @@ -119,29 +119,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR"), - - ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), - - ("DOOR_OPEN_FR", "DOORS_LIGHTS"), - ("DOOR_OPEN_FL", "DOORS_LIGHTS"), - ("DOOR_OPEN_RR", "DOORS_LIGHTS"), - ("DOOR_OPEN_RL", "DOORS_LIGHTS"), - - ("RIGHT_BLINKER", "LIGHTS"), - ("LEFT_BLINKER", "LIGHTS"), - - ("ESP_DISABLED", "ESP"), - - ("GEAR_SHIFTER", "GEARBOX"), - ] - - checks = [ + messages = [ # sig_address, frequency ("STEER_ANGLE_SENSOR", 100), ("WHEEL_SPEEDS_REAR", 50), @@ -153,50 +131,14 @@ class CarState(CarStateBase): ] if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): - signals += [ - ("USER_BRAKE_PRESSED", "DOORS_LIGHTS"), - - ("GAS_PEDAL", "GAS_PEDAL"), - ("SEATBELT_DRIVER_LATCHED", "HUD"), - ("SPEED_MPH", "HUD"), - - ("PROPILOT_BUTTON", "CRUISE_THROTTLE"), - ("CANCEL_BUTTON", "CRUISE_THROTTLE"), - ("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE"), - ("SET_BUTTON", "CRUISE_THROTTLE"), - ("RES_BUTTON", "CRUISE_THROTTLE"), - ("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE"), - ("NO_BUTTON_PRESSED", "CRUISE_THROTTLE"), - ("GAS_PEDAL", "CRUISE_THROTTLE"), - ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), - ("NEW_SIGNAL_2", "CRUISE_THROTTLE"), - ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"), - ("unsure1", "CRUISE_THROTTLE"), - ("unsure2", "CRUISE_THROTTLE"), - ("unsure3", "CRUISE_THROTTLE"), - ] - - checks += [ + messages += [ ("GAS_PEDAL", 100), ("CRUISE_THROTTLE", 50), ("HUD", 25), ] elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): - signals += [ - ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), - ("GAS_PEDAL", "CRUISE_THROTTLE"), - ("CRUISE_AVAILABLE", "CRUISE_THROTTLE"), - ("SPEED_MPH", "HUD_SETTINGS"), - ("SEATBELT_DRIVER_LATCHED", "SEATBELT"), - - # Copy other values, we use this to cancel - ("CANCEL_SEATBELT", "CANCEL_MSG"), - ("NEW_SIGNAL_1", "CANCEL_MSG"), - ("NEW_SIGNAL_2", "CANCEL_MSG"), - ("NEW_SIGNAL_3", "CANCEL_MSG"), - ] - checks += [ + messages += [ ("BRAKE_PEDAL", 100), ("CRUISE_THROTTLE", 50), ("CANCEL_MSG", 50), @@ -205,126 +147,28 @@ class CarState(CarStateBase): ] if CP.carFingerprint == CAR.ALTIMA: - signals += [ - ("LKAS_ENABLED", "LKAS_SETTINGS"), - ("CRUISE_ENABLED", "CRUISE_STATE"), - ("SET_SPEED", "PROPILOT_HUD"), - ] - checks += [ + messages += [ ("CRUISE_STATE", 10), ("LKAS_SETTINGS", 10), ("PROPILOT_HUD", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1) - signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR")) - checks.append(("STEER_TORQUE_SENSOR", 100)) + messages.append(("STEER_TORQUE_SENSOR", 100)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_adas_can_parser(CP): # this function generates lists for signal, messages and initial values if CP.carFingerprint == CAR.ALTIMA: - signals = [ - ("DESIRED_ANGLE", "LKAS"), - ("SET_0x80_2", "LKAS"), - ("MAX_TORQUE", "LKAS"), - ("SET_0x80", "LKAS"), - ("COUNTER", "LKAS"), - ("LKA_ACTIVE", "LKAS"), - - ("CRUISE_ON", "PRO_PILOT"), - ] - checks = [ + messages = [ ("LKAS", 100), ("PRO_PILOT", 100), ] else: - signals = [ - # sig_name, sig_address - ("LKAS_ENABLED", "LKAS_SETTINGS"), - - ("CRUISE_ENABLED", "CRUISE_STATE"), - - ("DESIRED_ANGLE", "LKAS"), - ("SET_0x80_2", "LKAS"), - ("MAX_TORQUE", "LKAS"), - ("SET_0x80", "LKAS"), - ("COUNTER", "LKAS"), - ("LKA_ACTIVE", "LKAS"), - - # Below are the HUD messages. We copy the stock message and modify - ("LARGE_WARNING_FLASHING", "PROPILOT_HUD"), - ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD"), - ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD"), - ("LEAD_CAR", "PROPILOT_HUD"), - ("LEAD_CAR_ERROR", "PROPILOT_HUD"), - ("FRONT_RADAR_ERROR", "PROPILOT_HUD"), - ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD"), - ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD"), - ("LKAS_ERROR_FLASHING", "PROPILOT_HUD"), - ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD"), - ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD"), - ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD"), - ("FOLLOW_DISTANCE", "PROPILOT_HUD"), - ("AUDIBLE_TONE", "PROPILOT_HUD"), - ("SPEED_SET_ICON", "PROPILOT_HUD"), - ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD"), - ("unknown59", "PROPILOT_HUD"), - ("unknown55", "PROPILOT_HUD"), - ("unknown26", "PROPILOT_HUD"), - ("unknown28", "PROPILOT_HUD"), - ("unknown31", "PROPILOT_HUD"), - ("SET_SPEED", "PROPILOT_HUD"), - ("unknown43", "PROPILOT_HUD"), - ("unknown08", "PROPILOT_HUD"), - ("unknown05", "PROPILOT_HUD"), - ("unknown02", "PROPILOT_HUD"), - - ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG"), - ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG"), - ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG"), - ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"), - ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"), - ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"), - ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"), - ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG"), - ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG"), - ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG"), - ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG"), - ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG"), - ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG"), - ("unknown07", "PROPILOT_HUD_INFO_MSG"), - ("unknown10", "PROPILOT_HUD_INFO_MSG"), - ("unknown15", "PROPILOT_HUD_INFO_MSG"), - ("unknown23", "PROPILOT_HUD_INFO_MSG"), - ("unknown19", "PROPILOT_HUD_INFO_MSG"), - ("unknown31", "PROPILOT_HUD_INFO_MSG"), - ("unknown32", "PROPILOT_HUD_INFO_MSG"), - ("unknown46", "PROPILOT_HUD_INFO_MSG"), - ("unknown61", "PROPILOT_HUD_INFO_MSG"), - ("unknown55", "PROPILOT_HUD_INFO_MSG"), - ("unknown50", "PROPILOT_HUD_INFO_MSG"), - ] - - checks = [ + messages = [ ("PROPILOT_HUD_INFO_MSG", 2), ("LKAS_SETTINGS", 10), ("CRUISE_STATE", 50), @@ -332,19 +176,16 @@ class CarState(CarStateBase): ("LKAS", 100), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL): - signals.append(("CRUISE_ON", "PRO_PILOT")) - checks.append(("PRO_PILOT", 100)) + messages.append(("PRO_PILOT", 100)) elif CP.carFingerprint == CAR.ALTIMA: - signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR")) - checks.append(("STEER_TORQUE_SENSOR", 100)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + messages.append(("STEER_TORQUE_SENSOR", 100)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1) diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 573dff9f05..f26dea43af 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase): be.type = car.CarState.ButtonEvent.Type.accelCruise buttonEvents.append(be) - events = self.create_common_events(ret) + events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake]) if self.CS.lkas_enabled: events.add(car.CarEvent.EventName.invalidLkasSetting) diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index 01fb3463a9..89754775b1 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -1,4 +1,3 @@ -import copy import crcmod from selfdrive.car.nissan.values import CAR @@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): - values = copy.copy(cruise_throttle_msg) + values = {s: cruise_throttle_msg[s] for s in [ + "COUNTER", + "PROPILOT_BUTTON", + "CANCEL_BUTTON", + "GAS_PEDAL_INVERTED", + "SET_BUTTON", + "RES_BUTTON", + "FOLLOW_DISTANCE_BUTTON", + "NO_BUTTON_PRESSED", + "GAS_PEDAL", + "USER_BRAKE_PRESSED", + "NEW_SIGNAL_2", + "GAS_PRESSED_INVERTED", + "unsure1", + "unsure2", + "unsure3", + ]} can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2 values["CANCEL_BUTTON"] = 1 @@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): def create_cancel_msg(packer, cancel_msg, cruise_cancel): - values = copy.copy(cancel_msg) + values = {s: cancel_msg[s] for s in [ + "CANCEL_SEATBELT", + "NEW_SIGNAL_1", + "NEW_SIGNAL_2", + "NEW_SIGNAL_3", + ]} if cruise_cancel: values["CANCEL_SEATBELT"] = 1 @@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel): def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart): - values = lkas_hud_msg + values = {s: lkas_hud_msg[s] for s in [ + "LARGE_WARNING_FLASHING", + "SIDE_RADAR_ERROR_FLASHING1", + "SIDE_RADAR_ERROR_FLASHING2", + "LEAD_CAR", + "LEAD_CAR_ERROR", + "FRONT_RADAR_ERROR", + "FRONT_RADAR_ERROR_FLASHING", + "SIDE_RADAR_ERROR_FLASHING3", + "LKAS_ERROR_FLASHING", + "SAFETY_SHIELD_ACTIVE", + "RIGHT_LANE_GREEN_FLASH", + "LEFT_LANE_GREEN_FLASH", + "FOLLOW_DISTANCE", + "AUDIBLE_TONE", + "SPEED_SET_ICON", + "SMALL_STEERING_WHEEL_ICON", + "unknown59", + "unknown55", + "unknown26", + "unknown28", + "unknown31", + "SET_SPEED", + "unknown43", + "unknown08", + "unknown05", + "unknown02", + ]} values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0 values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0 @@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert): - values = lkas_hud_info_msg + values = {s: lkas_hud_info_msg[s] for s in [ + "NA_HIGH_ACCEL_TEMP", + "SIDE_RADAR_NA_HIGH_CABIN_TEMP", + "SIDE_RADAR_MALFUNCTION", + "LKAS_MALFUNCTION", + "FRONT_RADAR_MALFUNCTION", + "SIDE_RADAR_NA_CLEAN_REAR_CAMERA", + "NA_POOR_ROAD_CONDITIONS", + "CURRENTLY_UNAVAILABLE", + "SAFETY_SHIELD_OFF", + "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", + "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", + "SIDE_IMPACT_NA_RADAR_OBSTRUCTION", + "WARNING_DO_NOT_ENTER", + "SIDE_IMPACT_SYSTEM_OFF", + "SIDE_IMPACT_MALFUNCTION", + "FRONT_COLLISION_MALFUNCTION", + "SIDE_RADAR_MALFUNCTION2", + "LKAS_MALFUNCTION2", + "FRONT_RADAR_MALFUNCTION2", + "PROPILOT_NA_MSGS", + "BOTTOM_MSG", + "HANDS_ON_WHEEL_WARNING", + "WARNING_STEP_ON_BRAKE_NOW", + "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", + "PROPILOT_NA_HIGH_CABIN_TEMP", + "WARNING_PROPILOT_MALFUNCTION", + "ACC_UNAVAILABLE_HIGH_CABIN_TEMP", + "ACC_NA_FRONT_CAMERA_IMPARED", + "unknown07", + "unknown10", + "unknown15", + "unknown23", + "unknown19", + "unknown31", + "unknown32", + "unknown46", + "unknown61", + "unknown55", + "unknown50", + ]} if steer_hud_alert: values["HANDS_ON_WHEEL_WARNING"] = 1 diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index d0f0aa93c9..e1970ded48 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,11 +1,11 @@ -from dataclasses import dataclass +# ruff: noqa: E501 +from dataclasses import dataclass, field from typing import Dict, List, Optional, Union -from enum import Enum from cereal import car from panda.python import uds from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -34,7 +34,7 @@ class CAR: @dataclass class NissanCarInfo(CarInfo): package: str = "ProPILOT Assist" - harness: Enum = Harness.nissan_a + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a])) CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { @@ -42,7 +42,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), - CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b), + CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), } FINGERPRINTS = { @@ -80,8 +80,8 @@ FINGERPRINTS = { ] } -NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0]) -NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0]) +NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' @@ -169,9 +169,9 @@ FW_VERSIONS = { } DBC = { - CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None), - CAR.LEAF: dbc_dict('nissan_leaf_2018', None), - CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None), - CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None), - CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None), + CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), + CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), + CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None), + CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None), + CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None), } diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index c4246b3806..b37c88797a 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags +from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags class CarController: @@ -10,10 +10,6 @@ class CarController: self.apply_steer_last = 0 self.frame = 0 - self.es_lkas_state_cnt = -1 - self.es_distance_cnt = -1 - self.es_dashstatus_cnt = -1 - self.infotainmentstatus_cnt = -1 self.cruise_button_prev = 0 self.last_cancel_frame = 0 @@ -29,7 +25,6 @@ class CarController: # *** steering *** if (self.frame % self.p.STEER_STEP) == 0: - apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) # limits due to driver torque @@ -41,17 +36,16 @@ class CarController: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive)) self.apply_steer_last = apply_steer # *** alerts and pcm cancel *** - if self.CP.carFingerprint in PREGLOBAL_CARS: - if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: + if self.frame % 5 == 0: # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep # disengage ACC when OP is disengaged if pcm_cancel_cmd: @@ -68,27 +62,22 @@ class CarController: self.cruise_button_prev = cruise_button can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) - self.es_distance_cnt = CS.es_distance_msg["COUNTER"] else: if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2: - bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0 + bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) self.last_cancel_frame = self.frame - if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]: + if self.frame % 10 == 0: can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) - self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] - if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]: can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"] - if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]: - can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) - self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"] + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index e83129a71d..da8f88ed02 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags +from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags class CarState(CarStateBase): @@ -69,6 +69,7 @@ class CarState(CarStateBase): cp.vl["BodyInfo"]["DOOR_OPEN_FL"]]) ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 + cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam if self.car_fingerprint in PREGLOBAL_CARS: self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] @@ -76,86 +77,42 @@ class CarState(CarStateBase): ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 - ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2 + ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \ + (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2) + # 8 is known AEB, there are a few other values related to AEB we ignore + ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ + (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) - cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: - self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"]) + self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"]) return ret @staticmethod - def get_common_global_signals(): - signals = [ - ("Cruise_On", "CruiseControl"), - ("Cruise_Activated", "CruiseControl"), - ("FL", "Wheel_Speeds"), - ("FR", "Wheel_Speeds"), - ("RL", "Wheel_Speeds"), - ("RR", "Wheel_Speeds"), - ("Brake", "Brake_Status"), - ] - checks = [ + def get_common_global_body_messages(): + messages = [ ("CruiseControl", 20), ("Wheel_Speeds", 50), ("Brake_Status", 50), ] - return signals, checks + return messages @staticmethod - def get_global_es_distance_signals(): - signals = [ - ("COUNTER", "ES_Distance"), - ("Signal1", "ES_Distance"), - ("Cruise_Fault", "ES_Distance"), - ("Cruise_Throttle", "ES_Distance"), - ("Signal2", "ES_Distance"), - ("Car_Follow", "ES_Distance"), - ("Signal3", "ES_Distance"), - ("Cruise_Soft_Disable", "ES_Distance"), - ("Signal7", "ES_Distance"), - ("Cruise_Brake_Active", "ES_Distance"), - ("Distance_Swap", "ES_Distance"), - ("Cruise_EPB", "ES_Distance"), - ("Signal4", "ES_Distance"), - ("Close_Distance", "ES_Distance"), - ("Signal5", "ES_Distance"), - ("Cruise_Cancel", "ES_Distance"), - ("Cruise_Set", "ES_Distance"), - ("Cruise_Resume", "ES_Distance"), - ("Signal6", "ES_Distance"), - ] - checks = [ + def get_common_global_es_messages(): + messages = [ + ("ES_Brake", 20), ("ES_Distance", 20), ] - return signals, checks + return messages @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("Steer_Torque_Sensor", "Steering_Torque"), - ("Steer_Torque_Output", "Steering_Torque"), - ("Steering_Angle", "Steering_Torque"), - ("Steer_Error_1", "Steering_Torque"), - ("Brake_Pedal", "Brake_Pedal"), - ("Throttle_Pedal", "Throttle"), - ("LEFT_BLINKER", "Dashlights"), - ("RIGHT_BLINKER", "Dashlights"), - ("SEATBELT_FL", "Dashlights"), - ("DOOR_OPEN_FR", "BodyInfo"), - ("DOOR_OPEN_FL", "BodyInfo"), - ("DOOR_OPEN_RR", "BodyInfo"), - ("DOOR_OPEN_RL", "BodyInfo"), - ("Gear", "Transmission"), - ] - - checks = [ + messages = [ # sig_address, frequency ("Throttle", 100), ("Dashlights", 10), @@ -166,160 +123,63 @@ class CarState(CarStateBase): ] if CP.enableBsm: - signals += [ - ("L_ADJACENT", "BSD_RCTA"), - ("R_ADJACENT", "BSD_RCTA"), - ("L_APPROACHING", "BSD_RCTA"), - ("R_APPROACHING", "BSD_RCTA"), - ] - checks.append(("BSD_RCTA", 17)) + messages.append(("BSD_RCTA", 17)) if CP.carFingerprint not in PREGLOBAL_CARS: if CP.carFingerprint not in GLOBAL_GEN2: - signals += CarState.get_common_global_signals()[0] - checks += CarState.get_common_global_signals()[1] + messages += CarState.get_common_global_body_messages() - signals += [ - ("Steer_Warning", "Steering_Torque"), - ("UNITS", "Dashlights"), - ] - - checks += [ + messages += [ ("Dashlights", 10), ("BodyInfo", 10), ] else: - signals += [ - ("FL", "Wheel_Speeds"), - ("FR", "Wheel_Speeds"), - ("RL", "Wheel_Speeds"), - ("RR", "Wheel_Speeds"), - ("UNITS", "Dash_State2"), - ("Cruise_On", "CruiseControl"), - ("Cruise_Activated", "CruiseControl"), - ] - checks += [ + messages += [ ("Wheel_Speeds", 50), ("Dash_State2", 1), ] if CP.carFingerprint == CAR.FORESTER_PREGLOBAL: - checks += [ + messages += [ ("Dashlights", 20), ("BodyInfo", 1), ("CruiseControl", 50), ] if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): - checks += [ + messages += [ ("Dashlights", 10), ("CruiseControl", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in PREGLOBAL_CARS: - signals = [ - ("Cruise_Set_Speed", "ES_DashStatus"), - ("Not_Ready_Startup", "ES_DashStatus"), - - ("Cruise_Throttle", "ES_Distance"), - ("Signal1", "ES_Distance"), - ("Car_Follow", "ES_Distance"), - ("Signal2", "ES_Distance"), - ("Brake_On", "ES_Distance"), - ("Distance_Swap", "ES_Distance"), - ("Standstill", "ES_Distance"), - ("Signal3", "ES_Distance"), - ("Close_Distance", "ES_Distance"), - ("Signal4", "ES_Distance"), - ("Standstill_2", "ES_Distance"), - ("Cruise_Fault", "ES_Distance"), - ("Signal5", "ES_Distance"), - ("COUNTER", "ES_Distance"), - ("Signal6", "ES_Distance"), - ("Cruise_Button", "ES_Distance"), - ("Signal7", "ES_Distance"), - ] - - checks = [ + messages = [ ("ES_DashStatus", 20), ("ES_Distance", 20), ] else: - signals = [ - ("COUNTER", "ES_DashStatus"), - ("PCB_Off", "ES_DashStatus"), - ("LDW_Off", "ES_DashStatus"), - ("Signal1", "ES_DashStatus"), - ("Cruise_State_Msg", "ES_DashStatus"), - ("LKAS_State_Msg", "ES_DashStatus"), - ("Signal2", "ES_DashStatus"), - ("Cruise_Soft_Disable", "ES_DashStatus"), - ("EyeSight_Status_Msg", "ES_DashStatus"), - ("Signal3", "ES_DashStatus"), - ("Cruise_Distance", "ES_DashStatus"), - ("Signal4", "ES_DashStatus"), - ("Conventional_Cruise", "ES_DashStatus"), - ("Signal5", "ES_DashStatus"), - ("Cruise_Disengaged", "ES_DashStatus"), - ("Cruise_Activated", "ES_DashStatus"), - ("Signal6", "ES_DashStatus"), - ("Cruise_Set_Speed", "ES_DashStatus"), - ("Cruise_Fault", "ES_DashStatus"), - ("Cruise_On", "ES_DashStatus"), - ("Display_Own_Car", "ES_DashStatus"), - ("Brake_Lights", "ES_DashStatus"), - ("Car_Follow", "ES_DashStatus"), - ("Signal7", "ES_DashStatus"), - ("Far_Distance", "ES_DashStatus"), - ("Cruise_State", "ES_DashStatus"), - - ("COUNTER", "ES_LKAS_State"), - ("LKAS_Alert_Msg", "ES_LKAS_State"), - ("Signal1", "ES_LKAS_State"), - ("LKAS_ACTIVE", "ES_LKAS_State"), - ("LKAS_Dash_State", "ES_LKAS_State"), - ("Signal2", "ES_LKAS_State"), - ("Backward_Speed_Limit_Menu", "ES_LKAS_State"), - ("LKAS_Left_Line_Enable", "ES_LKAS_State"), - ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"), - ("LKAS_Right_Line_Enable", "ES_LKAS_State"), - ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"), - ("LKAS_Left_Line_Visible", "ES_LKAS_State"), - ("LKAS_Right_Line_Visible", "ES_LKAS_State"), - ("LKAS_Alert", "ES_LKAS_State"), - ("Signal3", "ES_LKAS_State"), - ] - - checks = [ + messages = [ ("ES_DashStatus", 10), ("ES_LKAS_State", 10), ] if CP.carFingerprint not in GLOBAL_GEN2: - signals += CarState.get_global_es_distance_signals()[0] - checks += CarState.get_global_es_distance_signals()[1] + messages += CarState.get_common_global_es_messages() if CP.flags & SubaruFlags.SEND_INFOTAINMENT: - signals += [ - ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), - ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), - ("Signal1", "INFOTAINMENT_STATUS"), - ("Signal2", "INFOTAINMENT_STATUS"), - ] - checks.append(("INFOTAINMENT_STATUS", 10)) + messages.append(("ES_Infotainment", 10)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera) @staticmethod def get_body_can_parser(CP): if CP.carFingerprint in GLOBAL_GEN2: - signals, checks = CarState.get_common_global_signals() - signals += CarState.get_global_es_distance_signals()[0] - checks += CarState.get_global_es_distance_signals()[1] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) + messages = CarState.get_common_global_body_messages() + messages += CarState.get_common_global_es_messages() + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt) return None diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8cd3239a0e..b01d1eb3bc 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -3,7 +3,7 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags +from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarInterface(CarInterfaceBase): @@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True - ret.dashcamOnly = candidate in PREGLOBAL_CARS + ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE) ret.autoResumeSng = False # Detect infotainment message sent from the camera @@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase): if candidate in PREGLOBAL_CARS: ret.enableBsm = 0x25c in fingerprint[0] - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)] else: ret.enableBsm = 0x228 in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] @@ -30,7 +30,11 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.steerActuatorDelay = 0.1 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate in LKAS_ANGLE: + ret.steerControlType = car.CarParams.SteerControlType.angle + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate == CAR.ASCENT: ret.mass = 2031. + STD_CARGO_KG @@ -64,7 +68,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] - elif candidate == CAR.FORESTER: + elif candidate in (CAR.FORESTER, CAR.FORESTER_2022): ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 @@ -74,13 +78,12 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] - elif candidate in (CAR.OUTBACK, CAR.LEGACY): + elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023): ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 ret.steerActuatorDelay = 0.1 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal @@ -101,7 +104,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock - else: raise ValueError(f"unknown car: {candidate}") diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 166166a50b..39658e958a 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -1,29 +1,71 @@ -import copy from cereal import car +from selfdrive.car.subaru.values import CanBus VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_steering_control(packer, apply_steer): + +def create_steering_control(packer, apply_steer, steer_req): values = { "LKAS_Output": apply_steer, - "LKAS_Request": 1 if apply_steer != 0 else 0, + "LKAS_Request": steer_req, "SET_1": 1 } return packer.make_can_msg("ES_LKAS", 0, values) + def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) + def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): - values = copy.copy(es_distance_msg) + values = {s: es_distance_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "Signal1", + "Cruise_Fault", + "Cruise_Throttle", + "Signal2", + "Car_Follow", + "Signal3", + "Cruise_Soft_Disable", + "Signal7", + "Cruise_Brake_Active", + "Distance_Swap", + "Cruise_EPB", + "Signal4", + "Close_Distance", + "Signal5", + "Cruise_Cancel", + "Cruise_Set", + "Cruise_Resume", + "Signal6", + ]} values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 + values["Cruise_Throttle"] = 1818 # inactive throttle return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): - values = copy.copy(es_lkas_state_msg) +def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + values = {s: es_lkas_state_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "LKAS_Alert_Msg", + "Signal1", + "LKAS_ACTIVE", + "LKAS_Dash_State", + "Signal2", + "Backward_Speed_Limit_Menu", + "LKAS_Left_Line_Enable", + "LKAS_Left_Line_Light_Blink", + "LKAS_Right_Line_Enable", + "LKAS_Right_Line_Light_Blink", + "LKAS_Left_Line_Visible", + "LKAS_Right_Line_Visible", + "LKAS_Alert", + "Signal3", + ]} # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: @@ -52,41 +94,80 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_ # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW) if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0: if left_lane_depart: - values["LKAS_Alert"] = 12 # Left lane departure dash alert + values["LKAS_Alert"] = 12 # Left lane departure dash alert elif right_lane_depart: - values["LKAS_Alert"] = 11 # Right lane departure dash alert + values["LKAS_Alert"] = 11 # Right lane departure dash alert - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line) - return packer.make_can_msg("ES_LKAS_State", 0, values) + return packer.make_can_msg("ES_LKAS_State", CanBus.main, values) + def create_es_dashstatus(packer, dashstatus_msg): - values = copy.copy(dashstatus_msg) + values = {s: dashstatus_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "PCB_Off", + "LDW_Off", + "Signal1", + "Cruise_State_Msg", + "LKAS_State_Msg", + "Signal2", + "Cruise_Soft_Disable", + "Cruise_Status_Msg", + "Signal3", + "Cruise_Distance", + "Signal4", + "Conventional_Cruise", + "Signal5", + "Cruise_Disengaged", + "Cruise_Activated", + "Signal6", + "Cruise_Set_Speed", + "Cruise_Fault", + "Cruise_On", + "Display_Own_Car", + "Brake_Lights", + "Car_Follow", + "Signal7", + "Far_Distance", + "Cruise_State", + ]} # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if values["LKAS_State_Msg"] in (2, 3): values["LKAS_State_Msg"] = 0 - return packer.make_can_msg("ES_DashStatus", 0, values) + return packer.make_can_msg("ES_DashStatus", CanBus.main, values) -def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert): + +def create_es_infotainment(packer, es_infotainment_msg, visual_alert): # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts - if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4): - infotainmentstatus_msg["LKAS_State_Infotainment"] = 0 + values = {s: es_infotainment_msg[s] for s in [ + "CHECKSUM", + "COUNTER", + "LKAS_State_Infotainment", + "LKAS_Blue_Lines", + "Signal1", + "Signal2", + ]} + if values["LKAS_State_Infotainment"] in (3, 4): + values["LKAS_State_Infotainment"] = 0 # Show Keep hands on wheel alert for openpilot steerRequired alert if visual_alert == VisualAlert.steerRequired: - infotainmentstatus_msg["LKAS_State_Infotainment"] = 3 + values["LKAS_State_Infotainment"] = 3 # Show Obstacle Detected for fcw if visual_alert == VisualAlert.fcw: - infotainmentstatus_msg["LKAS_State_Infotainment"] = 2 + values["LKAS_State_Infotainment"] = 2 + + return packer.make_can_msg("ES_Infotainment", CanBus.main, values) - return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg) # *** Subaru Pre-global *** @@ -94,20 +175,39 @@ def subaru_preglobal_checksum(packer, values, addr): dat = packer.make_can_msg(addr, 0, values)[2] return (sum(dat[:7])) % 256 -def create_preglobal_steering_control(packer, apply_steer): + +def create_preglobal_steering_control(packer, apply_steer, steer_req): values = { "LKAS_Command": apply_steer, - "LKAS_Active": 1 if apply_steer != 0 else 0 + "LKAS_Active": steer_req, } values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") - return packer.make_can_msg("ES_LKAS", 0, values) + return packer.make_can_msg("ES_LKAS", CanBus.main, values) + def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): + values = {s: es_distance_msg[s] for s in [ + "Cruise_Throttle", + "Signal1", + "Car_Follow", + "Signal2", + "Brake_On", + "Distance_Swap", + "Standstill", + "Signal3", + "Close_Distance", + "Signal4", + "Standstill_2", + "Cruise_Fault", + "Signal5", + "COUNTER", + "Signal6", + "Cruise_Button", + "Signal7", + ]} - values = copy.copy(es_distance_msg) values["Cruise_Button"] = cruise_button - values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") - return packer.make_can_msg("ES_Distance", 0, values) + return packer.make_can_msg("ES_Distance", CanBus.main, values) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index c191c4f6e1..ebeb5ea2a0 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -1,11 +1,11 @@ -from dataclasses import dataclass +from dataclasses import dataclass, field from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -34,6 +34,12 @@ class SubaruFlags(IntFlag): SEND_INFOTAINMENT = 1 +class CanBus: + main = 0 + alt = 1 + camera = 2 + + class CAR: # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" @@ -42,6 +48,8 @@ class CAR: FORESTER = "SUBARU FORESTER 2019" OUTBACK = "SUBARU OUTBACK 6TH GEN" LEGACY = "SUBARU LEGACY 7TH GEN" + FORESTER_2022 = "SUBARU FORESTER 2022" + OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN" # Pre-global FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" @@ -50,16 +58,25 @@ class CAR: OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019" +class Footnote(Enum): + GLOBAL = CarFootnote( + "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.", + Column.PACKAGE) + + @dataclass class SubaruCarInfo(CarInfo): package: str = "EyeSight Driver Assistance" - harness: Enum = Harness.subaru_a + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a])) + footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL]) + def init_make(self, CP: car.CarParams): + self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), - CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b), - CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b), + CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -75,6 +92,8 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), + CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ @@ -88,6 +107,11 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], ), + # Some Eyesight modules fail on TESTER_PRESENT_REQUEST + Request( + [SUBARU_VERSION_REQUEST], + [SUBARU_VERSION_RESPONSE], + ), ], ) @@ -247,7 +271,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x787, None): [ b'\000\000eb\037@ \"', - b'\000\000e\x8f\037@ )', + b'\x00\x00e\x8f\x1f@ )', b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', @@ -262,6 +286,9 @@ FW_VERSIONS = { b'\xca!fp\x07', b'\xf3"f@\x07', b'\xe6!fp\x07', + b'\xf3"fp\x07', + b'\xe6"f0\x07', + b'\xe6"fp\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -272,6 +299,7 @@ FW_VERSIONS = { b'\xe6\xf5D0\x00', b'\xe9\xf6F0\x00', b'\xe9\xf5B0\x00', + b'\xe9\xf6B0\x00', ], }, CAR.FORESTER: { @@ -509,6 +537,7 @@ FW_VERSIONS = { b'\xf1\x82\xe2,\xa0@\x07', b'\xbc"`q\x07', b'\xe3,\xa0@\x07', + b'\xbc,\xa0u\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xa5\xfe\xf7@\x00', @@ -518,8 +547,55 @@ FW_VERSIONS = { b'\xf1\x82\xa7\xf6D@\x00', b'\xa7\xf6D@\x00', b'\xa7\xfe\xf4@\x00', + b'\xa5\xfe\xf8@\x00', ], }, + CAR.FORESTER_2022: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 !x\x00', + b'\xa3 !v\x00', + b'\xa3 "v\x00', + b'\xa3 "x\x00', + ], + (Ecu.eps, 0x746, None): [ + b'-\xc0%0', + b'-\xc0\x040', + b'=\xc0%\x02', + b'=\xc04\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x04!\x01\x1eD\x07!\x00\x04,' + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd5"a0\x07', + b'\xd5"`0\x07', + b'\xf1"aq\x07', + b'\xf1"`q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1d\x86B0\x00', + b'\x1d\xf6B0\x00', + b'\x1e\x86B0\x00', + b'\x1e\xf6D0\x00', + ], + }, + CAR.OUTBACK_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 #\x17\x00', + ], + (Ecu.eps, 0x746, None): [ + b'+\xc0\x12\x11\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\t!\x08\x046\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xed,\xa2q\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\xa8\x8e\xf41\x00', + ] + } } DBC = { @@ -527,7 +603,9 @@ DBC = { CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), + CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None), CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), + CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None), CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), @@ -535,5 +613,6 @@ DBC = { CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } -GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY) -PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018) +LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023} +GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023} +PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index 1f18c3d0ea..aeaaba88e7 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -24,17 +24,18 @@ class CarController: hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3 lkas_enabled = CC.latActive and not hands_on_fault - if lkas_enabled: - # Angular rate limit based on speed - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + if self.frame % 2 == 0: + if lkas_enabled: + # Angular rate limit based on speed + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) - # To not fault the EPS - apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) - else: - apply_angle = CS.out.steeringAngleDeg + # To not fault the EPS + apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) + else: + apply_angle = CS.out.steeringAngleDeg - self.apply_angle_last = apply_angle - can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame)) + self.apply_angle_last = apply_angle + can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16)) # Longitudinal control (in sync with stock message, about 40Hz) if self.CP.openpilotLongitudinalControl: @@ -59,7 +60,7 @@ class CarController: # TODO: HUD control new_actuators = actuators.copy() - new_actuators.steeringAngleDeg = apply_angle + new_actuators.steeringAngleDeg = self.apply_angle_last self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 0f373842f2..61a6526f07 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -78,7 +78,7 @@ class CarState(CarStateBase): ret.buttonEvents = buttonEvents # Doors - ret.doorOpen = any([(self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS]) + ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS) # Blinkers ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1) @@ -101,68 +101,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("ESP_vehicleSpeed", "ESP_B"), - ("DI_pedalPos", "DI_torque1"), - ("DI_brakePedal", "DI_torque2"), - ("StW_AnglHP", "STW_ANGLHP_STAT"), - ("StW_AnglHP_Spd", "STW_ANGLHP_STAT"), - ("EPAS_handsOnLevel", "EPAS_sysStatus"), - ("EPAS_torsionBarTorque", "EPAS_sysStatus"), - ("EPAS_internalSAS", "EPAS_sysStatus"), - ("EPAS_eacStatus", "EPAS_sysStatus"), - ("EPAS_eacErrorCode", "EPAS_sysStatus"), - ("DI_cruiseState", "DI_state"), - ("DI_digitalSpeed", "DI_state"), - ("DI_speedUnits", "DI_state"), - ("DI_gear", "DI_torque2"), - ("DOOR_STATE_FL", "GTW_carState"), - ("DOOR_STATE_FR", "GTW_carState"), - ("DOOR_STATE_RL", "GTW_carState"), - ("DOOR_STATE_RR", "GTW_carState"), - ("DOOR_STATE_FrontTrunk", "GTW_carState"), - ("BOOT_STATE", "GTW_carState"), - ("BC_indicatorLStatus", "GTW_carState"), - ("BC_indicatorRStatus", "GTW_carState"), - ("SDM_bcklDrivStatus", "SDM1"), - ("driverBrakeStatus", "BrakeMessage"), - - # We copy this whole message when spamming cancel - ("SpdCtrlLvr_Stat", "STW_ACTN_RQ"), - ("VSL_Enbl_Rq", "STW_ACTN_RQ"), - ("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"), - ("DTR_Dist_Rq", "STW_ACTN_RQ"), - ("TurnIndLvr_Stat", "STW_ACTN_RQ"), - ("HiBmLvr_Stat", "STW_ACTN_RQ"), - ("WprWashSw_Psd", "STW_ACTN_RQ"), - ("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"), - ("StW_Lvr_Stat", "STW_ACTN_RQ"), - ("StW_Cond_Flt", "STW_ACTN_RQ"), - ("StW_Cond_Psd", "STW_ACTN_RQ"), - ("HrnSw_Psd", "STW_ACTN_RQ"), - ("StW_Sw00_Psd", "STW_ACTN_RQ"), - ("StW_Sw01_Psd", "STW_ACTN_RQ"), - ("StW_Sw02_Psd", "STW_ACTN_RQ"), - ("StW_Sw03_Psd", "STW_ACTN_RQ"), - ("StW_Sw04_Psd", "STW_ACTN_RQ"), - ("StW_Sw05_Psd", "STW_ACTN_RQ"), - ("StW_Sw06_Psd", "STW_ACTN_RQ"), - ("StW_Sw07_Psd", "STW_ACTN_RQ"), - ("StW_Sw08_Psd", "STW_ACTN_RQ"), - ("StW_Sw09_Psd", "STW_ACTN_RQ"), - ("StW_Sw10_Psd", "STW_ACTN_RQ"), - ("StW_Sw11_Psd", "STW_ACTN_RQ"), - ("StW_Sw12_Psd", "STW_ACTN_RQ"), - ("StW_Sw13_Psd", "STW_ACTN_RQ"), - ("StW_Sw14_Psd", "STW_ACTN_RQ"), - ("StW_Sw15_Psd", "STW_ACTN_RQ"), - ("WprSw6Posn", "STW_ACTN_RQ"), - ("MC_STW_ACTN_RQ", "STW_ACTN_RQ"), - ("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"), - ] - - checks = [ + messages = [ # sig_address, frequency ("ESP_B", 50), ("DI_torque1", 100), @@ -175,19 +114,12 @@ class CarState(CarStateBase): ("SDM1", 10), ("BrakeMessage", 50), ] - - return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.chassis) + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis) @staticmethod def get_cam_can_parser(CP): - signals = [ - # sig_name, sig_address - ("DAS_accState", "DAS_control"), - ("DAS_aebEvent", "DAS_control"), - ("DAS_controlCounter", "DAS_control"), - ] - checks = [ + messages = [ # sig_address, frequency ("DAS_control", 40), ] - return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot_chassis) + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis) diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index a09f53e758..cf76e213e0 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -10,13 +10,7 @@ NUM_POINTS = len(RADAR_MSGS_A) def get_radar_can_parser(CP): # Status messages - signals = [ - ('RADC_HWFail', 'TeslaRadarSguInfo'), - ('RADC_SGUFail', 'TeslaRadarSguInfo'), - ('RADC_SensorDirty', 'TeslaRadarSguInfo'), - ] - - checks = [ + messages = [ ('TeslaRadarSguInfo', 10), ] @@ -25,28 +19,12 @@ def get_radar_can_parser(CP): for i in range(NUM_POINTS): msg_id_a = RADAR_MSGS_A[i] msg_id_b = RADAR_MSGS_B[i] - - # There is a bunch more info in the messages, - # but these are the only things actually used in openpilot - signals.extend([ - ('LongDist', msg_id_a), - ('LongSpeed', msg_id_a), - ('LatDist', msg_id_a), - ('LongAccel', msg_id_a), - ('Meas', msg_id_a), - ('Tracked', msg_id_a), - ('Index', msg_id_a), - - ('LatSpeed', msg_id_b), - ('Index2', msg_id_b), - ]) - - checks.extend([ + messages.extend([ (msg_id_a, 8), (msg_id_b, 8), ]) - return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, CANBUS.radar) + return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar) class RadarInterface(RadarInterfaceBase): def __init__(self, CP): @@ -58,7 +36,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None: - return super().update(None) + return None values = self.rcp.update_strings(can_strings) self.updated_messages.update(values) diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index e5d904f80e..a491c030f8 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -1,4 +1,3 @@ -import copy import crcmod from common.conversions import Conversions as CV @@ -18,12 +17,12 @@ class TeslaCAN: ret += sum(dat) return ret & 0xFF - def create_steering_control(self, angle, enabled, frame): + def create_steering_control(self, angle, enabled, counter): values = { "DAS_steeringAngleRequest": -angle, "DAS_steeringHapticRequest": 0, "DAS_steeringControlType": 1 if enabled else 0, - "DAS_steeringControlCounter": (frame % 16), + "DAS_steeringControlCounter": counter, } data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2] @@ -31,7 +30,40 @@ class TeslaCAN: return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values) def create_action_request(self, msg_stw_actn_req, cancel, bus, counter): - values = copy.copy(msg_stw_actn_req) + # We copy this whole message when spamming cancel + values = {s: msg_stw_actn_req[s] for s in [ + "SpdCtrlLvr_Stat", + "VSL_Enbl_Rq", + "SpdCtrlLvrStat_Inv", + "DTR_Dist_Rq", + "TurnIndLvr_Stat", + "HiBmLvr_Stat", + "WprWashSw_Psd", + "WprWash_R_Sw_Posn_V2", + "StW_Lvr_Stat", + "StW_Cond_Flt", + "StW_Cond_Psd", + "HrnSw_Psd", + "StW_Sw00_Psd", + "StW_Sw01_Psd", + "StW_Sw02_Psd", + "StW_Sw03_Psd", + "StW_Sw04_Psd", + "StW_Sw05_Psd", + "StW_Sw06_Psd", + "StW_Sw07_Psd", + "StW_Sw08_Psd", + "StW_Sw09_Psd", + "StW_Sw10_Psd", + "StW_Sw11_Psd", + "StW_Sw12_Psd", + "StW_Sw13_Psd", + "StW_Sw14_Psd", + "StW_Sw15_Psd", + "WprSw6Posn", + "MC_STW_ACTN_RQ", + "CRC_STW_ACTN_RQ", + ]} if cancel: values["SpdCtrlLvr_Stat"] = 1 diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index bac025a9c5..3333455d1b 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,3 +1,4 @@ +# ruff: noqa: E501 from collections import namedtuple from typing import Dict, List, Union @@ -103,8 +104,8 @@ BUTTONS = [ ] class CarControllerParams: - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8]) JERK_LIMIT_MAX = 8 JERK_LIMIT_MIN = -8 ACCEL_TO_SPEED_MULTIPLIER = 3 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 3935461e61..667a7acf62 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -16,14 +16,13 @@ from selfdrive.car.body.values import CAR as COMMA # TODO: add routes for these cars non_tested_cars = [ - FORD.ESCAPE_MK4, - FORD.FOCUS_MK4, - FORD.MAVERICK_MK1, + FORD.F_150_MK14, GM.CADILLAC_ATS, GM.HOLDEN_ASTRA, GM.MALIBU, GM.EQUINOX, HYUNDAI.GENESIS_G90, + HYUNDAI.IONIQ_6, HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter @@ -47,7 +46,10 @@ routes = [ CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1), + CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4), CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), + CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4), + CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), @@ -98,6 +100,8 @@ routes = [ CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022), CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1), + CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN), + CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN), # Chinese model CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), @@ -144,6 +148,7 @@ routes = [ CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020), + CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80), CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2), CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2), @@ -160,7 +165,6 @@ routes = [ CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2), CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS), - CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4), CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), @@ -186,6 +190,7 @@ routes = [ CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), + CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2), CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), @@ -229,6 +234,8 @@ routes = [ CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), + CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4), + CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7), # Pre-global, dashcam CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 8e48722482..3945fbb987 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,31 +1,56 @@ #!/usr/bin/env python3 import math import unittest +import hypothesis.strategies as st +from hypothesis import given, settings import importlib from parameterized import parameterized from cereal import car +from common.realtime import DT_CTRL from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS +from selfdrive.car.fingerprints import all_known_cars +from selfdrive.car.interfaces import get_interface_attr +from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator + + +def get_fuzzy_car_interface_args(draw: DrawType) -> dict: + # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface + fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800), + st.integers(min_value=0, max_value=64)) for key in + gen_empty_fingerprint()}) + + # just the most important fields + car_fw_strategy = st.lists(st.fixed_dictionaries({ + 'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())), + # TODO: only use reasonable addrs for the paired ecu and brand/platform + 'address': st.integers(min_value=0, max_value=0x800), + })) + + params_strategy = st.fixed_dictionaries({ + 'fingerprints': fingerprint_strategy, + 'car_fw': car_fw_strategy, + 'experimental_long': st.booleans(), + }) + + params: dict = draw(params_strategy) + params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']] + return params + class TestCarInterfaces(unittest.TestCase): - @parameterized.expand([(car,) for car in all_known_cars()]) - def test_car_interfaces(self, car_name): - if car_name in FINGERPRINTS: - fingerprint = FINGERPRINTS[car_name][0] - else: - fingerprint = {} - + @parameterized.expand([(car,) for car in sorted(all_known_cars())]) + @settings(max_examples=5) + @given(data=st.data()) + def test_car_interfaces(self, car_name, data): CarInterface, CarController, CarState = interfaces[car_name] - fingerprints = gen_empty_fingerprint() - fingerprints.update({k: fingerprint for k in fingerprints.keys()}) - car_fw = [] + args = get_fuzzy_car_interface_args(data.draw) - car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False) + car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], + experimental_long=args['experimental_long'], docs=False) car_interface = CarInterface(car_params, CarController, CarState) assert car_params assert car_interface @@ -51,24 +76,28 @@ class TestCarInterfaces(unittest.TestCase): elif tune.which() == 'torque': self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) - self.assertTrue(not math.isnan(tune.torque.friction)) + self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) elif tune.which() == 'indi': self.assertTrue(len(tune.indi.outerLoopGainV)) + cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface - CC = car.CarControl.new_message() + now_nanos = 0 + CC = car.CarControl.new_message(**cc_msg) for _ in range(10): car_interface.update(CC, []) - car_interface.apply(CC, 0) - car_interface.apply(CC, 0) + car_interface.apply(CC, now_nanos) + car_interface.apply(CC, now_nanos) + now_nanos += DT_CTRL * 1e9 # 10 ms - CC = car.CarControl.new_message() + CC = car.CarControl.new_message(**cc_msg) CC.enabled = True for _ in range(10): car_interface.update(CC, []) - car_interface.apply(CC, 0) - car_interface.apply(CC, 0) + car_interface.apply(CC, now_nanos) + car_interface.apply(CC, now_nanos) + now_nanos += DT_CTRL * 1e9 # 10ms # Test radar interface RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface @@ -81,5 +110,31 @@ class TestCarInterfaces(unittest.TestCase): hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): radar_interface._update([radar_interface.trigger_msg]) + def test_interface_attrs(self): + """Asserts basic behavior of interface attribute getter""" + num_brands = len(get_interface_attr('CAR')) + self.assertGreaterEqual(num_brands, 13) + + # Should return value for all brands when not combining, even if attribute doesn't exist + ret = get_interface_attr('FAKE_ATTR') + self.assertEqual(len(ret), num_brands) + + # Make sure we can combine dicts + ret = get_interface_attr('DBC', combine_brands=True) + self.assertGreaterEqual(len(ret), 170) + + # We don't support combining non-dicts + ret = get_interface_attr('CAR', combine_brands=True) + self.assertEqual(len(ret), 0) + + # If brand has None value, it shouldn't return when ignore_none=True is specified + none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None} + self.assertGreaterEqual(len(none_brands), 1) + + ret = get_interface_attr('FINGERPRINTS', ignore_none=True) + none_brands_in_ret = none_brands.intersection(ret) + self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}') + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index e56f98f7a8..6e4a58149c 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,12 +1,16 @@ #!/usr/bin/env python3 from collections import defaultdict +import os import re import unittest +from common.basedir import BASEDIR from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info -from selfdrive.car.docs_definitions import Column, Harness, Star +from selfdrive.car.docs_definitions import Cable, Column, PartType, Star from selfdrive.car.honda.values import CAR as HONDA +from selfdrive.debug.dump_car_info import dump_car_info +from selfdrive.debug.print_docs_diff import print_car_info_diff class TestCarDocs(unittest.TestCase): @@ -22,6 +26,12 @@ class TestCarDocs(unittest.TestCase): self.assertEqual(generated_cars_md, current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation") + def test_docs_diff(self): + dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") + dump_car_info(dump_path) + print_car_info_diff(dump_path) + os.remove(dump_path) + def test_duplicate_years(self): make_model_years = defaultdict(list) for car in self.all_cars: @@ -74,7 +84,12 @@ class TestCarDocs(unittest.TestCase): if car.name == "comma body": raise unittest.SkipTest - self.assertNotIn(car.harness, [None, Harness.none], f"Need to specify car harness: {car.name}") + car_part_type = [p.part_type for p in car.car_parts.all_parts()] + car_parts = list(car.car_parts.all_parts()) + self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}") + self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") + self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") + self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") if __name__ == "__main__": diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py index 26ade29e4a..a0baec68d6 100755 --- a/selfdrive/car/tests/test_fingerprints.py +++ b/selfdrive/car/tests/test_fingerprints.py @@ -70,7 +70,7 @@ if __name__ == "__main__": for brand in fingerprints: for car in fingerprints[brand]: fingerprints_flat += fingerprints[brand][car] - for i in range(len(fingerprints[brand][car])): + for _ in range(len(fingerprints[brand][car])): car_names.append(car) brand_names.append(brand) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index c069280d11..3feb595219 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -10,7 +10,8 @@ from cereal import car from common.params import Params from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus +from selfdrive.car.vin import get_vin CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -33,27 +34,73 @@ class TestFwFingerprint(unittest.TestCase): self.assertEqual(candidates[0], expected) @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) - def test_fw_fingerprint(self, brand, car_model, ecus): + def test_exact_match(self, brand, car_model, ecus): CP = car.CarParams.new_message() for _ in range(200): fw = [] for ecu, fw_versions in ecus.items(): - if not len(fw_versions): - raise unittest.SkipTest("Car model has no FW versions") ecu_name, addr, sub_addr = ecu fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw - _, matches = match_fw_to_car(CP.carFw) + _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False) self.assertFingerprints(matches, car_model) - def test_no_duplicate_fw_versions(self): + @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) + def test_custom_fuzzy_match(self, brand, car_model, ecus): + # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function + config = FW_QUERY_CONFIGS[brand] + if config.match_fw_to_car_fuzzy is None: + raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function") + + CP = car.CarParams.new_message() + for _ in range(5): + fw = [] + for ecu, fw_versions in ecus.items(): + ecu_name, addr, sub_addr = ecu + fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, + "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) + CP.carFw = fw + _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False) + brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + + # If both have matches, they must agree + if len(matches) == 1 and len(brand_matches) == 1: + self.assertEqual(matches, brand_matches) + + @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) + def test_fuzzy_match_ecu_count(self, brand, car_model, ecus): + # Asserts that fuzzy matching does not count matching FW, but ECU address keys + valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS] + if not len(valid_ecus): + raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching") + + fw = [] + for ecu in valid_ecus: + ecu_name, addr, sub_addr = ecu + for _ in range(5): + # Add multiple FW versions to simulate ECU returning to multiple queries in a brand + fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand, + "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) + CP = car.CarParams.new_message(carFw=fw) + _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False) + + # Assert no match if there are not enough unique ECUs + unique_ecus = {(f['address'], f['subAddress']) for f in fw} + if len(unique_ecus) < 2: + self.assertEqual(len(matches), 0, car_model) + # There won't always be a match due to shared FW, but if there is it should be correct + elif len(matches): + self.assertFingerprints(matches, car_model) + + def test_fw_version_lists(self): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model): for ecu, ecu_fw in ecus.items(): with self.subTest(ecu): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}') + self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}') def test_all_addrs_map_to_one_ecu(self): for brand, cars in VERSIONS.items(): @@ -111,36 +158,69 @@ class TestFwFingerprint(unittest.TestCase): ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted), - f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') + f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}') + + def test_fw_requests(self): + # Asserts equal length request and response lists + for brand, config in FW_QUERY_CONFIGS.items(): + with self.subTest(brand=brand): + for request_obj in config.requests: + self.assertEqual(len(request_obj.request), len(request_obj.response)) class TestFwFingerprintTiming(unittest.TestCase): + N: int = 5 + TOL: float = 0.1 + @staticmethod - def _benchmark(brand, num_pandas, n): + def _run_thread(thread: threading.Thread) -> float: params = Params() + params.put_bool("ObdMultiplexingEnabled", True) + thread.start() + t = time.perf_counter() + while thread.is_alive(): + time.sleep(0.02) + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + return time.perf_counter() - t + + def _benchmark_brand(self, brand, num_pandas): fake_socket = FakeSocket() + brand_time = 0 + for _ in range(self.N): + thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), + kwargs=dict(num_pandas=num_pandas)) + brand_time += self._run_thread(thread) - times = [] - for _ in range(n): - params.put_bool("ObdMultiplexingEnabled", True) - thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas)) - thread.start() - t = time.perf_counter() - while thread.is_alive(): - time.sleep(0.02) - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - times.append(time.perf_counter() - t) + return round(brand_time / self.N, 2) - return round(sum(times) / len(times), 2) + def _assert_timing(self, avg_time, ref_time): + self.assertLess(avg_time, ref_time + self.TOL) + self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.") - def _assert_timing(self, avg_time, ref_time, tol): - self.assertLess(avg_time, ref_time + tol) - self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.") + def test_startup_timing(self): + # Tests worse-case VIN query time and typical present ECU query time + vin_ref_time = 1.0 + present_ecu_ref_time = 0.8 + + fake_socket = FakeSocket() + present_ecu_time = 0.0 + for _ in range(self.N): + thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket), + kwargs=dict(num_pandas=2)) + present_ecu_time += self._run_thread(thread) + self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time) + print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds') + + vin_time = 0.0 + for _ in range(self.N): + thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1)) + vin_time += self._run_thread(thread) + self._assert_timing(vin_time / self.N, vin_ref_time) + print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - tol = 0.1 - total_ref_time = 4.6 + total_ref_time = 6.1 brand_ref_times = { 1: { 'body': 0.1, @@ -148,14 +228,15 @@ class TestFwFingerprintTiming(unittest.TestCase): 'ford': 0.2, 'honda': 0.5, 'hyundai': 0.7, - 'mazda': 0.1, + 'mazda': 0.2, 'nissan': 0.3, - 'subaru': 0.1, + 'subaru': 0.2, 'tesla': 0.2, - 'toyota': 0.7, + 'toyota': 1.6, 'volkswagen': 0.2, }, 2: { + 'ford': 0.4, 'hyundai': 1.1, } } @@ -168,13 +249,13 @@ class TestFwFingerprintTiming(unittest.TestCase): if not len(multi_panda_requests) and num_pandas > 1: raise unittest.SkipTest("No multi-panda FW queries") - avg_time = self._benchmark(brand, num_pandas, 10) + avg_time = self._benchmark_brand(brand, num_pandas) total_time += avg_time - self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol) + self._assert_timing(avg_time, brand_ref_times[num_pandas][brand]) print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') with self.subTest(brand='all_brands'): - self._assert_timing(total_time, total_ref_time, tol) + self._assert_timing(total_time, total_ref_time) print(f'all brands, total FW query time={total_time} seconds') diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 7ccd5e3c97..9e9043d236 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -95,7 +95,8 @@ if __name__ == "__main__": _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \ + m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") # exit with test result sys.exit(not result.result.wasSuccessful()) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 6a89da3e7c..103ee36273 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -8,16 +8,17 @@ from typing import List, Optional, Tuple from parameterized import parameterized_class from cereal import log, car +from common.basedir import BASEDIR from common.realtime import DT_CTRL from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.car_helpers import interfaces +from selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from selfdrive.car.gm.values import CAR as GM from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from selfdrive.car.hyundai.values import CAR as HYUNDAI from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader -from tools.lib.route import Route +from tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py @@ -25,21 +26,41 @@ PandaType = log.PandaState.PandaType NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) +INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") +INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) ignore_addr_checks_valid = [ GM.BUICK_REGAL, HYUNDAI.GENESIS_G70_2020, ] -# build list of test cases -routes_by_car = defaultdict(set) -for r in routes: - routes_by_car[r.car_model].add(r) -test_cases: List[Tuple[str, Optional[CarTestRoute]]] = [] -for i, c in enumerate(sorted(all_known_cars())): - if i % NUM_JOBS == JOB_ID: - test_cases.extend((c, r) for r in routes_by_car.get(c, (None, ))) +def get_test_cases(): + # build list of test cases + test_cases: List[Tuple[str, Optional[CarTestRoute]]] = [] + if not len(INTERNAL_SEG_LIST): + routes_by_car = defaultdict(set) + for r in routes: + routes_by_car[r.car_model].add(r) + + for i, c in enumerate(sorted(all_known_cars())): + if i % NUM_JOBS == JOB_ID: + test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) + + else: + with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: + seg_list = f.read().splitlines() + + cnt = INTERNAL_SEG_CNT or len(seg_list) + seg_list = iter(seg_list[:cnt]) + + for platform in seg_list: + platform = platform[2:] # get rid of comment + segment_name = SegmentName(next(seg_list)) + test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, + segment=segment_name.segment_num))) + return test_cases + SKIP_ENV_VAR = "SKIP_LONG_TESTS" @@ -65,14 +86,16 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.car_model}") - experimental_long = False test_segs = (2, 1, 0) if cls.test_route.segment is not None: test_segs = (cls.test_route.segment,) for seg in test_segs: try: - if cls.ci: + if len(INTERNAL_SEG_LIST): + route_name = RouteName(cls.test_route.route) + lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") + elif cls.ci: lr = LogReader(get_url(cls.test_route.route, seg)) else: lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) @@ -82,24 +105,38 @@ class TestCarModelBase(unittest.TestCase): car_fw = [] can_msgs = [] fingerprint = defaultdict(dict) + experimental_long = False + enabled_toggle = True + dashcam_only = False for msg in lr: if msg.which() == "can": - for m in msg.can: - if m.src < 64: - fingerprint[m.src][m.address] = len(m.dat) can_msgs.append(msg) + if len(can_msgs) <= FRAME_FINGERPRINT: + for m in msg.can: + if m.src < 64: + fingerprint[m.src][m.address] = len(m.dat) + elif msg.which() == "carParams": car_fw = msg.carParams.carFw + dashcam_only = msg.carParams.dashcamOnly if msg.carParams.openpilotLongitudinalControl: experimental_long = True if cls.car_model is None and not cls.ci: cls.car_model = msg.carParams.carFingerprint + elif msg.which() == 'initData': + for param in msg.initData.params.entries: + if param.key == 'OpenpilotEnabledToggle': + enabled_toggle = param.value.strip(b'\x00') == b'1' + if len(can_msgs) > int(50 / DT_CTRL): break else: raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") + # if relay is expected to be open in the route + cls.openpilot_enabled = enabled_toggle and not dashcam_only + cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] @@ -199,8 +236,52 @@ class TestCarModelBase(unittest.TestCase): self.safety.safety_tick_current_rx_checks() if t > 1e6: self.assertTrue(self.safety.addr_checks_valid()) + + # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time + # TODO: detect when relay has flipped to properly check relay malfunction + if self.openpilot_enabled and t > 5e6: + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) + self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") + def test_panda_safety_tx_cases(self, data=None): + """Asserts we can tx common messages""" + if self.CP.notCar: + self.skipTest("Skipping test for notCar") + + def test_car_controller(car_control): + now_nanos = 0 + msgs_sent = 0 + CI = self.CarInterface(self.CP, self.CarController, self.CarState) + for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages + CI.update(car_control, []) + _, sendcan = CI.apply(car_control, now_nanos) + + now_nanos += DT_CTRL * 1e9 + msgs_sent += len(sendcan) + for addr, _, dat, bus in sendcan: + to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) + self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) + + # Make sure we attempted to send messages + self.assertGreater(msgs_sent, 50) + + # Make sure we can send all messages while inactive + CC = car.CarControl.new_message() + test_car_controller(CC) + + # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) + self.safety.set_cruise_engaged_prev(True) + CC = car.CarControl.new_message(cruiseControl={'cancel': True}) + test_car_controller(CC) + + # Test resume + general messages (controls_allowed=True & cruise_engaged=True) + self.safety.set_controls_allowed(True) + CC = car.CarControl.new_message(cruiseControl={'resume': True}) + test_car_controller(CC) + def test_panda_safety_carstate(self): """ Assert that panda safety matches openpilot's carState @@ -214,7 +295,7 @@ class TestCarModelBase(unittest.TestCase): for can in self.can_msgs[:300]: self.CI.update(CC, (can.as_builder().to_bytes(), )) for msg in filter(lambda m: m.src in range(64), can.can): - to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat) + to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) self.safety.safety_rx_hook(to_send) controls_allowed_prev = False @@ -278,7 +359,7 @@ class TestCarModelBase(unittest.TestCase): self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") -@parameterized_class(('car_model', 'test_route'), test_cases) +@parameterized_class(('car_model', 'test_route'), get_test_cases()) class TestCarModel(TestCarModelBase): pass diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt new file mode 100644 index 0000000000..62ac21f1a6 --- /dev/null +++ b/selfdrive/car/tests/test_models_segs.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cab947c2a63a4ce7738e5396f2699335e7369cf8b215bf3cb4db072ba8ca6f65 +size 39302 diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 2aa049a89d..fa4bb6a171 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] NISSAN ROGUE 2019: [.nan, 1.5, .nan] +# New subarus angle based controllers +SUBARU FORESTER 2022: [.nan, 3.0, .nan] +SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] + # Toyota LTA also has torque TOYOTA RAV4 2023: [.nan, 3.0, .nan] TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] @@ -19,6 +23,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan] FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan] FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] +FORD F-150 14TH GEN: [.nan, 1.5, .nan] FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] ### @@ -27,9 +32,9 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.0] -RAM HD 5TH GEN: [1.4, 1.4, 0.0] -SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] +RAM 1500 5TH GEN: [2.0, 2.0, 0.05] +RAM HD 5TH GEN: [1.4, 1.4, 0.05] +SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2] CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] @@ -46,6 +51,10 @@ GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] +GENESIS GV80 2023: [2.5, 2.5, 0.1] +KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15] +GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] +LEXUS IS 2023: [2.0, 2.0, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index cb423e1d87..800507d91d 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -10,7 +10,6 @@ CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237] CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818] CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520] GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221] -GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644] HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 5ea84e5591..d79dbe8573 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -34,6 +34,7 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 66a7b57f01..d2558b5b29 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,6 +1,7 @@ from cereal import car from common.numpy_fast import clip, interp -from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg +from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ + create_gas_interceptor_command, make_can_msg from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command @@ -9,8 +10,10 @@ from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker +SteerControlType = car.CarParams.SteerControlType VisualAlert = car.CarControl.HUDControl.VisualAlert +# LKA limits # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long MAX_STEER_RATE = 100 # deg/s MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut @@ -18,13 +21,19 @@ MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut # EPS allows user torque above threshold for 50 frames before permanently faulting MAX_USER_TORQUE = 500 +# LTA limits +# EPS ignores commands above this angle and causes PCS to fault +MAX_STEER_ANGLE = 94.9461 # deg +MAX_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP - self.torque_rate_limits = CarControllerParams(self.CP) + self.params = CarControllerParams(self.CP) self.frame = 0 self.last_steer = 0 + self.last_angle = 0 self.alert_active = False self.last_standstill = False self.standstill_req = False @@ -40,7 +49,51 @@ class CarController: pcm_cancel_cmd = CC.cruiseControl.cancel lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE - # gas and brake + # *** control msgs *** + can_sends = [] + + # *** steer torque *** + new_steer = int(round(actuators.steer * self.params.STEER_MAX)) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params) + + # >100 degree/sec steering fault prevention + self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive, + self.steer_rate_counter, MAX_STEER_RATE_FRAMES) + + if not CC.latActive: + apply_steer = 0 + + # *** steer angle *** + if self.CP.steerControlType == SteerControlType.angle: + # If using LTA control, disable LKA and set steering angle command + apply_steer = 0 + apply_steer_req = False + if self.frame % 2 == 0: + # EPS uses the torque sensor angle to control with, offset to compensate + apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg + + # Angular rate limit based on speed + apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params) + + if not lat_active: + apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg + + self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE) + + self.last_steer = apply_steer + + # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; + # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed + # on consecutive messages + can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) + if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: + lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle + full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and + abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) + setme_x64 = 100 if lta_active and full_torque_condition else 0 + can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) + + # *** gas and brake *** if self.CP.enableGasInterceptor and CC.longActive: MAX_INTERCEPTOR_GAS = 0.5 # RAV4 has very sensitive gas pedal @@ -56,30 +109,7 @@ class CarController: interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS) else: interceptor_gas_cmd = 0. - pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) - - # steer torque - new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) - - # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault - if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: - self.steer_rate_counter += 1 - else: - self.steer_rate_counter = 0 - - apply_steer_req = 1 - if not lat_active: - apply_steer = 0 - apply_steer_req = 0 - elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES: - apply_steer_req = 0 - self.steer_rate_counter = 0 - - # Never actuate with LKA on cars that only support LTA - if self.CP.steerControlType == car.CarParams.SteerControlType.angle: - apply_steer = 0 - apply_steer_req = 0 + pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX) # TODO: probably can delete this. CS.pcm_acc_status uses a different signal # than CS.cruiseState.enabled. confirm they're not meaningfully different @@ -93,26 +123,8 @@ class CarController: # pcm entered standstill or it's disabled self.standstill_req = False - self.last_steer = apply_steer self.last_standstill = CS.out.standstill - can_sends = [] - - # *** control msgs *** - # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor) - - # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; - # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed - # on consecutive messages - can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) - if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: - can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2)) - - # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda - # if self.frame % 2 == 0: - # can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2)) - # can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2)) - # we can spam can to cancel the system even if we are using lat only control if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged @@ -132,6 +144,7 @@ class CarController: can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2)) self.gas = interceptor_gas_cmd + # *** hud ui *** if self.CP.carFingerprint != CAR.PRIUS_V: # ui mesg is at 1Hz but we send asap if: # - there is something to display @@ -162,8 +175,9 @@ class CarController: can_sends.append(make_can_msg(addr, vl, bus)) new_actuators = actuators.copy() - new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer + new_actuators.steeringAngleDeg = self.last_angle new_actuators.accel = self.accel new_actuators.gas = self.gas diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 68adc2ee57..8a75ab4277 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -10,6 +10,19 @@ from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +SteerControlType = car.CarParams.SteerControlType + +# These steering fault definitions seem to be common across LKA (torque) and LTA (angle): +# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds +# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3. +# if using the other control command, goes directly to 3 after 1.5 seconds +# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1, +# and is a catch-all for LKA +TEMP_STEER_FAULTS = (0, 9, 11, 21, 25) +# - lka/lta msg drop out: 3 (recoverable) +# - prolonged high driver torque: 17 (permanent) +PERM_STEER_FAULTS = (3, 17) + class CarState(CarStateBase): def __init__(self, CP): @@ -88,12 +101,14 @@ class CarState(CarStateBase): ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale # we could use the override bit from dbc, but it's triggered at too high torque values ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds - # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds - ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25) - # 17 is a fault from a prolonged high torque delta between cmd and user - # 3 is a fault from the lka command message not being received by the EPS - ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17) + + # Check EPS LKA/LTA fault status + ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS + ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS + + if self.CP.steerControlType == SteerControlType.angle: + ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS + ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH @@ -117,7 +132,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] - ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"]) + ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"]) # some TSS2 cars have low speed lockout permanently set, so ignore on those cars # these cars are identified by an ACC_TYPE value of 2. @@ -151,40 +166,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), - ("GEAR", "GEAR_PACKET"), - ("BRAKE_PRESSED", "BRAKE_MODULE"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"), - ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"), - ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"), - ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"), - ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"), - ("PARKING_BRAKE", "BODY_CONTROL_STATE"), - ("UNITS", "BODY_CONTROL_STATE_2"), - ("TC_DISABLED", "ESP_CONTROL"), - ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), - ("STEER_FRACTION", "STEER_ANGLE_SENSOR"), - ("STEER_RATE", "STEER_ANGLE_SENSOR"), - ("CRUISE_ACTIVE", "PCM_CRUISE"), - ("CRUISE_STATE", "PCM_CRUISE"), - ("GAS_RELEASED", "PCM_CRUISE"), - ("UI_SET_SPEED", "PCM_CRUISE_SM"), - ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"), - ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"), - ("STEER_ANGLE", "STEER_TORQUE_SENSOR"), - ("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"), - ("TURN_SIGNALS", "BLINKERS_STATE"), - ("LKA_STATE", "EPS_STATUS"), - ("AUTO_HIGH_BEAM", "LIGHT_STALK"), - ] - - checks = [ + messages = [ ("GEAR_PACKET", 1), ("LIGHT_STALK", 1), ("BLINKERS_STATE", 0.15), @@ -201,94 +183,53 @@ class CarState(CarStateBase): ] if CP.flags & ToyotaFlags.HYBRID: - signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID")) - checks.append(("GAS_PEDAL_HYBRID", 33)) + messages.append(("GAS_PEDAL_HYBRID", 33)) else: - signals.append(("GAS_PEDAL", "GAS_PEDAL")) - checks.append(("GAS_PEDAL", 33)) + messages.append(("GAS_PEDAL", 33)) if CP.carFingerprint in UNSUPPORTED_DSU_CAR: - signals.append(("MAIN_ON", "DSU_CRUISE")) - signals.append(("SET_SPEED", "DSU_CRUISE")) - signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT")) - checks.append(("DSU_CRUISE", 5)) - checks.append(("PCM_CRUISE_ALT", 1)) + messages.append(("DSU_CRUISE", 5)) + messages.append(("PCM_CRUISE_ALT", 1)) else: - signals.append(("MAIN_ON", "PCM_CRUISE_2")) - signals.append(("SET_SPEED", "PCM_CRUISE_2")) - signals.append(("ACC_FAULTED", "PCM_CRUISE_2")) - signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2")) - checks.append(("PCM_CRUISE_2", 33)) + messages.append(("PCM_CRUISE_2", 33)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: - signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) - signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) - checks.append(("GAS_SENSOR", 50)) + messages.append(("GAS_SENSOR", 50)) if CP.enableBsm: - signals += [ - ("L_ADJACENT", "BSM"), - ("L_APPROACHING", "BSM"), - ("R_ADJACENT", "BSM"), - ("R_APPROACHING", "BSM"), - ] - checks.append(("BSM", 1)) + messages.append(("BSM", 1)) if CP.carFingerprint in RADAR_ACC_CAR: if not CP.flags & ToyotaFlags.SMART_DSU.value: - signals += [ - ("ACC_TYPE", "ACC_CONTROL"), - ] - checks += [ + messages += [ ("ACC_CONTROL", 33), ] - signals += [ - ("FCW", "ACC_HUD"), - ] - checks += [ - ("ACC_HUD", 1), + messages += [ + ("PCS_HUD", 1), ] if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu: - signals += [ - ("FORCE", "PRE_COLLISION"), - ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), - ] - checks += [ + messages += [ ("PRE_COLLISION", 33), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.carFingerprint != CAR.PRIUS_V: - signals += [ - ("LANE_SWAY_FLD", "LKAS_HUD"), - ("LANE_SWAY_BUZZER", "LKAS_HUD"), - ("LANE_SWAY_WARNING", "LKAS_HUD"), - ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"), - ("LANE_SWAY_TOGGLE", "LKAS_HUD"), - ] - checks += [ + messages += [ ("LKAS_HUD", 1), ] if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): - signals += [ - ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), - ("FORCE", "PRE_COLLISION"), - ("ACC_TYPE", "ACC_CONTROL"), - ("FCW", "ACC_HUD"), - ] - checks += [ + messages += [ ("PRE_COLLISION", 33), ("ACC_CONTROL", 33), - ("ACC_HUD", 1), + ("PCS_HUD", 1), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c222363d18..b35ceb0f1f 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase EventName = car.CarEvent.EventName +SteerControlType = car.CarParams.SteerControlType class CarInterface(CarInterfaceBase): @@ -27,16 +28,21 @@ class CarInterface(CarInterfaceBase): if candidate in ANGLE_CONTROL_CAR: ret.dashcamOnly = True - ret.steerControlType = car.CarParams.SteerControlType.angle + ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA + + # LTA control can be more delayed and winds up more often + ret.steerActuatorDelay = 0.25 + ret.steerLimitTimer = 0.8 else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay - ret.steerLimitTimer = 0.4 + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + ret.steerLimitTimer = 0.4 + ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop - stop_and_go = False + stop_and_go = candidate in TSS2_CAR if candidate == CAR.PRIUS: stop_and_go = True @@ -110,7 +116,6 @@ class CarInterface(CarInterfaceBase): elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): - stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 @@ -132,7 +137,6 @@ class CarInterface(CarInterfaceBase): break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): - stop_and_go = True ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet @@ -153,7 +157,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): + elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC): ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 @@ -174,7 +178,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG elif candidate == CAR.PRIUS_TSS2: - stop_and_go = True ret.wheelbase = 2.70002 # from toyota online sepc. ret.steerRatio = 13.4 # True steerRatio from older prius tire_stiffness_factor = 0.6371 # hand-tune @@ -188,7 +191,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): - stop_and_go = True ret.wheelbase = 3.00 ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 @@ -207,13 +209,30 @@ class CarInterface(CarInterfaceBase): if 0x2FF in fingerprint[0]: ret.flags |= ToyotaFlags.SMART_DSU.value + # No radar dbc for cars without DSU which are not TSS 2.0 + # TODO: make an adas dbc file for dsu-less models + ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR) + # In TSS2 cars, the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU) + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ + and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] - # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") - ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. + # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle + use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) + if candidate in RADAR_ACC_CAR: + ret.experimentalLongitudinalAvailable = use_sdsu + use_sdsu = use_sdsu and experimental_long + + # openpilot longitudinal enabled by default: + # - non-(TSS2 radar ACC cars) w/ smartDSU installed + # - cars w/ DSU disconnected + # - TSS2 cars with camera sending ACC_CONTROL where we can block it + # openpilot longitudinal behind experimental long toggle: + # - TSS2 radar ACC cars w/ smartDSU installed + ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: @@ -255,6 +274,11 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) + # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until + # the more accurate angle sensor signal is initialized + if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen: + events.add(EventName.vehicleSensorsInvalid) + if self.CP.openpilotLongitudinalControl: if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor: events.add(EventName.resumeRequired) diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 8c87704ff2..378178f5c8 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -1,14 +1,13 @@ #!/usr/bin/env python3 +from collections import defaultdict + from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR +from selfdrive.car.toyota.values import DBC, TSS2_CAR from selfdrive.car.interfaces import RadarInterfaceBase def _create_radar_can_parser(car_fingerprint): - if DBC[car_fingerprint]['radar'] is None: - return None - if car_fingerprint in TSS2_CAR: RADAR_A_MSGS = list(range(0x180, 0x190)) RADAR_B_MSGS = list(range(0x190, 0x1a0)) @@ -18,14 +17,9 @@ def _create_radar_can_parser(car_fingerprint): msg_a_n = len(RADAR_A_MSGS) msg_b_n = len(RADAR_B_MSGS) + messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True)) - signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n + - ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n, - RADAR_A_MSGS * 5 + RADAR_B_MSGS)) - - checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n))) - - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) class RadarInterface(RadarInterfaceBase): def __init__(self, CP): @@ -42,40 +36,49 @@ class RadarInterface(RadarInterfaceBase): self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS} - self.rcp = _create_radar_can_parser(CP.carFingerprint) + self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint) self.trigger_msg = self.RADAR_B_MSGS[-1] - self.updated_messages = set() - - # No radar dbc for cars without DSU which are not TSS 2.0 - # TODO: make a adas dbc file for dsu-less models - self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR + self.updated_values = defaultdict(lambda: defaultdict(list)) def update(self, can_strings): - if self.no_radar or self.rcp is None: - return super().update(None) - - vls = self.rcp.update_strings(can_strings) - self.updated_messages.update(vls) - - if self.trigger_msg not in self.updated_messages: + if self.rcp is None: return None - rr = self._update(self.updated_messages) - self.updated_messages.clear() + addresses = self.rcp.update_strings(can_strings) + for addr in addresses: + vals_dict = self.rcp.vl_all[addr] + for sig_name, vals in vals_dict.items(): + self.updated_values[addr][sig_name].extend(vals) - return rr + if self.trigger_msg not in self.updated_values: + return None - def _update(self, updated_messages): + radar_data = self._radar_msg_from_buffer(self.updated_values, self.rcp.can_valid) + self.updated_values.clear() + + return radar_data + + def _radar_msg_from_buffer(self, updated_values, can_valid): ret = car.RadarData.new_message() errors = [] - if not self.rcp.can_valid: + if not can_valid: errors.append("canError") ret.errors = errors - for ii in sorted(updated_messages): - if ii in self.RADAR_A_MSGS: - cpt = self.rcp.vl[ii] + for ii in sorted(updated_values): + if ii not in self.RADAR_A_MSGS: + continue + radar_a_msgs = updated_values[ii] + radar_b_msgs = updated_values[ii+16] + + n_vals_per_addr = len(list(radar_a_msgs.values())[0]) + cpts = [ + {k: v[i] for k, v in radar_a_msgs.items()} + for i in range(n_vals_per_addr) + ] + + for index, cpt in enumerate(cpts): if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']: self.valid_cnt[ii] = 0 # reset counter if cpt['VALID'] and cpt['LONG_DIST'] < 255: @@ -83,11 +86,15 @@ class RadarInterface(RadarInterfaceBase): else: self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) - score = self.rcp.vl[ii+16]['SCORE'] - # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST'] + n_b_scores = len(radar_b_msgs['SCORE']) + if n_b_scores > 0: + score_index = min(index, n_b_scores - 1) + score = radar_b_msgs['SCORE'][score_index] + else: + score = None # radar point only valid if it's a valid measurement and score is above 50 - if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): + if cpt['VALID'] or (score and score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): if ii not in self.pts or cpt['NEW_TRACK']: self.pts[ii] = car.RadarData.RadarPoint.new_message() self.pts[ii].trackId = self.track_id diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index 5648f75fe7..46e3fc2d27 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -1,13 +1,42 @@ #!/usr/bin/env python3 +from cereal import car import unittest -from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR +from selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS + +Ecu = car.CarParams.Ecu class TestToyotaInterfaces(unittest.TestCase): def test_angle_car_set(self): self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) + def test_tss2_dbc(self): + # We make some assumptions about TSS2 platforms, + # like looking up certain signals only in this DBC + for car_model, dbc in DBC.items(): + if car_model in TSS2_CAR: + self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated") + + def test_essential_ecus(self): + # Asserts standard ECUs exist for each platform + common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera} + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + present_ecus = {ecu[0] for ecu in ecus} + missing_ecus = common_ecus - present_ecus + self.assertEqual(len(missing_ecus), 0) + + # Some exceptions for other common ECUs + if car_model not in (CAR.ALPHARD_TSS2,): + self.assertIn(Ecu.abs, present_ecus) + + if car_model not in (CAR.MIRAI,): + self.assertIn(Ecu.engine, present_ecus) + + if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH): + self.assertIn(Ecu.eps, present_ecus) + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index a78b70608c..0c3330efa2 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -9,20 +9,20 @@ def create_steer_command(packer, steer, steer_req): return packer.make_can_msg("STEERING_LKA", 0, values) -def create_lta_steer_command(packer, steer, steer_req, raw_cnt): +def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64): """Creates a CAN message for the Toyota LTA Steer Command.""" values = { - "COUNTER": raw_cnt + 128, + "COUNTER": frame + 128, "SETME_X1": 1, "SETME_X3": 3, "PERCENTAGE": 100, - "SETME_X64": 0, + "SETME_X64": setme_x64, "ANGLE": 0, - "STEER_ANGLE_CMD": steer, + "STEER_ANGLE_CMD": steer_angle, "STEER_REQUEST": steer_req, "STEER_REQUEST_2": steer_req, - "BIT": 0, + "CLEAR_HOLD_STEERING_ALERT": 0, } return packer.make_can_msg("STEERING_LTA", 0, values) @@ -46,7 +46,7 @@ def create_acc_cancel_command(packer): values = { "GAS_RELEASED": 0, "CRUISE_ACTIVE": 0, - "STANDSTILL_ON": 0, + "ACC_BRAKING": 0, "ACCEL_NET": 0, "CRUISE_STATE": 0, "CANCEL_REQ": 1, @@ -63,7 +63,7 @@ def create_fcw_command(packer, fcw): "PCS_OFF": 1, "PCS_SENSITIVITY": 0, } - return packer.make_can_msg("ACC_HUD", 0, values) + return packer.make_can_msg("PCS_HUD", 0, values) def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud): @@ -87,7 +87,7 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep "LANE_SWAY_SENSITIVITY": 2, "LANE_SWAY_TOGGLE": 1, "LDA_ON_MESSAGE": 0, - "LDA_SPEED_TOO_LOW": 0, + "LDA_MESSAGES": 0, "LDA_SA_TOGGLE": 1, "LDA_SENSITIVITY": 2, "LDA_UNAVAILABLE": 0, @@ -99,6 +99,13 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep # lane sway functionality # not all cars have LKAS_HUD — update with camera values if available - values.update(stock_lkas_hud) + if len(stock_lkas_hud): + values.update({s: stock_lkas_hud[s] for s in [ + "LANE_SWAY_FLD", + "LANE_SWAY_BUZZER", + "LANE_SWAY_WARNING", + "LANE_SWAY_SENSITIVITY", + "LANE_SWAY_TOGGLE", + ]}) return packer.make_can_msg("LKAS_HUD", 0, values) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2fe60e8fb6..ad6a2c639c 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1,12 +1,12 @@ from collections import defaultdict -from dataclasses import dataclass +from dataclasses import dataclass, field from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car from common.conversions import Conversions as CV -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car import AngleRateLimit, dbc_dict +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -22,6 +22,14 @@ class CarControllerParams: STEER_MAX = 1500 STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor + # Lane Tracing Assist (LTA) control limits + # Assuming a steering ratio of 13.7: + # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph + # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph, + # however the EPS has its own internal limits at all speeds which are less than that + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) + def __init__(self, CP): if CP.lateralTuning.which == 'torque': self.STEER_DELTA_UP = 15 # 1.0s time to peak torque @@ -82,6 +90,7 @@ class CAR: LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019" LEXUS_IS = "LEXUS IS 2018" + LEXUS_IS_TSS2 = "LEXUS IS 2023" LEXUS_NX = "LEXUS NX 2018" LEXUS_NXH = "LEXUS NX HYBRID 2018" LEXUS_NX_TSS2 = "LEXUS NX 2020" @@ -102,7 +111,7 @@ class Footnote(Enum): @dataclass class ToyotaCarInfo(CarInfo): package: str = "All" - harness: Enum = Harness.toyota + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a])) CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { @@ -135,7 +144,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), - ToyotaCarInfo("Lexus UX Hybrid 2019-22"), + ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"), @@ -175,6 +184,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), + CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"), CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), @@ -189,53 +199,68 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), - CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"), + CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"), } # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), + 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, + CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), + 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] -TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' -TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01' +# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers. +# Toyota diagnostic software first gets the supported data ids, then queries them one by one. +# For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803 +TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01' +TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01' FW_QUERY_CONFIG = FwQueryConfig( + # TODO: look at data to whitelist new ECUs effectively requests=[ Request( - [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], - [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps], + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics, + Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac], bus=0, ), Request( [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST], [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine], + whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, + Ecu.gateway, Ecu.hvac], bus=0, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps], + whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics, + Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac], bus=0, ), ], @@ -244,7 +269,39 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS], # On some models, the engine can show on two different addresses Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC], - } + }, + extra_ecus=[ + # All known ECUs on a late-model Toyota vehicle not queried here: + # Responds to UDS: + # - HV Battery (0x713, 0x747) + # - Motor Generator (0x716, 0x724) + # - 2nd ABS "Brake/EPB" (0x730) + # Responds to KWP (0x1a8801): + # - Steering Angle Sensor (0x7b3) + # - EPS/EMPS (0x7a0, 0x7a1) + # Responds to KWP (0x1a8881): + # - Body Control Module ((0x750, 0x40)) + + # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform + (Ecu.hybrid, 0x7e2, None), # Hybrid Control Assembly & Computer + # TODO: if these duplicate ECUs always exist together, remove one + (Ecu.srs, 0x780, None), # SRS Airbag + (Ecu.srs, 0x784, None), # SRS Airbag 2 + # Likely only exists on cars where EPB isn't standard (e.g. Camry, Avalon (/Hybrid)) + # On some cars, EPB is controlled by the ABS module + (Ecu.epb, 0x750, 0x2c), # Electronic Parking Brake + # This isn't accessible on all cars + (Ecu.gateway, 0x750, 0x5f), + # On some cars, this only responds to b'\x1a\x88\x81', which is reflected by the b'\x1a\x88\x00' query + (Ecu.telematics, 0x750, 0xc7), + # Transmission is combined with engine on some platforms, such as TSS-P RAV4 + (Ecu.transmission, 0x701, None), + # A few platforms have a tester present response on this address, add to log + (Ecu.transmission, 0x7e1, None), + # On some cars, this only responds to b'\x1a\x88\x80' + (Ecu.combinationMeter, 0x7c0, None), + (Ecu.hvac, 0x7c4, None), + ], ) FW_VERSIONS = { @@ -391,6 +448,7 @@ FW_VERSIONS = { b'\x018966333Q6000\x00\x00\x00\x00', b'\x018966333Q6200\x00\x00\x00\x00', b'\x018966333Q6300\x00\x00\x00\x00', + b'\x018966333Q6500\x00\x00\x00\x00', b'\x018966333W6000\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ @@ -697,6 +755,7 @@ FW_VERSIONS = { b'F152610040\x00\x00\x00\x00\x00\x00', b'F152610190\x00\x00\x00\x00\x00\x00', b'F152610200\x00\x00\x00\x00\x00\x00', + b'F152610220\x00\x00\x00\x00\x00\x00', b'F152610230\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ @@ -875,7 +934,6 @@ FW_VERSIONS = { b'\x01F152612B81\x00\x00\x00\x00\x00\x00', b'\x01F152612B90\x00\x00\x00\x00\x00\x00', b'\x01F152612C00\x00\x00\x00\x00\x00\x00', - b'F152602191\x00\x00\x00\x00\x00\x00', b'\x01F152612862\x00\x00\x00\x00\x00\x00', b'\x01F152612B91\x00\x00\x00\x00\x00\x00', b'\x01F15260A070\x00\x00\x00\x00\x00\x00', @@ -938,6 +996,7 @@ FW_VERSIONS = { b'8965B16170\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', + b'8965B76091\x00\x00\x00\x00\x00\x00', b'\x018965B12350\x00\x00\x00\x00\x00\x00', b'\x018965B12470\x00\x00\x00\x00\x00\x00', b'\x018965B12490\x00\x00\x00\x00\x00\x00', @@ -968,12 +1027,14 @@ FW_VERSIONS = { b'F152676293\x00\x00\x00\x00\x00\x00', b'F152676303\x00\x00\x00\x00\x00\x00', b'F152676304\x00\x00\x00\x00\x00\x00', + b'F152676371\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301100\x00\x00\x00\x00', b'\x018821F3301200\x00\x00\x00\x00', b'\x018821F3301300\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', @@ -990,6 +1051,7 @@ FW_VERSIONS = { b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.HIGHLANDER: { @@ -1076,6 +1138,7 @@ FW_VERSIONS = { b'\x01896630E62200\x00\x00\x00\x00', b'\x01896630E64100\x00\x00\x00\x00', b'\x01896630E64200\x00\x00\x00\x00', + b'\x01896630E64400\x00\x00\x00\x00', b'\x01896630EB1000\x00\x00\x00\x00', b'\x01896630EB1100\x00\x00\x00\x00', b'\x01896630EB1200\x00\x00\x00\x00', @@ -1130,7 +1193,6 @@ FW_VERSIONS = { b'\x01896630EF8000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], @@ -1192,6 +1254,23 @@ FW_VERSIONS = { b'8646F5301400\x00\x00\x00\x00', ], }, + CAR.LEXUS_IS_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x018966353S1000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15265342000\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B53450\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, CAR.PRIUS: { (Ecu.engine, 0x700, None): [ b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -1491,6 +1570,7 @@ FW_VERSIONS = { b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896634A88100\x00\x00\x00\x00', b'\x01896634AJ2000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -1590,12 +1670,20 @@ FW_VERSIONS = { CAR.RAV4H_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ b'\x01F15264283200\x00\x00\x00\x00', + b'\x01F15264283300\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + b'8965B42371\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896634AE1001\x00\x00\x00\x00', + b'\x01896634AF0000\x00\x00\x00\x00', + ], + (Ecu.hybrid, 0x7d2, None): [ + b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00', + b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00', + b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R03100\x00\x00\x00\x00', @@ -1836,9 +1924,11 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152678210\x00\x00\x00\x00\x00\x00', + b'F152678211\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B78120\x00\x00\x00\x00\x00\x00', @@ -1849,6 +1939,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', ], }, CAR.LEXUS_NXH: { @@ -2017,6 +2108,7 @@ FW_VERSIONS = { b'\x01896630ED0000\x00\x00\x00\x00', b'\x01896630ED0100\x00\x00\x00\x00', b'\x01896630ED6000\x00\x00\x00\x00', + b'\x018966348T8000\x00\x00\x00\x00', b'\x018966348W5100\x00\x00\x00\x00', b'\x018966348W9000\x00\x00\x00\x00', b'\x01896634D12000\x00\x00\x00\x00', @@ -2024,6 +2116,7 @@ FW_VERSIONS = { b'\x01896634D43000\x00\x00\x00\x00', b'\x01896634D44000\x00\x00\x00\x00', b'\x018966348X0000\x00\x00\x00\x00', + b'\x01896630ED5000\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F15260E031\x00\x00\x00\x00\x00\x00', @@ -2049,11 +2142,12 @@ FW_VERSIONS = { }, CAR.LEXUS_RXH_TSS2: { (Ecu.engine, 0x7e0, None): [ + b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152648831\x00\x00\x00\x00\x00\x00', @@ -2063,15 +2157,16 @@ FW_VERSIONS = { b'F152648811\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ - b'8965B48271\x00\x00\x00\x00\x00\x00', b'8965B48261\x00\x00\x00\x00\x00\x00', + b'8965B48271\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', ], }, CAR.PRIUS_TSS2: { @@ -2079,6 +2174,7 @@ FW_VERSIONS = { b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', @@ -2192,6 +2288,7 @@ DBC = { CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), @@ -2210,9 +2307,10 @@ DBC = { EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, - CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, - CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, + CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, + CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, + CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2225,8 +2323,9 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, C # these cars use the Lane Tracing Assist (LTA) message for lateral control ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} -EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, - CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, +EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, + CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index c17b632450..ddcf80f006 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -21,8 +21,9 @@ class CarController: self.apply_steer_last = 0 self.gra_acc_counter_last = None self.frame = 0 - self.hcaSameTorqueCount = 0 - self.hcaEnabledFrameCount = 0 + self.eps_timer_soft_disable_alert = False + self.hca_frame_timer_running = 0 + self.hca_frame_same_torque = 0 def update(self, CC, CS, ext_bus, now_nanos): actuators = CC.actuators @@ -38,36 +39,31 @@ class CarController: # * Don't send > 3.00 Newton-meters torque # * Don't send the same torque for > 6 seconds # * Don't send uninterrupted steering for > 360 seconds - # One frame of HCA disabled is enough to reset the timer, without zeroing the - # torque value. Do that anytime we happen to have 0 torque, or failing that, - # when exceeding ~1/3 the 360 second timer. + # MQB racks reset the uninterrupted steering timer after a single frame + # of HCA disabled; this is done whenever output happens to be zero. if CC.latActive: new_steer = int(round(actuators.steer * self.CCP.STEER_MAX)) apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) - if apply_steer == 0: - hcaEnabled = False - self.hcaEnabledFrameCount = 0 + self.hca_frame_timer_running += self.CCP.STEER_STEP + if self.apply_steer_last == apply_steer: + self.hca_frame_same_torque += self.CCP.STEER_STEP + if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL: + apply_steer -= (1, -1)[apply_steer < 0] + self.hca_frame_same_torque = 0 else: - self.hcaEnabledFrameCount += 1 - if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.STEER_STEP): # 118s - hcaEnabled = False - self.hcaEnabledFrameCount = 0 - else: - hcaEnabled = True - if self.apply_steer_last == apply_steer: - self.hcaSameTorqueCount += 1 - if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.STEER_STEP): # 1.9s - apply_steer -= (1, -1)[apply_steer < 0] - self.hcaSameTorqueCount = 0 - else: - self.hcaSameTorqueCount = 0 + self.hca_frame_same_torque = 0 + hca_enabled = abs(apply_steer) > 0 else: - hcaEnabled = False + hca_enabled = False apply_steer = 0 + if not hca_enabled: + self.hca_frame_timer_running = 0 + + self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL self.apply_steer_last = apply_steer - can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled)) + can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) # **** Acceleration Controls ******************************************** # @@ -93,7 +89,8 @@ class CarController: if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor lead_distance = 512 if CS.upscale_lead_car_signal else 8 acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) - set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? + # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? + set_speed = hud_control.setSpeed * CV.MS_TO_KPH can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, lead_distance)) @@ -101,8 +98,7 @@ class CarController: gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): - counter = (CS.gra_stock_values["COUNTER"] + 1) % 16 - can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter, + can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) new_actuators = actuators.copy() @@ -111,4 +107,4 @@ class CarController: self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"] self.frame += 1 - return new_actuators, can_sends + return new_actuators, can_sends, self.eps_timer_soft_disable_alert diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index f3cd2808a8..35f7e8bf67 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -254,54 +254,7 @@ class CarState(CarStateBase): if CP.carFingerprint in PQ_CARS: return CarState.get_can_parser_pq(CP) - signals = [ - # sig_name, sig_address - ("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle - ("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign - ("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate - ("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign - ("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left - ("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right - ("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left - ("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right - ("ESP_Gierrate", "ESP_02"), # Absolute yaw rate - ("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign - ("ZV_FT_offen", "Gateway_72"), # Door open, driver - ("ZV_BT_offen", "Gateway_72"), # Door open, passenger - ("ZV_HFS_offen", "Gateway_72"), # Door open, rear left - ("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right - ("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open - ("Comfort_Signal_Left", "Blinkmodi_02"), # Left turn signal including comfort blink interval - ("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval - ("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver - ("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger - ("ESP_Fahrer_bremst", "ESP_05"), # Driver applied brake pressure over threshold - ("MO_Fahrer_bremst", "Motor_14"), # Brake pedal switch - ("ESP_Bremsdruck", "ESP_05"), # Brake pressure - ("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value - ("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input - ("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign - ("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status - ("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled - ("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation - ("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied - ("KBI_Variante", "Kombi_03"), # Digital/full-screen instrument cluster installed - ("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator - ("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off - ("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel - ("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set - ("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel - ("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel - ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume - ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj - ("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type - ("GRA_Codierung", "GRA_ACC_01"), # ACC button configuration/coding - ("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type - ("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type - ("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter - ] - - checks = [ + messages = [ # sig_address, frequency ("LWI_01", 100), # From J500 Steering Assist with integrated sensors ("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors @@ -321,108 +274,41 @@ class CarState(CarStateBase): ] if CP.transmissionType == TransmissionType.automatic: - signals.append(("GE_Fahrstufe", "Getriebe_11")) # Auto trans gear selector position - checks.append(("Getriebe_11", 20)) # From J743 Auto transmission control module + messages.append(("Getriebe_11", 20)) # From J743 Auto transmission control module elif CP.transmissionType == TransmissionType.direct: - signals.append(("GearPosition", "EV_Gearshift")) # EV gear selector position - checks.append(("EV_Gearshift", 10)) # From J??? unknown EV control module - elif CP.transmissionType == TransmissionType.manual: - signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch - ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM + messages.append(("EV_Gearshift", 10)) # From J??? unknown EV control module if CP.networkLocation == NetworkLocation.fwdCamera: # Radars are here on CANBUS.pt - signals += MqbExtraSignals.fwd_radar_signals - checks += MqbExtraSignals.fwd_radar_checks + messages += MqbExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += MqbExtraSignals.bsm_radar_signals - checks += MqbExtraSignals.bsm_radar_checks + messages += MqbExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in PQ_CARS: return CarState.get_cam_can_parser_pq(CP) - signals = [] - checks = [] + messages = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - # sig_name, sig_address - ("LDW_SW_Warnung_links", "LDW_02"), # Blind spot in warning mode on left side due to lane departure - ("LDW_SW_Warnung_rechts", "LDW_02"), # Blind spot in warning mode on right side due to lane departure - ("LDW_Seite_DLCTLC", "LDW_02"), # Direction of most likely lane departure (left or right) - ("LDW_DLC", "LDW_02"), # Lane departure, distance to line crossing - ("LDW_TLC", "LDW_02"), # Lane departure, time to line crossing - ] - checks += [ + messages += [ # sig_address, frequency ("LDW_02", 10) # From R242 Driver assistance camera ] else: # Radars are here on CANBUS.cam - signals += MqbExtraSignals.fwd_radar_signals - checks += MqbExtraSignals.fwd_radar_checks + messages += MqbExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += MqbExtraSignals.bsm_radar_signals - checks += MqbExtraSignals.bsm_radar_checks + messages += MqbExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam) @staticmethod def get_can_parser_pq(CP): - signals = [ - # sig_name, sig_address, default - ("LH3_BLW", "Lenkhilfe_3"), # Absolute steering angle - ("LH3_BLWSign", "Lenkhilfe_3"), # Steering angle sign - ("LH3_LM", "Lenkhilfe_3"), # Absolute driver torque input - ("LH3_LMSign", "Lenkhilfe_3"), # Driver torque input sign - ("LH2_Sta_HCA", "Lenkhilfe_2"), # Steering rack HCA status - ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"), # Absolute steering rate - ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"), # Steering rate sign - ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"), # Vehicle speed from ABS - ("Radgeschw__VL_4_1", "Bremse_3"), # ABS wheel speed, front left - ("Radgeschw__VR_4_1", "Bremse_3"), # ABS wheel speed, front right - ("Radgeschw__HL_4_1", "Bremse_3"), # ABS wheel speed, rear left - ("Radgeschw__HR_4_1", "Bremse_3"), # ABS wheel speed, rear right - ("Giergeschwindigkeit", "Bremse_5"), # Absolute yaw rate - ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"), # Yaw rate sign - ("Gurtschalter_Fahrer", "Airbag_1"), # Seatbelt status, driver - ("Gurtschalter_Beifahrer", "Airbag_1"), # Seatbelt status, passenger - ("Bremstestschalter", "Motor_2"), # Brake pedal pressed (brake light test switch) - ("Bremslichtschalter", "Motor_2"), # Brakes applied (brake light switch) - ("Bremsdruck", "Bremse_5"), # Brake pressure applied - ("Vorzeichen_Bremsdruck", "Bremse_5"), # Brake pressure applied sign (???) - ("Fahrpedal_Rohsignal", "Motor_3"), # Accelerator pedal value - ("ESP_Passiv_getastet", "Bremse_1"), # Stability control disabled - ("GRA_Hauptschalter", "Motor_5"), # ACC main switch - ("GRA_Status", "Motor_2"), # ACC engagement status - ("GK1_Fa_Tuerkont", "Gate_Komf_1"), # Door open, driver - ("BSK_BT_geoeffnet", "Gate_Komf_1"), # Door open, passenger - ("BSK_HL_geoeffnet", "Gate_Komf_1"), # Door open, rear left - ("BSK_HR_geoeffnet", "Gate_Komf_1"), # Door open, rear right - ("BSK_HD_Hauptraste", "Gate_Komf_1"), # Trunk or hatch open - ("GK1_Blinker_li", "Gate_Komf_1"), # Left turn signal on - ("GK1_Blinker_re", "Gate_Komf_1"), # Right turn signal on - ("Bremsinfo", "Kombi_1"), # Manual handbrake applied - ("GRA_Hauptschalt", "GRA_Neu"), # ACC button, on/off - ("GRA_Typ_Hauptschalt", "GRA_Neu"), # ACC button, momentary vs latching - ("GRA_Kodierinfo", "GRA_Neu"), # ACC button, configuration - ("GRA_Abbrechen", "GRA_Neu"), # ACC button, cancel - ("GRA_Neu_Setzen", "GRA_Neu"), # ACC button, set - ("GRA_Up_lang", "GRA_Neu"), # ACC button, increase or accel, long press - ("GRA_Down_lang", "GRA_Neu"), # ACC button, decrease or decel, long press - ("GRA_Up_kurz", "GRA_Neu"), # ACC button, increase or accel, short press - ("GRA_Down_kurz", "GRA_Neu"), # ACC button, decrease or decel, short press - ("GRA_Recall", "GRA_Neu"), # ACC button, resume - ("GRA_Zeitluecke", "GRA_Neu"), # ACC button, time gap adj - ("COUNTER", "GRA_Neu"), # ACC button, message counter - ("GRA_Sender", "GRA_Neu"), # ACC button, CAN message originator - ] - - checks = [ + messages = [ # sig_address, frequency ("Bremse_1", 100), # From J104 ABS/ESP controller ("Bremse_3", 100), # From J104 ABS/ESP controller @@ -440,95 +326,55 @@ class CarState(CarStateBase): ] if CP.transmissionType == TransmissionType.automatic: - signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)] # Auto trans gear selector position - checks += [("Getriebe_1", 100)] # From J743 Auto transmission control module + messages += [("Getriebe_1", 100)] # From J743 Auto transmission control module elif CP.transmissionType == TransmissionType.manual: - signals += [("Kupplungsschalter", "Motor_1", 0), # Clutch switch - ("GK1_Rueckfahr", "Gate_Komf_1", 0)] # Reverse light from BCM - checks += [("Motor_1", 100)] # From J623 Engine control module + messages += [("Motor_1", 100)] # From J623 Engine control module if CP.networkLocation == NetworkLocation.fwdCamera: # Extended CAN devices other than the camera are here on CANBUS.pt - signals += PqExtraSignals.fwd_radar_signals - checks += PqExtraSignals.fwd_radar_checks + messages += PqExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += PqExtraSignals.bsm_radar_signals - checks += PqExtraSignals.bsm_radar_checks + messages += PqExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt) @staticmethod def get_cam_can_parser_pq(CP): - signals = [] - checks = [] + messages = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - # sig_name, sig_address - ("LDW_SW_Warnung_links", "LDW_Status"), # Blind spot in warning mode on left side due to lane departure - ("LDW_SW_Warnung_rechts", "LDW_Status"), # Blind spot in warning mode on right side due to lane departure - ("LDW_Seite_DLCTLC", "LDW_Status"), # Direction of most likely lane departure (left or right) - ("LDW_DLC", "LDW_Status"), # Lane departure, distance to line crossing - ("LDW_TLC", "LDW_Status"), # Lane departure, time to line crossing - ] - checks += [ + messages += [ # sig_address, frequency ("LDW_Status", 10) # From R242 Driver assistance camera ] if CP.networkLocation == NetworkLocation.gateway: # Radars are here on CANBUS.cam - signals += PqExtraSignals.fwd_radar_signals - checks += PqExtraSignals.fwd_radar_checks + messages += PqExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += PqExtraSignals.bsm_radar_signals - checks += PqExtraSignals.bsm_radar_checks + messages += PqExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam) class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers - fwd_radar_signals = [ - ("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed - ("ACC_Typ", "ACC_06"), # Basic vs FtS vs SnG - ("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release - ("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release - ("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release - ] - fwd_radar_checks = [ + fwd_radar_messages = [ ("ACC_06", 50), # From J428 ACC radar control module ("ACC_10", 50), # From J428 ACC radar control module ("ACC_02", 17), # From J428 ACC radar control module ] - bsm_radar_signals = [ - ("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left - ("SWA_Warnung_SWA_li", "SWA_01"), # Blind spot object warning, left - ("SWA_Infostufe_SWA_re", "SWA_01"), # Blind spot object info, right - ("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right - ] - bsm_radar_checks = [ + bsm_radar_messages = [ ("SWA_01", 20), # From J1086 Lane Change Assist ] class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers - fwd_radar_signals = [ - ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) - ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed - ] - fwd_radar_checks = [ + fwd_radar_messages = [ ("ACC_System", 50), # From J428 ACC radar control module ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module ] - bsm_radar_signals = [ - ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left - ("SWA_Warnung_SWA_li", "SWA_1"), # Blind spot object warning, left - ("SWA_Infostufe_SWA_re", "SWA_1"), # Blind spot object info, right - ("SWA_Warnung_SWA_re", "SWA_1"), # Blind spot object warning, right - ] - bsm_radar_checks = [ + bsm_radar_messages = [ ("SWA_1", 20), # From J1086 Lane Change Assist ] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 874b85e68e..2b0603f162 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -20,6 +20,8 @@ class CarInterface(CarInterfaceBase): self.ext_bus = CANBUS.cam self.cp_ext = self.cp_cam + self.eps_timer_soft_disable_alert = False + @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" @@ -90,6 +92,7 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = True ret.startingState = True ret.startAccel = 1.0 + ret.stopAccel = -0.55 ret.vEgoStarting = 1.0 ret.vEgoStopping = 1.0 ret.longitudinalTuning.kpV = [0.1] @@ -242,9 +245,13 @@ class CarInterface(CarInterfaceBase): if c.enabled and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.speedTooLow) + if self.eps_timer_soft_disable_alert: + events.add(EventName.steerTimeLimit) + ret.events = events.to_msg() return ret def apply(self, c, now_nanos): - return self.CC.update(c, self.CS, self.ext_bus, now_nanos) + new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos) + return new_actuators, can_sends diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index b461fd02ae..849d99592f 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -11,7 +11,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): - values = ldw_stock_values.copy() + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} values.update({ "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0, @@ -23,11 +31,17 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_02", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): - values = gra_stock_values.copy() +def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalter", # ACC button, on/off + "GRA_Typ_Hauptschalter", # ACC main button type + "GRA_Codierung", # ACC button configuration/coding + "GRA_Tip_Stufe_2", # unknown related to stalk type + "GRA_ButtonTypeInfo", # unknown related to stalk type + ]} values.update({ - "COUNTER": counter, + "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Tip_Wiederaufnahme": resume, }) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index bac3ca121d..f42c3cf781 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -10,7 +10,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): - values = ldw_stock_values.copy() + values = {} + if len(ldw_stock_values): + values = {s: ldw_stock_values[s] for s in [ + "LDW_SW_Warnung_links", # Blind spot in warning mode on left side due to lane departure + "LDW_SW_Warnung_rechts", # Blind spot in warning mode on right side due to lane departure + "LDW_Seite_DLCTLC", # Direction of most likely lane departure (left or right) + "LDW_DLC", # Lane departure, distance to line crossing + "LDW_TLC", # Lane departure, time to line crossing + ]} values.update({ "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0, @@ -23,11 +31,16 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres return packer.make_can_msg("LDW_Status", bus, values) -def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False): - values = gra_stock_values.copy() +def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False): + values = {s: gra_stock_values[s] for s in [ + "GRA_Hauptschalt", # ACC button, on/off + "GRA_Typ_Hauptschalt", # ACC button, momentary vs latching + "GRA_Kodierinfo", # ACC button, configuration + "GRA_Sender", # ACC button, CAN message originator + ]} values.update({ - "COUNTER": counter, + "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16, "GRA_Abbrechen": cancel, "GRA_Recall": resume, }) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index dd2d42797d..bc129f79cc 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,5 +1,5 @@ from collections import defaultdict, namedtuple -from dataclasses import dataclass +from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Union @@ -7,7 +7,8 @@ from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ + Device from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -18,20 +19,25 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) class CarControllerParams: - STEER_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz - ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz + STEER_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz + ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz - ACCEL_MAX = 2.0 # 2.0 m/s max acceleration - ACCEL_MIN = -3.5 # 3.5 m/s max deceleration + # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec. + # MQB vs PQ maximums are shared, but rate-of-change limited differently + # based on safety requirements driven by lateral accel testing. + + STEER_MAX = 300 # Max heading control assist torque 3.00 Nm + STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily + STEER_DRIVER_FACTOR = 1 # from dbc + + STEER_TIME_MAX = 360 # Max time that EPS allows uninterrupted HCA steering control + STEER_TIME_ALERT = STEER_TIME_MAX - 10 # If mitigation fails, time to soft disengage before EPS timer expires + STEER_TIME_STUCK_TORQUE = 1.9 # EPS limits same torque to 6 seconds, reset timer 3x within that period + + ACCEL_MAX = 2.0 # 2.0 m/s max acceleration + ACCEL_MIN = -3.5 # 3.5 m/s max deceleration def __init__(self, CP): - # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec. - # MQB vs PQ maximums are shared, but rate-of-change limited differently - # based on safety requirements driven by lateral accel testing. - self.STEER_MAX = 300 # Max heading control assist torque 3.00 Nm - self.STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily - self.STEER_DRIVER_FACTOR = 1 # from dbc - can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) if CP.carFingerprint in PQ_CARS: @@ -153,30 +159,39 @@ class Footnote(Enum): PASSAT = CarFootnote( "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", Column.MODEL) - VW_EXP_LONG = CarFootnote ( + SKODA_HEATED_WINDSHIELD = CarFootnote( + "Some Škoda vehicles are equipped with heated windshields, which are known " + + "to block GPS signal needed for some comma three functionality.", + Column.MODEL) + VW_EXP_LONG = CarFootnote( "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " + "are limited to using stock ACC.", Column.LONGITUDINAL) VW_MQB_A0 = CarFootnote( "Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " + "in software, but doesn't yet have a harness available from the comma store.", - Column.HARNESS) + Column.HARDWARE) @dataclass class VWCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC) & Lane Assist" - harness: Enum = Harness.j533 + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533])) def init_make(self, CP: car.CarParams): - self.footnotes.insert(0, Footnote.VW_EXP_LONG) + self.footnotes.append(Footnote.VW_EXP_LONG) + if "SKODA" in CP.carFingerprint: + self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD) + + if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61): + self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533]) CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.ARTEON_MK1: [ - VWCarInfo("Volkswagen Arteon 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen Arteon R 2020-22", video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen Arteon eHybrid 2020-22", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), ], CAR.ATLAS_MK1: [ @@ -195,11 +210,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.GOLF_MK7: [ VWCarInfo("Volkswagen e-Golf 2014-20"), - VWCarInfo("Volkswagen Golf 2015-20"), - VWCarInfo("Volkswagen Golf Alltrack 2015-19"), + VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False), + VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False), VWCarInfo("Volkswagen Golf GTD 2015-20"), VWCarInfo("Volkswagen Golf GTE 2015-20"), - VWCarInfo("Volkswagen Golf GTI 2015-21"), + VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False), VWCarInfo("Volkswagen Golf R 2015-19"), VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], @@ -221,13 +236,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Sharan 2018-22"), VWCarInfo("SEAT Alhambra 2018-20"), ], - CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"), + CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), CAR.TIGUAN_MK2: [ VWCarInfo("Volkswagen Tiguan 2018-23"), VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), ], - CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), + CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), CAR.TRANSPORTER_T61: [ VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021"), @@ -245,9 +260,9 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), - CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), + CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), - CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), + CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ VWCarInfo("Škoda Octavia 2015, 2018-19"), @@ -292,33 +307,38 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ - b'\xf1\x873G0906259M \xf1\x890003', + b'\xf1\x873G0906259AH\xf1\x890001', b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', - b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x870GC300011L \xf1\x891401', b'\xf1\x870GC300014M \xf1\x892802', + b'\xf1\x870GC300019G \xf1\x892804', b'\xf1\x870GC300040P \xf1\x891401', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', - b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', ], (Ecu.eps, 0x712, None): [ - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', + b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -341,11 +361,13 @@ FW_VERSIONS = { b'\xf1\x8703H906026S \xf1\x896693', b'\xf1\x8703H906026S \xf1\x899970', b'\xf1\x873CN906259 \xf1\x890005', + b'\xf1\x873CN906259F \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158A \xf1\x893387', b'\xf1\x8709G927158DR\xf1\x893536', b'\xf1\x8709G927158DR\xf1\x893742', + b'\xf1\x8709G927158EN\xf1\x893691', b'\xf1\x8709G927158F \xf1\x893489', b'\xf1\x8709G927158FT\xf1\x893835', b'\xf1\x8709G927158GL\xf1\x893939', @@ -375,25 +397,31 @@ FW_VERSIONS = { CAR.CRAFTER_MK2: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704L906056EK\xf1\x896391', + b'\xf1\x8705L906023BC\xf1\x892688', ], # Only current upstreamed vehicle has a manual transmission #(Ecu.transmission, 0x7e1, None): [ #], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', + b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572M \xf1\x890233', ], }, CAR.GOLF_MK7: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016N \xf1\x899105', b'\xf1\x8704E906016AD\xf1\x895758', b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', b'\xf1\x8704E906023AG\xf1\x891726', b'\xf1\x8704E906023BN\xf1\x894518', b'\xf1\x8704E906024K \xf1\x896811', @@ -430,6 +458,7 @@ FW_VERSIONS = { b'\xf1\x878V0906259H \xf1\x890002', b'\xf1\x878V0906259J \xf1\x890003', b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259K \xf1\x890003', b'\xf1\x878V0906259P \xf1\x890001', b'\xf1\x878V0906259Q \xf1\x890002', b'\xf1\x878V0906264F \xf1\x890003', @@ -442,6 +471,7 @@ FW_VERSIONS = { b'\xf1\x8709G927749AP\xf1\x892943', b'\xf1\x8709S927158A \xf1\x893585', b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041H \xf1\x891010', b'\xf1\x870CW300042F \xf1\x891604', b'\xf1\x870CW300043B \xf1\x891601', @@ -450,12 +480,14 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300045 \xf1\x894531', b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', b'\xf1\x870CW300048J \xf1\x890611', b'\xf1\x870CW300049H \xf1\x890905', b'\xf1\x870D9300012 \xf1\x894904', b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894937', b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300012 \xf1\x895046', b'\xf1\x870D9300014M \xf1\x895004', b'\xf1\x870D9300014Q \xf1\x895006', b'\xf1\x870D9300020J \xf1\x894902', @@ -467,6 +499,7 @@ FW_VERSIONS = { b'\xf1\x870D9300041P \xf1\x894507', b'\xf1\x870DD300045K \xf1\x891120', b'\xf1\x870DD300046F \xf1\x891601', + b'\xf1\x870GC300012A \xf1\x891401', b'\xf1\x870GC300012A \xf1\x891403', b'\xf1\x870GC300014B \xf1\x892401', b'\xf1\x870GC300014B \xf1\x892405', @@ -482,6 +515,8 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', @@ -530,6 +565,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', @@ -554,6 +590,7 @@ FW_VERSIONS = { b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890653', b'\xf1\x875Q0907572J \xf1\x890654', b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', @@ -615,6 +652,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264 \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ @@ -625,15 +663,23 @@ FW_VERSIONS = { b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', b'\xf1\x870DL300011H \xf1\x895201', + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300042H \xf1\x891607', b'\xf1\x870GC300042H \xf1\x891404', + b'\xf1\x870D9300018C \xf1\x895297', + b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], @@ -643,9 +689,11 @@ FW_VERSIONS = { b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ @@ -654,6 +702,7 @@ FW_VERSIONS = { b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572C \xf1\x890195', b'\xf1\x873Q0907572C \xf1\x890196', + b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], }, @@ -680,19 +729,24 @@ FW_VERSIONS = { CAR.POLO_MK6: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042D \xf1\x891612', b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', ], (Ecu.srs, 0x715, None): [ b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q2909144AB\xf1\x896050', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', ], }, @@ -711,9 +765,11 @@ FW_VERSIONS = { CAR.TAOS_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027NJ\xf1\x891445', + b'\xf1\x8704E906027NP\xf1\x891286', b'\xf1\x8705E906013E \xf1\x891624', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158EM\xf1\x893812', b'\xf1\x8709S927158BL\xf1\x893791', b'\xf1\x8709S927158FF\xf1\x893876', ], @@ -722,10 +778,12 @@ FW_VERSIONS = { b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572T \xf1\x890383', ], }, @@ -754,6 +812,7 @@ FW_VERSIONS = { b'\xf1\x8704L906027G \xf1\x899893', b'\xf1\x875N0906259 \xf1\x890002', b'\xf1\x875NA906259H \xf1\x890002', + b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', @@ -770,6 +829,7 @@ FW_VERSIONS = { b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', + b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012P \xf1\x892103', b'\xf1\x870DL300013A \xf1\x893005', b'\xf1\x870DL300013G \xf1\x892119', @@ -780,6 +840,7 @@ FW_VERSIONS = { (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', + b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', @@ -791,6 +852,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', @@ -814,18 +876,23 @@ FW_VERSIONS = { CAR.TOURAN_MK2: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704L906026HM\xf1\x893017', + b'\xf1\x8705E906018CQ\xf1\x890808', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041E \xf1\x891005', + b'\xf1\x870CW300051M \xf1\x891926', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.TRANSPORTER_T61: { @@ -834,24 +901,28 @@ FW_VERSIONS = { b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906057AP\xf1\x891186', b'\xf1\x8704L906057N \xf1\x890413', + b'\xf1\x8705L906023E \xf1\x891352', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870BT300012G \xf1\x893102', b'\xf1\x870BT300012E \xf1\x893105', b'\xf1\x870BT300046R \xf1\x893102', + b'\xf1\x870DV300012B \xf1\x893701', ], (Ecu.srs, 0x715, None): [ b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411', b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413', + b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421', ], (Ecu.eps, 0x712, None): [ b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2', b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', - b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2', + b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.TROC_MK1: { @@ -881,8 +952,10 @@ FW_VERSIONS = { b'\xf1\x8704E906027CJ\xf1\x897798', b'\xf1\x8704L997022N \xf1\x899459', b'\xf1\x875G0906259A \xf1\x890004', + b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x878V0906259E \xf1\x890001', b'\xf1\x878V0906259F \xf1\x890002', b'\xf1\x878V0906259H \xf1\x890002', b'\xf1\x878V0906259J \xf1\x890002', @@ -890,13 +963,14 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', - b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x878V0907404G \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300048 \xf1\x895201', b'\xf1\x870D9300012 \xf1\x894912', b'\xf1\x870D9300012 \xf1\x894931', + b'\xf1\x870D9300012L \xf1\x894521', b'\xf1\x870D9300012K \xf1\x894513', b'\xf1\x870D9300013B \xf1\x894902', b'\xf1\x870D9300013B \xf1\x894931', @@ -907,6 +981,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DL300012E \xf1\x892012', + b'\xf1\x870DL300012H \xf1\x892112', b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300042J \xf1\x891402', @@ -919,17 +994,19 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561G01A13A0', b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', @@ -940,6 +1017,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907567M \xf1\x890398\xf1\x82\x0101', b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101', b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', @@ -1019,24 +1097,29 @@ FW_VERSIONS = { b'\xf1\x8704L906021EL\xf1\x897542', b'\xf1\x8704L906026BP\xf1\x891198', b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906056CR\xf1\x892181', b'\xf1\x8704L906056CR\xf1\x892797', b'\xf1\x8705E906018AS\xf1\x899596', b'\xf1\x878V0906264H \xf1\x890005', + b'\xf1\x878V0907115E \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041G \xf1\x891003', b'\xf1\x870CW300050J \xf1\x891908', b'\xf1\x870D9300042M \xf1\x895016', + b'\xf1\x870GC300043A \xf1\x892304', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', + b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900', b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1', @@ -1047,6 +1130,7 @@ FW_VERSIONS = { b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', ], }, CAR.SKODA_FABIA_MK4: { @@ -1085,22 +1169,30 @@ FW_VERSIONS = { }, CAR.SKODA_KAROQ_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906013H \xf1\x892407', + b'\xf1\x8705E906018P \xf1\x895472', b'\xf1\x8705E906018P \xf1\x896020', b'\xf1\x8705L906022BS\xf1\x890913', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020T \xf1\x892202', b'\xf1\x870CW300041S \xf1\x891615', b'\xf1\x870GC300014L \xf1\x892802', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100', b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', ], (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572T \xf1\x890383', ], @@ -1108,6 +1200,8 @@ FW_VERSIONS = { CAR.SKODA_KODIAQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', + b'\xf1\x8704E906027NB\xf1\x899504', + b'\xf1\x8704E906027NB\xf1\x896517', b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', @@ -1116,6 +1210,7 @@ FW_VERSIONS = { b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', + b'\xf1\x875NA906259E \xf1\x890003', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', @@ -1124,6 +1219,7 @@ FW_VERSIONS = { b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300019H \xf1\x892806', b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ @@ -1133,6 +1229,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', @@ -1140,6 +1237,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', + b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', @@ -1195,19 +1293,24 @@ FW_VERSIONS = { CAR.SKODA_SCALA_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704C906025AK\xf1\x897053', + b'\xf1\x8705C906032M \xf1\x892365', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020 \xf1\x891907', b'\xf1\x870CW300050 \xf1\x891709', ], (Ecu.srs, 0x715, None): [ b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q1909144AB\xf1\x896050', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.SKODA_SUPERB_MK3: { @@ -1219,6 +1322,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026MT\xf1\x893076', b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', b'\xf1\x873G0906264A \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ @@ -1226,29 +1330,39 @@ FW_VERSIONS = { b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014K \xf1\x895006', b'\xf1\x870D9300041H \xf1\x894905', - b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', + b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', + b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572B \xf1\x890194', b'\xf1\x873Q0907572C \xf1\x890195', b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', ], }, } diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1391d6570c..8084b18ff6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -7,8 +7,9 @@ from cereal import car, log from common.numpy_fast import clip from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL from common.profiler import Profiler -from common.params import Params, put_nonblocking +from common.params import Params, put_nonblocking, put_bool_nonblocking import cereal.messaging as messaging +from cereal.visionipc import VisionIpcClient, VisionStreamType from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE from system.swaglog import cloudlog @@ -20,15 +21,12 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from selfdrive.controls.lib.vehicle_model import VehicleModel -from selfdrive.locationd.calibrationd import Calibration from system.hardware import HARDWARE -from selfdrive.manager.process_config import managed_processes SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS @@ -36,10 +34,9 @@ LANE_DEPARTURE_THRESHOLD = 0.1 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ +TESTING_CLOSET = "TESTING_CLOSET" in os.environ NOSENSOR = "NOSENSOR" in os.environ -IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd", - "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \ - {k for k, v in managed_processes.items() if not v.enabled} +IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState @@ -86,12 +83,10 @@ class Controls: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if self.params.get_bool('WideCameraOnly'): - ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick']) + ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick']) if CI is None: # wait for one pandaState and one CAN packet @@ -155,8 +150,6 @@ class Controls: self.LaC = LatControlAngle(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'pid': self.LaC = LatControlPID(self.CP, self.CI) - elif self.CP.lateralTuning.which() == 'indi': - self.LaC = LatControlINDI(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'torque': self.LaC = LatControlTorque(self.CP, self.CI) @@ -176,12 +169,14 @@ class Controls: self.events_prev = [] self.current_alert_types = [ET.PERMANENT] self.logged_comm_issue = None + self.not_running_prev = None self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) + self.recalibrating_seen = False # TODO: no longer necessary, aside from process replay self.sm['liveParameters'].valid = True @@ -211,8 +206,8 @@ class Controls: if REPLAY: controls_state = Params().get("ReplayControlsState") if controls_state is not None: - controls_state = log.ControlsState.from_bytes(controls_state) - self.v_cruise_helper.v_cruise_kph = controls_state.vCruise + with log.ControlsState.from_bytes(controls_state) as controls_state: + self.v_cruise_helper.v_cruise_kph = controls_state.vCruise if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled @@ -266,7 +261,6 @@ class Controls: if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: # under 7% of space free no enable allowed self.events.add(EventName.outOfSpace) - # TODO: make tici threshold the same if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: self.events.add(EventName.lowMemory) @@ -286,9 +280,14 @@ class Controls: # Handle calibration status cal_status = self.sm['liveCalibration'].calStatus - if cal_status != Calibration.CALIBRATED: - if cal_status == Calibration.UNCALIBRATED: + if cal_status != log.LiveCalibrationData.Status.calibrated: + if cal_status == log.LiveCalibrationData.Status.uncalibrated: self.events.add(EventName.calibrationIncomplete) + elif cal_status == log.LiveCalibrationData.Status.recalibrating: + if not self.recalibrating_seen: + set_offroad_alert("Offroad_Recalibration", True) + self.recalibrating_seen = True + self.events.add(EventName.calibrationRecalibrating) else: self.events.add(EventName.calibrationInvalid) @@ -330,15 +329,18 @@ class Controls: not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES): self.events.add(EventName.processNotRunning) + if not_running != self.not_running_prev: + cloudlog.event("process_not_running", not_running=not_running, error=True) + self.not_running_prev = not_running else: if not SIMULATION and not self.rk.lagging: if not self.sm.all_alive(self.camera_packets): self.events.add(EventName.cameraMalfunction) elif not self.sm.all_freq_ok(self.camera_packets): self.events.add(EventName.cameraFrameRate) - if self.rk.lagging: + if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']): + if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) @@ -349,7 +351,7 @@ class Controls: # generic catch-all. ideally, a more specific event should be added above instead can_rcv_timeout = self.can_rcv_timeout_counter >= 5 - has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE)) + has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors: if not self.sm.all_alive(): @@ -371,7 +373,7 @@ class Controls: else: self.logged_comm_issue = None - if not self.sm['liveParameters'].valid: + if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): self.events.add(EventName.vehicleModelInvalid) if not self.sm['lateralPlan'].mpcSolutionValid: self.events.add(EventName.plannerError) @@ -409,9 +411,9 @@ class Controls: pass # TODO: fix simulator - if not SIMULATION: + if not SIMULATION or REPLAY: if not NOSENSOR: - if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000): + if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000): # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes self.events.add(EventName.noGps) @@ -434,13 +436,19 @@ class Controls: if not self.initialized: all_valid = CS.canValid and self.sm.all_checks() timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) - if all_valid or timed_out or SIMULATION: + if all_valid or timed_out or (SIMULATION and not REPLAY): + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if VisionStreamType.VISION_STREAM_ROAD not in available_streams: + self.sm.ignore_alive.append('roadCameraState') + if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: + self.sm.ignore_alive.append('wideRoadCameraState') + if not self.read_only: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) self.initialized = True self.set_initial_state() - Params().put_bool("ControlsReady", True) + put_bool_nonblocking("ControlsReady", True) # Check for CAN timeout if not can_strs: @@ -479,29 +487,29 @@ class Controls: # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING if self.state != State.disabled: # user and immediate disable always have priority in a non-disabled state - if self.events.any(ET.USER_DISABLE): + if self.events.contains(ET.USER_DISABLE): self.state = State.disabled self.current_alert_types.append(ET.USER_DISABLE) - elif self.events.any(ET.IMMEDIATE_DISABLE): + elif self.events.contains(ET.IMMEDIATE_DISABLE): self.state = State.disabled self.current_alert_types.append(ET.IMMEDIATE_DISABLE) else: # ENABLED if self.state == State.enabled: - if self.events.any(ET.SOFT_DISABLE): + if self.events.contains(ET.SOFT_DISABLE): self.state = State.softDisabling self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) - elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL): + elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): self.state = State.overriding self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] # SOFT DISABLING elif self.state == State.softDisabling: - if not self.events.any(ET.SOFT_DISABLE): + if not self.events.contains(ET.SOFT_DISABLE): # no more soft disabling condition, so go back to ENABLED self.state = State.enabled @@ -513,32 +521,32 @@ class Controls: # PRE ENABLING elif self.state == State.preEnabled: - if not self.events.any(ET.PRE_ENABLE): + if not self.events.contains(ET.PRE_ENABLE): self.state = State.enabled else: self.current_alert_types.append(ET.PRE_ENABLE) # OVERRIDING elif self.state == State.overriding: - if self.events.any(ET.SOFT_DISABLE): + if self.events.contains(ET.SOFT_DISABLE): self.state = State.softDisabling self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) - elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)): + elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)): self.state = State.enabled else: self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] # DISABLED elif self.state == State.disabled: - if self.events.any(ET.ENABLE): - if self.events.any(ET.NO_ENTRY): + if self.events.contains(ET.ENABLE): + if self.events.contains(ET.NO_ENTRY): self.current_alert_types.append(ET.NO_ENTRY) else: - if self.events.any(ET.PRE_ENABLE): + if self.events.contains(ET.PRE_ENABLE): self.state = State.preEnabled - elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL): + elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): self.state = State.overriding else: self.state = State.enabled @@ -564,7 +572,8 @@ class Controls: if self.CP.lateralTuning.which() == 'torque': torque_params = self.sm['liveTorqueParameters'] if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams: - self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) + self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, + torque_params.frictionCoefficientFiltered) lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] @@ -576,7 +585,7 @@ class Controls: standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ (not standstill or self.joystick_mode) - CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl + CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state @@ -632,7 +641,7 @@ class Controls: recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0 # Send a "steering required alert" if saturation count has reached the limit - if lac_log.active and not recent_steer_pressed: + if lac_log.active and not recent_steer_pressed and not self.CP.notCar: if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 turning = abs(lac_log.desiredLateralAccel) > 1.0 @@ -700,15 +709,15 @@ class Controls: recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ - and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED + and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated model_v2 = self.sm['modelV2'] desire_prediction = model_v2.meta.desirePrediction if len(desire_prediction) and ldw_allowed: right_lane_visible = model_v2.laneLineProbs[2] > 0.5 left_lane_visible = model_v2.laneLineProbs[1] > 0.5 - l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] - r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] + l_lane_change_prob = desire_prediction[Desire.laneChangeLeft] + r_lane_change_prob = desire_prediction[Desire.laneChangeRight] lane_lines = model_v2.laneLines l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) @@ -774,7 +783,7 @@ class Controls: controlsState.desiredCurvature = self.desired_curvature controlsState.desiredCurvatureRate = self.desired_curvature_rate controlsState.state = self.state - controlsState.engageable = not self.events.any(ET.NO_ENTRY) + controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index cb878483de..f32e838333 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -16,10 +16,8 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None: if show_alert: - a = OFFROAD_ALERTS[alert] - if extra_text is not None: - a = copy.copy(OFFROAD_ALERTS[alert]) - a['text'] += extra_text + a = copy.copy(OFFROAD_ALERTS[alert]) + a['extra'] = extra_text or '' Params().put(alert, json.dumps(a)) else: Params().remove(alert) diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json index 2f85ea917a..35446ca22b 100644 --- a/selfdrive/controls/lib/alerts_offroad.json +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -1,21 +1,21 @@ { "Offroad_TemperatureTooHigh": { - "text": "Device temperature too high. System won't start.", + "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1", "severity": 1 }, "Offroad_ConnectivityNeededPrompt": { - "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ", + "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1", "severity": 0, - "_comment": "Append the number of days at the end of the text" + "_comment": "Set extra field to number of days" }, "Offroad_ConnectivityNeeded": { "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.", "severity": 1 }, "Offroad_UpdateFailed": { - "text": "Unable to download updates\n", + "text": "Unable to download updates\n%1", "severity": 1, - "_comment": "Append the command and error to the text." + "_comment": "Set extra field to the failed reason." }, "Offroad_InvalidTime": { "text": "Invalid date and time settings, system won't start. Connect to internet to set time.", @@ -30,7 +30,7 @@ "severity": 0 }, "Offroad_UnofficialHardware": { - "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.", + "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.", "severity": 1 }, "Offroad_StorageMissing": { @@ -48,5 +48,9 @@ "Offroad_NoFirmware": { "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.", "severity": 0 + }, + "Offroad_Recalibration": { + "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.", + "severity": 0 } } diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 4790b8f0eb..4652b41c1c 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -69,6 +69,7 @@ class DesireHelper: if not one_blinker or below_lane_change_speed: self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none elif torque_applied and not blindspot_detected: self.lane_change_state = LaneChangeState.laneChangeStarting diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index cd6525949c..ab65da2e1d 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,6 +1,6 @@ import math -from cereal import car +from cereal import car, log from common.conversions import Conversions as CV from common.numpy_fast import clip, interp from common.realtime import DT_MDL @@ -23,6 +23,8 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 +MAX_VEL_ERR = 5.0 + ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type CRUISE_LONG_PRESS = 50 @@ -192,7 +194,8 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): return safe_desired_curvature, safe_desired_curvature_rate -def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: +def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, + torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: friction_interp = interp( apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), [-friction_threshold, friction_threshold], @@ -200,3 +203,11 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric ) friction = float(friction_interp) if friction_compensation else 0.0 return friction + + +def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: + # ToDo: Try relative error, and absolute speed + if len(modelV2.temporalPose.trans): + vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) + return float(vel_err) + return 0.0 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py old mode 100644 new mode 100755 index 89fc8d8357..e552e18966 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -67,7 +67,7 @@ class Events: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} self.events = self.static_events.copy() - def any(self, event_type: str) -> bool: + def contains(self, event_type: str) -> bool: return any(event_type in EVENTS.get(e, {}) for e in self.events) def create_alerts(self, event_types: List[str], callback_args=None): @@ -193,7 +193,7 @@ class StartupAlert(Alert): def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal): super().__init__(alert_text_1, alert_text_2, alert_status, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.), # ********** helper functions ********** @@ -242,8 +242,9 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration' return Alert( - "Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc, + f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%", f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}", AlertStatus.normal, AlertSize.mid, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) @@ -358,6 +359,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { # Car is recognized, but marked as dashcam only EventName.startupNoControl: { ET.PERMANENT: StartupAlert("Dashcam mode"), + ET.NO_ENTRY: NoEntryAlert("Dashcam mode"), }, # Car is not recognized @@ -547,7 +549,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { "Take Control", "Turn Exceeds Steering Limit", AlertStatus.userPrompt, AlertSize.mid, - Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.), + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.), }, # Thrown when the fan is driven at >50% but is not rotating @@ -719,10 +721,16 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.calibrationIncomplete: { ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: soft_disable_alert("Device remount detected: recalibrating"), + ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"), ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), }, + EventName.calibrationRecalibrating: { + ET.PERMANENT: calibration_incomplete_alert, + ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"), + ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"), + }, + EventName.doorOpen: { ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"), ET.NO_ENTRY: NoEntryAlert("Door Open"), @@ -877,12 +885,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), }, - EventName.brakeUnavailable: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), - ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), - ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), - }, - EventName.reverseGear: { ET.PERMANENT: Alert( "Reverse\nGear", @@ -945,4 +947,43 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), }, + EventName.vehicleSensorsInvalid: { + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"), + ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"), + ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"), + }, + } + + +if __name__ == '__main__': + # print all alerts by type and priority + from cereal.services import service_list + from collections import defaultdict, OrderedDict + + event_names = {v: k for k, v in EventName.schema.enumerants.items()} + alerts_by_type: Dict[str, Dict[int, List[str]]] = defaultdict(lambda: defaultdict(list)) + + CP = car.CarParams.new_message() + CS = car.CarState.new_message() + sm = messaging.SubMaster(list(service_list.keys())) + + for i, alerts in EVENTS.items(): + for et, alert in alerts.items(): + if callable(alert): + alert = alert(CP, CS, sm, False, 1) + priority = alert.priority + alerts_by_type[et][priority].append(event_names[i]) + + all_alerts = {} + for et, priority_alerts in alerts_by_type.items(): + all_alerts[et] = OrderedDict([ + (str(priority), l) + for priority, l in sorted(priority_alerts.items(), key=lambda x: -int(x[0])) + ]) + + for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]): + print(f"**** {status} ****") + for p, alert_list in evs.items(): + print(f" {p}:") + print(" ", ', '.join(alert_list), "\n") diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py deleted file mode 100644 index dca82c6729..0000000000 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ /dev/null @@ -1,120 +0,0 @@ -import math -import numpy as np - -from cereal import log -from common.filter_simple import FirstOrderFilter -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL -from selfdrive.controls.lib.latcontrol import LatControl - - -class LatControlINDI(LatControl): - def __init__(self, CP, CI): - super().__init__(CP, CI) - self.angle_steers_des = 0. - - A = np.array([[1.0, DT_CTRL, 0.0], - [0.0, 1.0, DT_CTRL], - [0.0, 0.0, 1.0]]) - C = np.array([[1.0, 0.0, 0.0], - [0.0, 1.0, 0.0]]) - - # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]]) - # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]]) - - # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R) - # K = np.transpose(K) - K = np.array([[7.30262179e-01, 2.07003658e-04], - [7.29394177e+00, 1.39159419e-02], - [1.71022442e+01, 3.38495381e-02]]) - - self.speed = 0. - - self.K = K - self.A_K = A - np.dot(K, C) - self.x = np.array([[0.], [0.], [0.]]) - - self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV) - self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV) - self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV) - self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV) - - self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL) - self.reset() - - @property - def RC(self): - return interp(self.speed, self._RC[0], self._RC[1]) - - @property - def G(self): - return interp(self.speed, self._G[0], self._G[1]) - - @property - def outer_loop_gain(self): - return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1]) - - @property - def inner_loop_gain(self): - return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1]) - - def reset(self): - super().reset() - self.steer_filter.x = 0. - self.speed = 0. - - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): - self.speed = CS.vEgo - # Update Kalman filter - y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) - self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y) - - indi_log = log.ControlsState.LateralINDIState.new_message() - indi_log.steeringAngleDeg = math.degrees(self.x[0]) - indi_log.steeringRateDeg = math.degrees(self.x[1]) - indi_log.steeringAccelDeg = math.degrees(self.x[2]) - - steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll) - steers_des += math.radians(params.angleOffsetDeg) - indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) - - # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0) - indi_log.steeringRateDesiredDeg = math.degrees(rate_des) - - if not active: - indi_log.active = False - self.steer_filter.x = 0.0 - output_steer = 0 - else: - # Expected actuator value - self.steer_filter.update_alpha(self.RC) - self.steer_filter.update(last_actuators.steer) - - # Compute acceleration error - rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des - accel_sp = self.inner_loop_gain * (rate_sp - self.x[1]) - accel_error = accel_sp - self.x[2] - - # Compute change in actuator - g_inv = 1. / self.G - delta_u = g_inv * accel_error - - # If steering pressed, only allow wind down - if CS.steeringPressed and (delta_u * last_actuators.steer > 0): - delta_u = 0 - - output_steer = self.steer_filter.x + delta_u - - output_steer = clip(output_steer, -self.steer_max, self.steer_max) - - indi_log.active = True - indi_log.rateSetPoint = float(rate_sp) - indi_log.accelSetPoint = float(accel_sp) - indi_log.accelError = float(accel_error) - indi_log.delayedOutput = float(self.steer_filter.x) - indi_log.delta = float(delta_u) - indi_log.output = float(output_steer) - indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) - - return float(output_steer), float(steers_des), indi_log diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 745ed99d10..507964efe4 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -49,17 +49,16 @@ acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['lat_mpc.py', '#/selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', - f'{acados_dir}/x86_64/lib/libacados.so', - f'{acados_dir}/larch64/lib/libacados.so', f'{acados_templates_dir}/acados_solver.in.c', ] lenv = env.Clone() lenv.Clean(generated_files, Dir(gen)) -lenv.Command(generated_files, - source_list, - f"cd {Dir('.').abspath} && python3 lat_mpc.py") +generated_lat = lenv.Command(generated_files, + source_list, + f"cd {Dir('.').abspath} && python3 lat_mpc.py") +lenv.Depends(generated_lat, "#common") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index ca7b991e69..6afcb99dab 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -10,7 +10,7 @@ from selfdrive.modeld.constants import T_IDXS if __name__ == '__main__': # generating code from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") @@ -129,11 +129,15 @@ def gen_lat_ocp(): class LateralMpc(): - def __init__(self, x0=np.zeros(X_DIM)): + def __init__(self, x0=None): + if x0 is None: + x0 = np.zeros(X_DIM) self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset(x0) - def reset(self, x0=np.zeros(X_DIM)): + def reset(self, x0=None): + if x0 is None: + x0 = np.zeros(X_DIM) self.x_sol = np.zeros((N+1, X_DIM)) self.u_sol = np.zeros((N, 1)) self.yref = np.zeros((N+1, COST_DIM)) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 7230b5ad14..baea407498 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,7 +4,7 @@ from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED +from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log @@ -25,7 +25,7 @@ STEERING_RATE_COST = 700.0 class LateralPlanner: - def __init__(self, CP): + def __init__(self, CP, debug=False): self.DH = DesireHelper() # Vehicle model parameters used to calculate lateral movement of car @@ -39,18 +39,27 @@ class LateralPlanner: self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) - self.y_pts = np.zeros(TRAJECTORY_SIZE) + self.y_pts = np.zeros((TRAJECTORY_SIZE,)) + self.v_plan = np.zeros((TRAJECTORY_SIZE,)) + self.v_ego = 0.0 + self.l_lane_change_prob = 0.0 + self.r_lane_change_prob = 0.0 + + self.debug_mode = debug self.lat_mpc = LateralMpc() self.reset_mpc(np.zeros(4)) - def reset_mpc(self, x0=np.zeros(4)): + def reset_mpc(self, x0=None): + if x0 is None: + x0 = np.zeros(4) self.x0 = x0 self.lat_mpc.reset(x0=self.x0) def update(self, sm): # clip speed , lateral planning is not possible at 0 speed measured_curvature = sm['controlsState'].curvature + v_ego_car = sm['carState'].vEgo # Parse model predictions md = sm['modelV2'] @@ -60,7 +69,7 @@ class LateralPlanner: self.plan_yaw = np.array(md.orientation.z) self.plan_yaw_rate = np.array(md.orientationRate.z) self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) - car_speed = np.linalg.norm(self.velocity_xyz, axis=1) + car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) self.v_ego = self.v_plan[0] @@ -107,7 +116,7 @@ class LateralPlanner: self.last_cloudlog_t = t cloudlog.warning("Lateral mpc - nan: True") - if self.lat_mpc.cost > 20000. or mpc_nans: + if self.lat_mpc.cost > 1e6 or mpc_nans: self.solution_invalid_cnt += 1 else: self.solution_invalid_cnt = 0 @@ -127,6 +136,11 @@ class LateralPlanner: lateralPlan.mpcSolutionValid = bool(plan_solution_valid) lateralPlan.solverExecutionTime = self.lat_mpc.solve_time + if self.debug_mode: + lateralPlan.solverCost = self.lat_mpc.cost + lateralPlan.solverState = log.LateralPlan.SolverState.new_message() + lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist() + lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist() lateralPlan.desire = self.DH.desire lateralPlan.useLaneLines = False diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 7f5daf157c..8717bdf89b 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -56,17 +56,16 @@ acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['long_mpc.py', '#/selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', - f'{acados_dir}/x86_64/lib/libacados.so', - f'{acados_dir}/larch64/lib/libacados.so', f'{acados_templates_dir}/acados_solver.in.c', ] lenv = env.Clone() lenv.Clean(generated_files, Dir(gen)) -lenv.Command(generated_files, - source_list, - f"cd {Dir('.').abspath} && python3 long_mpc.py") +generated_long = lenv.Command(generated_files, + source_list, + f"cd {Dir('.').abspath} && python3 long_mpc.py") +lenv.Depends(generated_long, "#cereal") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 660002691a..dadf6cba28 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -1,18 +1,19 @@ #!/usr/bin/env python3 import os import numpy as np - +from cereal import log from common.realtime import sec_since_boot from common.numpy_fast import clip from system.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild from selfdrive.modeld.constants import index_function -from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU +from selfdrive.car.interfaces import ACCEL_MIN +from selfdrive.controls.radard import _LEAD_ACCEL_TAU if __name__ == '__main__': # generating code from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython from casadi import SX, vertcat @@ -52,20 +53,40 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1 T_IDXS = np.array(T_IDXS_LST) FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) -MIN_ACCEL = -3.5 -MAX_ACCEL = 2.0 -T_FOLLOW = 1.45 COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 +def get_jerk_factor(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.0 + elif personality==log.LongitudinalPersonality.standard: + return 1.0 + elif personality==log.LongitudinalPersonality.aggressive: + return 0.5 + else: + raise NotImplementedError("Longitudinal personality not supported") + + +def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.75 + elif personality==log.LongitudinalPersonality.standard: + return 1.45 + elif personality==log.LongitudinalPersonality.aggressive: + return 1.25 + else: + raise NotImplementedError("Longitudinal personality not supported") + def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) -def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): +def get_safe_obstacle_distance(v_ego, t_follow): return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE -def desired_follow_distance(v_ego, v_lead): - return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) +def desired_follow_distance(v_ego, v_lead, t_follow=None): + if t_follow is None: + t_follow = get_T_FOLLOW() + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) def gen_long_model(): @@ -161,7 +182,8 @@ def gen_long_ocp(): x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR]) + # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -249,10 +271,11 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True): + def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): + jerk_factor = get_jerk_factor(personality) if self.mode == 'acc': a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': a_change_cost = 40.0 if prev_accel_constraint else 0 @@ -294,7 +317,7 @@ class LongitudinalMpc: # MPC will not converge if immediate crash is expected # Clip lead distance to what is still possible to brake for - min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2) + min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2) x_lead = clip(x_lead, min_x_lead, 1e8) v_lead = clip(v_lead, 0.0, 1e8) a_lead = clip(a_lead, -10., 5.) @@ -307,7 +330,8 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j): + def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): + t_follow = get_T_FOLLOW(personality) v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status @@ -320,7 +344,7 @@ class LongitudinalMpc: lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) - self.params[:,0] = MIN_ACCEL + self.params[:,0] = ACCEL_MIN self.params[:,1] = self.max_a # Update in ACC mode or ACC/e2e blend @@ -334,7 +358,7 @@ class LongitudinalMpc: v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] @@ -368,7 +392,7 @@ class LongitudinalMpc: self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) - self.params[:,4] = T_FOLLOW + self.params[:,4] = t_follow self.run() if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and @@ -380,9 +404,9 @@ class LongitudinalMpc: # Check if it got within lead comfort range # TODO This should be done cleaner if self.mode == 'blended': - if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0): + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0): self.source = 'lead0' - if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \ + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \ (lead_1_obstacle[0] - lead_0_obstacle[0]): self.source = 'lead1' @@ -401,7 +425,8 @@ class LongitudinalMpc: self.time_integrator = float(self.solver.get_stats('time_sim')[0]) # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific - # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") + # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \ + # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") # res = self.solver.get_residuals() # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}") # self.solver.print_statistics() @@ -424,7 +449,8 @@ class LongitudinalMpc: cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") self.reset() # reset = 1 - # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") + # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, \ + # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") if __name__ == "__main__": diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index e959b14ee3..5765272928 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -2,16 +2,19 @@ import math import numpy as np from common.numpy_fast import clip, interp +from common.params import Params +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV from common.filter_simple import FirstOrderFilter from common.realtime import DT_MDL from selfdrive.modeld.constants import T_IDXS +from selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error from system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s @@ -57,6 +60,16 @@ class LongitudinalPlanner: self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 + self.params = Params() + self.param_read_counter = 0 + self.read_param() + self.personality = log.LongitudinalPersonality.standard + + def read_param(self): + try: + self.personality = int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): + self.personality = log.LongitudinalPersonality.standard @staticmethod def parse_model(model_msg, model_error): @@ -75,11 +88,13 @@ class LongitudinalPlanner: return x, v, a, j def update(self, sm): + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' v_ego = sm['carState'].vEgo - v_cruise_kph = sm['controlsState'].vCruise - v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) + v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS long_control_off = sm['controlsState'].longControlState == LongCtrlState.off @@ -95,8 +110,8 @@ class LongitudinalPlanner: accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) else: - accel_limits = [MIN_ACCEL, MAX_ACCEL] - accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] + accel_limits = [ACCEL_MIN, ACCEL_MAX] + accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] if reset_state: self.v_desired_filter.x = v_ego @@ -106,8 +121,7 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error - if len(sm['modelV2'].temporalPose.trans): - self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego + self.v_model_error = get_speed_error(sm['modelV2'], v_ego) if force_slow_decel: v_cruise = 0.0 @@ -115,11 +129,11 @@ class LongitudinalPlanner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - self.mpc.set_weights(prev_accel_constraint) + self.mpc.set_weights(prev_accel_constraint, personality=self.personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) @@ -155,5 +169,6 @@ class LongitudinalPlanner: longitudinalPlan.fcw = self.fcw longitudinalPlan.solverExecutionTime = self.mpc.solve_time + longitudinalPlan.personality = self.personality pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py deleted file mode 100644 index 4bb0179267..0000000000 --- a/selfdrive/controls/lib/radar_helpers.py +++ /dev/null @@ -1,158 +0,0 @@ -from common.numpy_fast import mean -from common.kalman.simple_kalman import KF1D - - -# Default lead acceleration decay set to 50% at 1s -_LEAD_ACCEL_TAU = 1.5 - -# radar tracks -SPEED, ACCEL = 0, 1 # Kalman filter states enum - -# stationary qualification parameters -v_ego_stationary = 4. # no stationary object flag below this speed - -RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car -RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame - -class Track(): - def __init__(self, v_lead, kalman_params): - self.cnt = 0 - self.aLeadTau = _LEAD_ACCEL_TAU - self.K_A = kalman_params.A - self.K_C = kalman_params.C - self.K_K = kalman_params.K - self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K) - - def update(self, d_rel, y_rel, v_rel, v_lead, measured): - # relative values, copy - self.dRel = d_rel # LONG_DIST - self.yRel = y_rel # -LAT_DIST - self.vRel = v_rel # REL_SPEED - self.vLead = v_lead - self.measured = measured # measured or estimate - - # computed velocity and accelerations - if self.cnt > 0: - self.kf.update(self.vLead) - - self.vLeadK = float(self.kf.x[SPEED][0]) - self.aLeadK = float(self.kf.x[ACCEL][0]) - - # Learn if constant acceleration - if abs(self.aLeadK) < 0.5: - self.aLeadTau = _LEAD_ACCEL_TAU - else: - self.aLeadTau *= 0.9 - - self.cnt += 1 - - def get_key_for_cluster(self): - # Weigh y higher since radar is inaccurate in this dimension - return [self.dRel, self.yRel*2, self.vRel] - - def reset_a_lead(self, aLeadK, aLeadTau): - self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K) - self.aLeadK = aLeadK - self.aLeadTau = aLeadTau - - -class Cluster(): - def __init__(self): - self.tracks = set() - - def add(self, t): - # add the first track - self.tracks.add(t) - - # TODO: make generic - @property - def dRel(self): - return mean([t.dRel for t in self.tracks]) - - @property - def yRel(self): - return mean([t.yRel for t in self.tracks]) - - @property - def vRel(self): - return mean([t.vRel for t in self.tracks]) - - @property - def aRel(self): - return mean([t.aRel for t in self.tracks]) - - @property - def vLead(self): - return mean([t.vLead for t in self.tracks]) - - @property - def dPath(self): - return mean([t.dPath for t in self.tracks]) - - @property - def vLat(self): - return mean([t.vLat for t in self.tracks]) - - @property - def vLeadK(self): - return mean([t.vLeadK for t in self.tracks]) - - @property - def aLeadK(self): - if all(t.cnt <= 1 for t in self.tracks): - return 0. - else: - return mean([t.aLeadK for t in self.tracks if t.cnt > 1]) - - @property - def aLeadTau(self): - if all(t.cnt <= 1 for t in self.tracks): - return _LEAD_ACCEL_TAU - else: - return mean([t.aLeadTau for t in self.tracks if t.cnt > 1]) - - @property - def measured(self): - return any(t.measured for t in self.tracks) - - def get_RadarState(self, model_prob=0.0): - return { - "dRel": float(self.dRel), - "yRel": float(self.yRel), - "vRel": float(self.vRel), - "vLead": float(self.vLead), - "vLeadK": float(self.vLeadK), - "aLeadK": float(self.aLeadK), - "status": True, - "fcw": self.is_potential_fcw(model_prob), - "modelProb": model_prob, - "radar": True, - "aLeadTau": float(self.aLeadTau) - } - - def get_RadarState_from_vision(self, lead_msg, v_ego): - return { - "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), - "yRel": float(-lead_msg.y[0]), - "vRel": float(lead_msg.v[0] - v_ego), - "vLead": float(lead_msg.v[0]), - "vLeadK": float(lead_msg.v[0]), - "aLeadK": float(0), - "aLeadTau": _LEAD_ACCEL_TAU, - "fcw": False, - "modelProb": float(lead_msg.prob), - "radar": False, - "status": True - } - - def __str__(self): - ret = f"x: {self.dRel:4.1f} y: {self.yRel:4.1f} v: {self.vRel:4.1f} a: {self.aLeadK:4.1f}" - return ret - - def potential_low_speed_lead(self, v_ego): - # stop for stuff in front of you and low speed, even without model confirmation - # Radar points closer than 0.75, are almost always glitches on toyota radars - return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25) - - def is_potential_fcw(self, model_prob): - return model_prob > .9 diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 993774f719..b504b3d125 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -10,14 +10,13 @@ from selfdrive.car.toyota.values import CAR as TOYOTA from selfdrive.car.nissan.values import CAR as NISSAN from selfdrive.controls.lib.latcontrol_pid import LatControlPID from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.latcontrol_angle import LatControlAngle from selfdrive.controls.lib.vehicle_model import VehicleModel class TestLatControl(unittest.TestCase): - @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)]) + @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (NISSAN.LEAF, LatControlAngle)]) def test_saturation(self, car_name, controller): CarInterface, CarController, CarState = interfaces[car_name] CP = CarInterface.get_non_essential_params(car_name) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 14934254af..7e61efcf45 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import os import numpy as np from cereal import car from common.params import Params @@ -31,11 +32,14 @@ def plannerd_thread(sm=None, pm=None): cloudlog.info("plannerd is waiting for CarParams") params = Params() - CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg cloudlog.info("plannerd got CarParams: %s", CP.carName) + debug_mode = bool(int(os.getenv("DEBUG", "0"))) + longitudinal_planner = LongitudinalPlanner(CP) - lateral_planner = LateralPlanner(CP) + lateral_planner = LateralPlanner(CP, debug=debug_mode) if sm is None: sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 34f0f274fe..303bbaaafe 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -1,20 +1,34 @@ #!/usr/bin/env python3 import importlib import math -from collections import defaultdict, deque +from collections import deque +from typing import Optional, Dict, Any -import cereal.messaging as messaging -from cereal import car +import capnp +from cereal import messaging, log, car from common.numpy_fast import interp from common.params import Params -from common.realtime import Ratekeeper, Priority, config_realtime_process -from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA +from common.realtime import Ratekeeper, Priority, config_realtime_process, DT_MDL from system.swaglog import cloudlog -from third_party.cluster.fastcluster_py import cluster_points_centroid + +from common.kalman.simple_kalman import KF1D -class KalmanParams(): - def __init__(self, dt): +# Default lead acceleration decay set to 50% at 1s +_LEAD_ACCEL_TAU = 1.5 + +# radar tracks +SPEED, ACCEL = 0, 1 # Kalman filter states enum + +# stationary qualification parameters +V_EGO_STATIONARY = 4. # no stationary object flag below this speed + +RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car +RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame + + +class KalmanParams: + def __init__(self, dt: float): # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library. # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s" @@ -35,13 +49,87 @@ class KalmanParams(): self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]] -def laplacian_pdf(x, mu, b): +class Track: + def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams): + self.identifier = identifier + self.cnt = 0 + self.aLeadTau = _LEAD_ACCEL_TAU + self.K_A = kalman_params.A + self.K_C = kalman_params.C + self.K_K = kalman_params.K + self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K) + + def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float): + # relative values, copy + self.dRel = d_rel # LONG_DIST + self.yRel = y_rel # -LAT_DIST + self.vRel = v_rel # REL_SPEED + self.measured = measured # measured or estimate + + self.update_vlead(v_lead) + + def update_vlead(self, v_lead: float): + self.vLead = v_lead + + # computed velocity and accelerations + if self.cnt > 0: + self.kf.update(self.vLead) + + self.vLeadK = float(self.kf.x[SPEED][0]) + self.aLeadK = float(self.kf.x[ACCEL][0]) + + # Learn if constant acceleration + if abs(self.aLeadK) < 0.5: + self.aLeadTau = _LEAD_ACCEL_TAU + else: + self.aLeadTau *= 0.9 + + self.cnt += 1 + + def get_key_for_cluster(self): + # Weigh y higher since radar is inaccurate in this dimension + return [self.dRel, self.yRel*2, self.vRel] + + def reset_a_lead(self, aLeadK: float, aLeadTau: float): + self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K) + self.aLeadK = aLeadK + self.aLeadTau = aLeadTau + + def get_RadarState(self, model_prob: float = 0.0): + return { + "dRel": float(self.dRel), + "yRel": float(self.yRel), + "vRel": float(self.vRel), + "vLead": float(self.vLead), + "vLeadK": float(self.vLeadK), + "aLeadK": float(self.aLeadK), + "aLeadTau": float(self.aLeadTau), + "status": True, + "fcw": self.is_potential_fcw(model_prob), + "modelProb": model_prob, + "radar": True, + "radarTrackId": self.identifier, + } + + def potential_low_speed_lead(self, v_ego: float): + # stop for stuff in front of you and low speed, even without model confirmation + # Radar points closer than 0.75, are almost always glitches on toyota radars + return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25) + + def is_potential_fcw(self, model_prob: float): + return model_prob > .9 + + def __str__(self): + ret = f"x: {self.dRel:4.1f} y: {self.yRel:4.1f} v: {self.vRel:4.1f} a: {self.aLeadK:4.1f}" + return ret + + +def laplacian_pdf(x: float, mu: float, b: float): b = max(b, 1e-4) return math.exp(-abs(x-mu)/b) -def match_vision_to_cluster(v_ego, lead, clusters): - # match vision point to best statistical cluster match +def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: Dict[int, Track]): offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA def prob(c): @@ -52,186 +140,201 @@ def match_vision_to_cluster(v_ego, lead, clusters): # This is isn't exactly right, but good heuristic return prob_d * prob_y * prob_v - cluster = max(clusters, key=prob) + track = max(tracks.values(), key=prob) # if no 'sane' match is found return -1 # stationary radar points can be false positives - dist_sane = abs(cluster.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0]) - vel_sane = (abs(cluster.vRel + v_ego - lead.v[0]) < 10) or (v_ego + cluster.vRel > 3) + dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0]) + vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3) if dist_sane and vel_sane: - return cluster + return track else: return None -def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): +def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float): + lead_v_rel_pred = lead_msg.v[0] - model_v_ego + return { + "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), + "yRel": float(-lead_msg.y[0]), + "vRel": float(lead_v_rel_pred), + "vLead": float(v_ego + lead_v_rel_pred), + "vLeadK": float(v_ego + lead_v_rel_pred), + "aLeadK": 0.0, + "aLeadTau": 0.3, + "fcw": False, + "modelProb": float(lead_msg.prob), + "status": True, + "radar": False, + "radarTrackId": -1, + } + + +def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader, + model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]: # Determine leads, this is where the essential logic happens - if len(clusters) > 0 and ready and lead_msg.prob > .5: - cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) + lead_msg_empty = any(len(c) == 0 for c in [lead_msg.x, lead_msg.y, lead_msg.v]) + if len(tracks) > 0 and ready and not lead_msg_empty and lead_msg.prob > .5: + track = match_vision_to_track(v_ego, lead_msg, tracks) else: - cluster = None + track = None lead_dict = {'status': False} - if cluster is not None: - lead_dict = cluster.get_RadarState(lead_msg.prob) - elif (cluster is None) and ready and (lead_msg.prob > .5): - lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego) + if track is not None: + lead_dict = track.get_RadarState(lead_msg.prob) + elif track is None and ready and not lead_msg_empty and lead_msg.prob > .5: + lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) if low_speed_override: - low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] - if len(low_speed_clusters) > 0: - closest_cluster = min(low_speed_clusters, key=lambda c: c.dRel) + low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)] + if len(low_speed_tracks) > 0: + closest_track = min(low_speed_tracks, key=lambda c: c.dRel) - # Only choose new cluster if it is actually closer than the previous one - if (not lead_dict['status']) or (closest_cluster.dRel < lead_dict['dRel']): - lead_dict = closest_cluster.get_RadarState() + # Only choose new track if it is actually closer than the previous one + if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']): + lead_dict = closest_track.get_RadarState() return lead_dict -class RadarD(): - def __init__(self, radar_ts, delay=0): - self.current_time = 0 +class RadarD: + def __init__(self, radar_ts: float, delay: int = 0): + self.current_time = 0.0 - self.tracks = defaultdict(dict) + self.tracks: Dict[int, Track] = {} self.kalman_params = KalmanParams(radar_ts) - # v_ego - self.v_ego = 0. - self.v_ego_hist = deque([0], maxlen=delay+1) + self.v_ego = 0.0 + self.v_ego_hist = deque([0.0], maxlen=delay+1) + + self.radar_state: Optional[capnp._DynamicStructBuilder] = None + self.radar_state_valid = False self.ready = False - def update(self, sm, rr): + def update(self, sm: messaging.SubMaster, radar_data: Optional[car.RadarData]): self.current_time = 1e-9*max(sm.logMonoTime.values()) + radar_points = [] + radar_errors = [] + if radar_data is not None: + radar_points = radar_data.points + radar_errors = radar_data.errors + if sm.updated['carState']: self.v_ego = sm['carState'].vEgo self.v_ego_hist.append(self.v_ego) if sm.updated['modelV2']: self.ready = True - ar_pts = {} - for pt in rr.points: - ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] + if radar_data is not None: + ar_pts = {} + for pt in radar_points: + ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] - # *** remove missing points from meta data *** - for ids in list(self.tracks.keys()): - if ids not in ar_pts: - self.tracks.pop(ids, None) + # *** remove missing points from meta data *** + for ids in list(self.tracks.keys()): + if ids not in ar_pts: + self.tracks.pop(ids, None) - # *** compute the tracks *** - for ids in ar_pts: - rpt = ar_pts[ids] + # *** compute the tracks *** + for ids in ar_pts: + rpt = ar_pts[ids] - # align v_ego by a fixed time to align it with the radar measurement - v_lead = rpt[2] + self.v_ego_hist[0] + # align v_ego by a fixed time to align it with the radar measurement + v_lead = rpt[2] + self.v_ego_hist[0] - # create the track if it doesn't exist or it's a new track - if ids not in self.tracks: - self.tracks[ids] = Track(v_lead, self.kalman_params) - self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) - - idens = list(sorted(self.tracks.keys())) - track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens] - - # If we have multiple points, cluster them - if len(track_pts) > 1: - cluster_idxs = cluster_points_centroid(track_pts, 2.5) - clusters = [None] * (max(cluster_idxs) + 1) - - for idx in range(len(track_pts)): - cluster_i = cluster_idxs[idx] - if clusters[cluster_i] is None: - clusters[cluster_i] = Cluster() - clusters[cluster_i].add(self.tracks[idens[idx]]) - elif len(track_pts) == 1: - # FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1 - cluster_idxs = [0] - clusters = [Cluster()] - clusters[0].add(self.tracks[idens[0]]) + # create the track if it doesn't exist or it's a new track + if ids not in self.tracks: + self.tracks[ids] = Track(ids, v_lead, self.kalman_params) + self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) else: - clusters = [] - - # if a new point, reset accel to the rest of the cluster - for idx in range(len(track_pts)): - if self.tracks[idens[idx]].cnt <= 1: - aLeadK = clusters[cluster_idxs[idx]].aLeadK - aLeadTau = clusters[cluster_idxs[idx]].aLeadTau - self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau) + # *** no radar points, keep existing tracks, update v_lead + for track in self.tracks.values(): + v_lead = track.vRel + self.v_ego_hist[0] + track.update_vlead(v_lead) # *** publish radarState *** - dat = messaging.new_message('radarState') - dat.valid = sm.all_checks() and len(rr.errors) == 0 - radarState = dat.radarState - radarState.mdMonoTime = sm.logMonoTime['modelV2'] - radarState.radarErrors = list(rr.errors) - radarState.carStateMonoTime = sm.logMonoTime['carState'] + self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0 + self.radar_state = log.RadarState.new_message() + self.radar_state.mdMonoTime = sm.logMonoTime['modelV2'] + self.radar_state.radarErrors = list(radar_errors) + self.radar_state.carStateMonoTime = sm.logMonoTime['carState'] + if len(sm['modelV2'].temporalPose.trans): + model_v_ego = sm['modelV2'].temporalPose.trans[0] + else: + model_v_ego = self.v_ego leads_v3 = sm['modelV2'].leadsV3 if len(leads_v3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) - return dat + self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True) + self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False) + + def publish(self, pm: messaging.PubMaster, lag_ms: float): + assert self.radar_state is not None + + radar_msg = messaging.new_message("radarState") + radar_msg.valid = self.radar_state_valid + radar_msg.radarState = self.radar_state + radar_msg.radarState.cumLagMs = lag_ms + pm.send("radarState", radar_msg) + + # publish tracks for UI debugging (keep last) + tracks_msg = messaging.new_message('liveTracks', len(self.tracks)) + for index, tid in enumerate(sorted(self.tracks.keys())): + tracks_msg.liveTracks[index] = { + "trackId": tid, + "dRel": float(self.tracks[tid].dRel), + "yRel": float(self.tracks[tid].yRel), + "vRel": float(self.tracks[tid].vRel), + } + pm.send('liveTracks', tracks_msg) # fuses camera and radar data for best lead detection -def radard_thread(sm=None, pm=None, can_sock=None): +def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None): config_realtime_process(5, Priority.CTRL_LOW) # wait for stats about the car to come in from controls cloudlog.info("radard is waiting for CarParams") - CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) + with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg: + CP = msg cloudlog.info("radard got CarParams") # import the radar from the fingerprint cloudlog.info("radard is importing %s", CP.carName) RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface - # *** setup messaging + # setup messaging if can_sock is None: can_sock = messaging.sub_sock('can') if sm is None: - sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState']) # Can't check average frequency, since radar determines timing + sm = messaging.SubMaster(['modelV2', 'carState'], poll=["modelV2"]) if pm is None: pm = messaging.PubMaster(['radarState', 'liveTracks']) - RI = RadarInterface(CP) + interface = RadarInterface(CP) - rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) - RD = RadarD(CP.radarTimeStep, RI.delay) + rk = Ratekeeper(1 / DT_MDL, print_delay_threshold=None) + radar = RadarD(DT_MDL, interface.delay) - while 1: - can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) - rr = RI.update(can_strings) + while True: + sm.update() - if rr is None: - continue + if sm.updated['modelV2']: + can_strings = messaging.drain_sock_raw(can_sock) + if len(can_strings) == 0: + radar_data = None + else: + radar_data = interface.update(can_strings) - sm.update(0) + radar.update(sm, radar_data) + radar.publish(pm, -rk.remaining*1000.0) - dat = RD.update(sm, rr) - dat.radarState.cumLagMs = -rk.remaining*1000. - - pm.send('radarState', dat) - - # *** publish tracks for UI debugging (keep last) *** - tracks = RD.tracks - dat = messaging.new_message('liveTracks', len(tracks)) - - for cnt, ids in enumerate(sorted(tracks.keys())): - dat.liveTracks[cnt] = { - "trackId": ids, - "dRel": float(tracks[ids].dRel), - "yRel": float(tracks[ids].yRel), - "vRel": float(tracks[ids].vRel), - } - pm.send('liveTracks', dat) - - rk.monitor_time() + rk.monitor_time() -def main(sm=None, pm=None, can_sock=None): +def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None): radard_thread(sm, pm, can_sock) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 9ed7eee122..c0d70b3b6f 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import copy import json import os import unittest @@ -6,11 +7,12 @@ import random from PIL import Image, ImageDraw, ImageFont from cereal import log, car +from cereal.messaging import SubMaster from common.basedir import BASEDIR from common.params import Params from selfdrive.controls.lib.events import Alert, EVENTS, ET from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.test.process_replay.process_replay import FakeSubMaster, CONFIGS +from selfdrive.test.process_replay.process_replay import CONFIGS AlertSize = log.ControlsState.AlertSize @@ -34,7 +36,7 @@ class TestAlerts(unittest.TestCase): cls.CS = car.CarState.new_message() cls.CP = car.CarParams.new_message() cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0] - cls.sm = FakeSubMaster(cfg.pub_sub.keys()) + cls.sm = SubMaster(cfg.pubs) def test_events_defined(self): # Ensure all events in capnp schema are defined in events.py @@ -75,9 +77,10 @@ class TestAlerts(unittest.TestCase): break font = fonts[alert.alert_size][i] - w, _ = draw.textsize(txt, font) + left, _, right, _ = draw.textbbox((0, 0), txt, font) + width = right - left msg = f"type: {alert.alert_type} msg: {txt}" - self.assertLessEqual(w, max_text_width, msg=msg) + self.assertLessEqual(width, max_text_width, msg=msg) def test_alert_sanity_check(self): for event_types in EVENTS.values(): @@ -107,8 +110,9 @@ class TestAlerts(unittest.TestCase): params = Params() for a in self.offroad_alerts: # set the alert - alert = self.offroad_alerts[a] + alert = copy.copy(self.offroad_alerts[a]) set_offroad_alert(a, True) + alert['extra'] = '' self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8')) # then delete it @@ -123,9 +127,9 @@ class TestAlerts(unittest.TestCase): alert = self.offroad_alerts[a] set_offroad_alert(a, True, extra_text="a"*i) - expected_txt = alert['text'] + "a"*i - written_txt = json.loads(params.get(a, encoding='utf8'))['text'] - self.assertTrue(expected_txt == written_txt) + written_alert = json.loads(params.get(a, encoding='utf8')) + self.assertTrue("a"*i == written_alert['extra']) + self.assertTrue(alert["text"] == written_alert['text']) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/controls/tests/test_clustering.py b/selfdrive/controls/tests/test_clustering.py deleted file mode 100644 index 99c24d5938..0000000000 --- a/selfdrive/controls/tests/test_clustering.py +++ /dev/null @@ -1,140 +0,0 @@ -# pylint: skip-file - -import time -import unittest -import numpy as np -from fastcluster import linkage_vector -from scipy.cluster import _hierarchy -from scipy.spatial.distance import pdist - -from third_party.cluster.fastcluster_py import hclust, ffi -from third_party.cluster.fastcluster_py import cluster_points_centroid - - -def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None): - # supersimplified function to get fast clustering. Got it from scipy - Z = np.asarray(Z, order='c') - n = Z.shape[0] + 1 - T = np.zeros((n,), dtype='i') - _hierarchy.cluster_dist(Z, T, float(t), int(n)) - return T - - -TRACK_PTS = np.array([[59.26000137, -9.35999966, -5.42500019], - [91.61999817, -0.31999999, -2.75], - [31.38000031, 0.40000001, -0.2], - [89.57999725, -8.07999992, -18.04999924], - [53.42000122, 0.63999999, -0.175], - [31.38000031, 0.47999999, -0.2], - [36.33999939, 0.16, -0.2], - [53.33999939, 0.95999998, -0.175], - [59.26000137, -9.76000023, -5.44999981], - [33.93999977, 0.40000001, -0.22499999], - [106.74000092, -5.76000023, -18.04999924]]) - -CORRECT_LINK = np.array([[2., 5., 0.07999998, 2.], - [4., 7., 0.32984889, 2.], - [0., 8., 0.40078104, 2.], - [6., 9., 2.41209933, 2.], - [11., 14., 3.76342275, 4.], - [12., 13., 13.02297651, 4.], - [1., 3., 17.27626057, 2.], - [10., 17., 17.92918845, 3.], - [15., 16., 23.68525366, 8.], - [18., 19., 52.52351319, 11.]]) - -CORRECT_LABELS = np.array([7, 1, 4, 2, 6, 4, 5, 6, 7, 5, 3], dtype=np.int32) - - -def plot_cluster(pts, idx_old, idx_new): - import matplotlib.pyplot as plt - m = 'Set1' - - plt.figure() - plt.subplot(1, 2, 1) - plt.scatter(pts[:, 0], pts[:, 1], c=idx_old, cmap=m) - plt.title("Old") - plt.colorbar() - plt.subplot(1, 2, 2) - plt.scatter(pts[:, 0], pts[:, 1], c=idx_new, cmap=m) - plt.title("New") - plt.colorbar() - - plt.show() - - -def same_clusters(correct, other): - correct = np.asarray(correct) - other = np.asarray(other) - if len(correct) != len(other): - return False - - for i in range(len(correct)): - c = np.where(correct == correct[i]) - o = np.where(other == other[i]) - if not np.array_equal(c, o): - return False - return True - - -class TestClustering(unittest.TestCase): - def test_scipy_clustering(self): - old_link = linkage_vector(TRACK_PTS, method='centroid') - old_cluster_idxs = fcluster(old_link, 2.5, criterion='distance') - - np.testing.assert_allclose(old_link, CORRECT_LINK) - np.testing.assert_allclose(old_cluster_idxs, CORRECT_LABELS) - - def test_pdist(self): - pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64) - pts_ptr = ffi.cast("double *", pts.ctypes.data) - - n, m = pts.shape - out = np.zeros((n * (n - 1) // 2, ), dtype=np.float64) - out_ptr = ffi.cast("double *", out.ctypes.data) - hclust.hclust_pdist(n, m, pts_ptr, out_ptr) - - np.testing.assert_allclose(out, np.power(pdist(TRACK_PTS), 2)) - - def test_cpp_clustering(self): - pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64) - pts_ptr = ffi.cast("double *", pts.ctypes.data) - n, m = pts.shape - - labels = np.zeros((n, ), dtype=np.int32) - labels_ptr = ffi.cast("int *", labels.ctypes.data) - hclust.cluster_points_centroid(n, m, pts_ptr, 2.5**2, labels_ptr) - self.assertTrue(same_clusters(CORRECT_LABELS, labels)) - - def test_cpp_wrapper_clustering(self): - labels = cluster_points_centroid(TRACK_PTS, 2.5) - self.assertTrue(same_clusters(CORRECT_LABELS, labels)) - - def test_random_cluster(self): - np.random.seed(1337) - N = 1000 - - t_old = 0. - t_new = 0. - - for _ in range(N): - n = int(np.random.uniform(2, 32)) - x = np.random.uniform(-10, 50, (n, 1)) - y = np.random.uniform(-5, 5, (n, 1)) - vrel = np.random.uniform(-5, 5, (n, 1)) - pts = np.hstack([x, y, vrel]) - - t = time.time() - old_link = linkage_vector(pts, method='centroid') - old_cluster_idx = fcluster(old_link, 2.5, criterion='distance') - t_old += time.time() - t - - t = time.time() - cluster_idx = cluster_points_centroid(pts, 2.5) - t_new += time.time() - t - - self.assertTrue(same_clusters(old_cluster_idx, cluster_idx)) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index b83116af45..6d11c30ab2 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,8 +1,10 @@ #!/usr/bin/env python3 import numpy as np -from parameterized import parameterized_class import unittest +from parameterized import parameterized_class +from cereal import log +from common.params import Params from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT from cereal import car from common.conversions import Conversions as CV @@ -31,13 +33,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.): class TestCruiseSpeed(unittest.TestCase): def test_cruise_speed(self): - for e2e in [False, True]: - for speed in np.arange(5, 40, 5): - print(f'Testing {speed} m/s') - cruise_speed = float(speed) + params = Params() + personalities = [log.LongitudinalPersonality.relaxed, + log.LongitudinalPersonality.standard, + log.LongitudinalPersonality.aggressive] + for personality in personalities: + params.put("LongitudinalPersonality", str(personality)) + for e2e in [False, True]: + for speed in [5,35]: + print(f'Testing {speed} m/s') + cruise_speed = float(speed) - simulation_steady_state = run_cruise_simulation(cruise_speed, e2e) - self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') + simulation_steady_state = run_cruise_simulation(cruise_speed, e2e) + self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') # TODO: test pcmCruise diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 5185867d2d..9ee7bdfb3b 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 import unittest -import numpy as np +from common.params import Params +from cereal import log -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver @@ -24,14 +25,20 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): - for e2e in [False, True]: - for speed in np.arange(0, 40, 5): - print(f'Testing {speed} m/s') - v_lead = float(speed) - simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e) - correct_steady_state = desired_follow_distance(v_lead, v_lead) - err_ratio = 0.2 if e2e else 0.1 - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) + params = Params() + personalities = [log.LongitudinalPersonality.relaxed, + log.LongitudinalPersonality.standard, + log.LongitudinalPersonality.aggressive] + for personality in personalities: + params.put("LongitudinalPersonality", str(personality)) + for e2e in [False, True]: + for speed in [0,10,35]: + print(f'Testing {speed} m/s') + v_lead = float(speed) + simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e) + correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality)) + err_ratio = 0.2 if e2e else 0.1 + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) if __name__ == "__main__": diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index d84828079d..dea21331b7 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -35,6 +35,6 @@ try: except MessageTimeoutError: # functional address isn't properly handled so a timeout occurs if args.addr != 0x7DF: - pass + pass print("") print("you may need to power cycle your vehicle now") diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 93dd5bdc47..a81d797b89 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -5,7 +5,7 @@ import datetime from collections import Counter from pprint import pprint from tqdm import tqdm -from typing import cast +from typing import List, Tuple, cast from cereal.services import service_list from tools.lib.route import Route @@ -20,25 +20,36 @@ if __name__ == "__main__": cams = [s for s in service_list if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) + alerts: List[Tuple[float, str]] = [] start_time = math.inf end_time = -math.inf + ignition_off = None for q in tqdm(r.qlog_paths()): if q is None: continue lr = list(LogReader(q)) for msg in lr: + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) + if msg.which() == 'carEvents': for e in msg.carEvents: cnt_events[e.name] += 1 + elif msg.which() == 'controlsState': + if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: + t = (msg.logMonoTime - start_time) / 1e9 + alerts.append((t, msg.controlsState.alertType)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime elif msg.which() in cams: cnt_cameras[msg.which()] += 1 if not msg.valid: cnt_valid[msg.which()] += 1 - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) - duration = (end_time - start_time) / 1e9 print("Events") @@ -55,5 +66,13 @@ if __name__ == "__main__": expected_frames = int(s.frequency * duration / cast(float, s.decimation)) print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected") + print("\n") + print("Alerts") + for t, a in alerts: + print(f"{t:8.2f} {a}") + if ignition_off is not None: + ignition_off = round((ignition_off - start_time) / 1e9, 2) + print("Ignition off at", ignition_off) + print("\n") print("Route duration", datetime.timedelta(seconds=duration)) diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py index fdb825eead..8436fbd0b0 100755 --- a/selfdrive/debug/dump.py +++ b/selfdrive/debug/dump.py @@ -3,14 +3,15 @@ import os import sys import argparse import json -from hexdump import hexdump import codecs -codecs.register_error("strict", codecs.backslashreplace_errors) - -from cereal import log import cereal.messaging as messaging + +from hexdump import hexdump +from cereal import log from cereal.services import service_list +codecs.register_error("strict", codecs.backslashreplace_errors) + if __name__ == "__main__": parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.') @@ -41,7 +42,8 @@ if __name__ == "__main__": polld = poller.poll(100) for sock in polld: msg = sock.receive() - evt = log.Event.from_bytes(msg) + with log.Event.from_bytes(msg) as log_evt: + evt = log_evt if not args.no_print: if args.pipe: diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index af52953936..8d9ce8e6a2 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -59,7 +59,7 @@ if __name__ == "__main__": logs = [args.route[0]] else: r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths())] + logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] if len(args.route) == 2 and logs: n = int(args.route[1]) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 3a0ff33cb6..ac3651bf2f 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -59,6 +59,9 @@ SUPPORTED_FW_VERSIONS = { b"TM__ SCC F-CUP 1.00 1.00 99110-S1210\x19\x01%\x168 ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"TM__ SCC F-CUP 1.00 1.02 99110-S2000\x18\x07\x08\x18W ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), } if __name__ == "__main__": diff --git a/selfdrive/debug/internal/check_alive_valid.py b/selfdrive/debug/internal/check_alive_valid.py deleted file mode 100755 index da488c2140..0000000000 --- a/selfdrive/debug/internal/check_alive_valid.py +++ /dev/null @@ -1,19 +0,0 @@ -#!/usr/bin/env python3 -import time -import cereal.messaging as messaging - - -if __name__ == "__main__": - sm = messaging.SubMaster(['deviceState', 'pandaStates', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan']) - - i = 0 - while True: - sm.update(0) - - i += 1 - if i % 100 == 0: - print() - print("alive", sm.alive) - print("valid", sm.valid) - - time.sleep(0.01) diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py deleted file mode 100755 index 9ac8bfc80e..0000000000 --- a/selfdrive/debug/internal/check_frame_frequencies.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python3 - -import time -import statistics -import cereal.messaging as messaging - -from typing import Dict - -camera_states = [ - 'roadCameraState', - 'wideRoadCameraState', - 'driverCameraState' -] - -def fmt(val): - ref = 0.05 - return f"{val:.6f} ({100 * val / ref:.2f}%)" - -if __name__ == "__main__": - sm = messaging.SubMaster(camera_states) - - prev_sof = {state: None for state in camera_states} - diffs: Dict[str, list] = {state: [] for state in camera_states} - - st = time.monotonic() - while True: - sm.update() - - for state in camera_states: - if sm.updated[state]: - if prev_sof[state] is not None: - diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9) - prev_sof[state] = sm[state].timestampSof - - if time.monotonic() - st > 10: - for state in camera_states: - values = diffs[state] - ref = 0.05 - print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}") - diffs[state] = [] - - print() - st = time.monotonic() diff --git a/selfdrive/debug/internal/design_lqr.py b/selfdrive/debug/internal/design_lqr.py deleted file mode 100755 index e86926f607..0000000000 --- a/selfdrive/debug/internal/design_lqr.py +++ /dev/null @@ -1,32 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import control # pylint: disable=import-error - -dt = 0.01 -A = np.array([[ 0. , 1. ], [-0.78823806, 1.78060701]]) -B = np.array([[-2.23399437e-05], [ 7.58330763e-08]]) -C = np.array([[1., 0.]]) - - -# Kalman tuning -Q = np.diag([1, 1]) -R = np.atleast_2d(1e5) - -(_, _, L) = control.dare(A.T, C.T, Q, R) -L = L.T - -# LQR tuning -Q = np.diag([2e5, 1e-5]) -R = np.atleast_2d(1) -(_, _, K) = control.dare(A, B, Q, R) - -A_cl = (A - B.dot(K)) -sys = control.ss(A_cl, B, C, 0, dt) -dc_gain = control.dcgain(sys) - -print(("self.A = np." + A.__repr__()).replace('\n', '')) -print(("self.B = np." + B.__repr__()).replace('\n', '')) -print(("self.C = np." + C.__repr__()).replace('\n', '')) -print(("self.K = np." + K.__repr__()).replace('\n', '')) -print(("self.L = np." + L.__repr__()).replace('\n', '')) -print("self.dc_gain = " + str(dc_gain)) diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py index a18390fef3..8209bbf4ce 100755 --- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py @@ -27,7 +27,7 @@ if __name__ == "__main__": for _ in tqdm(range(1000)): for candidate, fws in FWS.items(): fw_dict = {} - for (tp, addr, subaddr), fw_list in fws.items(): + for (_, addr, subaddr), fw_list in fws.items(): fw_dict[(addr, subaddr)] = [random.choice(fw_list)] matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate) diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py index 2cc68df438..ef3152b50c 100755 --- a/selfdrive/debug/internal/measure_torque_time_to_max.py +++ b/selfdrive/debug/internal/measure_torque_time_to_max.py @@ -34,7 +34,8 @@ if __name__ == "__main__": polld = poller.poll(1000) for sock in polld: msg = sock.receive() - evt = log.Event.from_bytes(msg) + with log.Event.from_bytes(msg) as log_evt: + evt = log_evt for item in evt.can: if item.address == 0xe4 and item.src == 128: diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py deleted file mode 100755 index 34d2a12adc..0000000000 --- a/selfdrive/debug/internal/power_monitor.py +++ /dev/null @@ -1,64 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import sys -from datetime import datetime - -def average(avg, sample): - # Weighted avg between existing value and new sample - return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1) - - -if __name__ == '__main__': - start_time = datetime.now() - try: - if len(sys.argv) > 1 and sys.argv[1] == "--charge": - print("not disabling charging") - else: - print("disabling charging") - os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled') - - voltage_average = (0., 0) # average, count - current_average = (0., 0) - power_average = (0., 0) - capacity_average = (0., 0) - bat_temp_average = (0., 0) - while 1: - with open("/sys/class/power_supply/bms/voltage_now") as f: - voltage = int(f.read()) / 1e6 # volts - - with open("/sys/class/power_supply/bms/current_now") as f: - current = int(f.read()) / 1e3 # ma - - power = voltage * current - - with open("/sys/class/power_supply/bms/capacity_raw") as f: - capacity = int(f.read()) / 1e2 # percent - - with open("/sys/class/power_supply/bms/temp") as f: - bat_temp = int(f.read()) / 1e1 # celsius - - # compute averages - voltage_average = average(voltage_average, voltage) - current_average = average(current_average, current) - power_average = average(power_average, power) - capacity_average = average(capacity_average, capacity) - bat_temp_average = average(bat_temp_average, bat_temp) - - print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC") - time.sleep(0.1) - finally: - stop_time = datetime.now() - print("\n----------------------Average-----------------------------------") - voltage = voltage_average[0] - current = current_average[0] - power = power_average[0] - capacity = capacity_average[0] - bat_temp = bat_temp_average[0] - print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC") - print(f" {(stop_time - start_time).total_seconds():.2f} Seconds {voltage_average[1]} samples") - print("----------------------------------------------------------------") - - # re-enable charging - os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') - print("charging enabled\n") diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index a98a71181d..be9ab5b17e 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -27,7 +27,7 @@ def make_pie(msgs, typ): sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100] sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))] - labels, sizes = zip(*sizes_large) + labels, sizes = zip(*sizes_large, strict=True) plt.figure() plt.title(f"{typ}") diff --git a/selfdrive/debug/internal/run_paramsd_on_route.py b/selfdrive/debug/internal/run_paramsd_on_route.py deleted file mode 100755 index 54519e3777..0000000000 --- a/selfdrive/debug/internal/run_paramsd_on_route.py +++ /dev/null @@ -1,150 +0,0 @@ -#!/usr/bin/env python3 -# pylint: skip-file -# flake8: noqa -# type: ignore - -import math -import multiprocessing - -import numpy as np -from tqdm import tqdm - -from selfdrive.locationd.paramsd import ParamsLearner, States -from tools.lib.logreader import LogReader -from tools.lib.route import Route - -ROUTE = "b2f1615665781088|2021-03-14--17-27-47" -PLOT = True - - -def load_segment(segment_name): - print(f"Loading {segment_name}") - if segment_name is None: - return [] - - try: - return list(LogReader(segment_name)) - except ValueError as e: - print(f"Error parsing {segment_name}: {e}") - return [] - - -if __name__ == "__main__": - route = Route(ROUTE) - - msgs = [] - with multiprocessing.Pool(24) as pool: - for d in pool.map(load_segment, route.log_paths()): - msgs += d - - for m in msgs: - if m.which() == 'carParams': - CP = m.carParams - break - - params = { - 'carFingerprint': CP.carFingerprint, - 'steerRatio': CP.steerRatio, - 'stiffnessFactor': 1.0, - 'angleOffsetAverageDeg': 0.0, - } - - for m in msgs: - if m.which() == 'liveParameters': - params['steerRatio'] = m.liveParameters.steerRatio - params['angleOffsetAverageDeg'] = m.liveParameters.angleOffsetAverageDeg - break - - for m in msgs: - if m.which() == 'carState': - last_carstate = m - break - - print(params) - learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg'])) - msgs = [m for m in tqdm(msgs) if m.which() in ('liveLocationKalman', 'carState', 'liveParameters')] - msgs = sorted(msgs, key=lambda m: m.logMonoTime) - - ts = [] - ts_log = [] - results = [] - results_log = [] - for m in tqdm(msgs): - if m.which() == 'carState': - last_carstate = m - - elif m.which() == 'liveLocationKalman': - t = last_carstate.logMonoTime / 1e9 - learner.handle_log(t, 'carState', last_carstate.carState) - - t = m.logMonoTime / 1e9 - learner.handle_log(t, 'liveLocationKalman', m.liveLocationKalman) - - x = learner.kf.x - sr = float(x[States.STEER_RATIO]) - st = float(x[States.STIFFNESS]) - ao_avg = math.degrees(x[States.ANGLE_OFFSET]) - ao = ao_avg + math.degrees(x[States.ANGLE_OFFSET_FAST]) - r = [sr, st, ao_avg, ao] - if any(math.isnan(v) for v in r): - print("NaN", t) - - ts.append(t) - results.append(r) - - elif m.which() == 'liveParameters': - t = m.logMonoTime / 1e9 - mm = m.liveParameters - - r = [mm.steerRatio, mm.stiffnessFactor, mm.angleOffsetAverageDeg, mm.angleOffsetDeg] - if any(math.isnan(v) for v in r): - print("NaN in log", t) - ts_log.append(t) - results_log.append(r) - - results = np.asarray(results) - results_log = np.asarray(results_log) - - if PLOT: - import matplotlib.pyplot as plt - plt.figure() - - plt.subplot(3, 2, 1) - plt.plot(ts, results[:, 0], label='Steer Ratio') - plt.grid() - plt.ylim([0, 20]) - plt.legend() - - plt.subplot(3, 2, 3) - plt.plot(ts, results[:, 1], label='Stiffness') - plt.ylim([0, 2]) - plt.grid() - plt.legend() - - plt.subplot(3, 2, 5) - plt.plot(ts, results[:, 2], label='Angle offset (average)') - plt.plot(ts, results[:, 3], label='Angle offset (instant)') - plt.ylim([-5, 5]) - plt.grid() - plt.legend() - - plt.subplot(3, 2, 2) - plt.plot(ts_log, results_log[:, 0], label='Steer Ratio') - plt.grid() - plt.ylim([0, 20]) - plt.legend() - - plt.subplot(3, 2, 4) - plt.plot(ts_log, results_log[:, 1], label='Stiffness') - plt.ylim([0, 2]) - plt.grid() - plt.legend() - - plt.subplot(3, 2, 6) - plt.plot(ts_log, results_log[:, 2], label='Angle offset (average)') - plt.plot(ts_log, results_log[:, 3], label='Angle offset (instant)') - plt.ylim([-5, 5]) - plt.grid() - plt.legend() - plt.show() - diff --git a/selfdrive/debug/internal/test_paramsd.py b/selfdrive/debug/internal/test_paramsd.py deleted file mode 100755 index 81524496f7..0000000000 --- a/selfdrive/debug/internal/test_paramsd.py +++ /dev/null @@ -1,133 +0,0 @@ -#!/usr/bin/env python3 -# pylint: skip-file -# type: ignore - -import numpy as np -import math -from tqdm import tqdm -from typing import cast - -import seaborn as sns -import matplotlib.pyplot as plt - - -from selfdrive.car.honda.interface import CarInterface -from selfdrive.car.honda.values import CAR -from selfdrive.controls.lib.vehicle_model import VehicleModel, create_dyn_state_matrices -from selfdrive.locationd.kalman.models.car_kf import CarKalman, ObservationKind, States - -T_SIM = 5 * 60 # s -DT = 0.01 - - -CP = CarInterface.get_non_essential_params(CAR.CIVIC) -VM = VehicleModel(CP) - -x, y = 0, 0 # m, m -psi = math.radians(0) # rad - -# The state is x = [v, r]^T -# with v lateral speed [m/s], and r rotational speed [rad/s] -state = np.array([[0.0], [0.0]]) - - -ts = np.arange(0, T_SIM, DT) -speeds = 10 * np.sin(2 * np.pi * ts / 200.) + 25 - -angle_offsets = math.radians(1.0) * np.ones_like(ts) -angle_offsets[ts > 60] = 0 -steering_angles = cast(np.ndarray, np.radians(5 * np.cos(2 * np.pi * ts / 100.))) - -xs = [] -ys = [] -psis = [] -yaw_rates = [] -speed_ys = [] - - -kf_states = [] -kf_ps = [] - -kf = CarKalman() - -for i, t in tqdm(list(enumerate(ts))): - u = speeds[i] - sa = steering_angles[i] - ao = angle_offsets[i] - - A, B = create_dyn_state_matrices(u, VM) - - state += DT * (A.dot(state) + B.dot(sa + ao)) - - x += u * math.cos(psi) * DT - y += (float(state[0]) * math.sin(psi) + u * math.sin(psi)) * DT - psi += float(state[1]) * DT - - kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_YAW_RATE, [float(state[1])]) - kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_XY_SPEED, [[u, float(state[0])]]) - kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, [sa]) - kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, [0]) - kf.predict(t) - - speed_ys.append(float(state[0])) - yaw_rates.append(float(state[1])) - kf_states.append(kf.x.copy()) - kf_ps.append(kf.P.copy()) - - xs.append(x) - ys.append(y) - psis.append(psi) - - -xs = np.asarray(xs) -ys = np.asarray(ys) -psis = np.asarray(psis) -speed_ys = np.asarray(speed_ys) -kf_states = np.asarray(kf_states) -kf_ps = np.asarray(kf_ps) - - -palette = sns.color_palette() - -def plot_with_bands(ts, state, label, ax, idx=1, converter=None): - mean = kf_states[:, state].flatten() - stds = np.sqrt(kf_ps[:, state, state].flatten()) - - if converter is not None: - mean = converter(mean) - stds = converter(stds) - - sns.lineplot(ts, mean, label=label, ax=ax) - ax.fill_between(ts, mean - stds, mean + stds, alpha=.2, color=palette[idx]) - - -print(kf.x) - -sns.set_context("paper") -f, axes = plt.subplots(6, 1) - -sns.lineplot(ts, np.degrees(steering_angles), label='Steering Angle [deg]', ax=axes[0]) -plot_with_bands(ts, States.STEER_ANGLE, 'Steering Angle kf [deg]', axes[0], converter=np.degrees) - -sns.lineplot(ts, np.degrees(yaw_rates), label='Yaw Rate [deg]', ax=axes[1]) -plot_with_bands(ts, States.YAW_RATE, 'Yaw Rate kf [deg]', axes[1], converter=np.degrees) - -sns.lineplot(ts, np.ones_like(ts) * VM.sR, label='Steer ratio [-]', ax=axes[2]) -plot_with_bands(ts, States.STEER_RATIO, 'Steer ratio kf [-]', axes[2]) -axes[2].set_ylim([10, 20]) - - -sns.lineplot(ts, np.ones_like(ts), label='Tire stiffness[-]', ax=axes[3]) -plot_with_bands(ts, States.STIFFNESS, 'Tire stiffness kf [-]', axes[3]) -axes[3].set_ylim([0.8, 1.2]) - - -sns.lineplot(ts, np.degrees(angle_offsets), label='Angle offset [deg]', ax=axes[4]) -plot_with_bands(ts, States.ANGLE_OFFSET, 'Angle offset kf deg', axes[4], converter=np.degrees) -plot_with_bands(ts, States.ANGLE_OFFSET_FAST, 'Fast Angle offset kf deg', axes[4], converter=np.degrees, idx=2) - -axes[4].set_ylim([-2, 2]) - -sns.lineplot(ts, speeds, ax=axes[5]) - -plt.show() diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 103dd52dd8..1cb6c3cdda 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -9,7 +9,8 @@ from selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" STAR_ICON = '' -VIDEO_ICON = '' +VIDEO_ICON = '\ + ' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) ARROW_SYMBOL = "➡️" @@ -99,7 +100,8 @@ def print_car_info_diff(path): if any(len(c) for c in changes.values()): markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] - for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): + for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), + ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): if len(changes[category]): markdown_builder.append(title) if category not in ("detail",): diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 63b0733bba..c7a1434975 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -2,10 +2,10 @@ import argparse -from selfdrive.test.process_replay.compare_logs import save_log from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process from tools.lib.logreader import MultiLogIterator from tools.lib.route import Route +from tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", @@ -25,7 +25,7 @@ if __name__ == "__main__": # Remove message generated by the process under test and merge in the new messages produces = {o.which() for o in outputs} inputs = [i for i in inputs if i.which() not in produces] - outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) # type: ignore + outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) fn = f"{args.route}_{args.process}.bz2" save_log(fn, outputs) diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py index d5199b2a9e..a97c41f128 100755 --- a/selfdrive/debug/show_matching_cars.py +++ b/selfdrive/debug/show_matching_cars.py @@ -4,7 +4,7 @@ import cereal.messaging as messaging # rav4 2019 and corolla tss2 -fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} +fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501 candidate_cars = all_legacy_fingerprint_cars() diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index c2f51c9355..3f7a1a167b 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse import sys -from typing import List, Tuple +from typing import List import unittest from selfdrive.car.tests.routes import CarTestRoute @@ -9,11 +9,11 @@ from selfdrive.car.tests.test_models import TestCarModel from tools.lib.route import SegmentName -def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite: +def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite: test_suite = unittest.TestSuite() - for car_model, test_route in routes: + for test_route in routes: # create new test case and discover tests - test_case_args = {"car_model": car_model, "test_route": test_route, "ci": ci} + test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci} CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args) test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase)) return test_suite @@ -33,6 +33,6 @@ if __name__ == "__main__": route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True) segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num) - test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci) + test_suite = create_test_models_suite([test_route], ci=args.ci) unittest.TextTestRunner().run(test_suite) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 0bb9aa5e54..51cd426315 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -18,9 +18,9 @@ SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_nam UNKNOWN_BRAND = "unknown" try: - from xx.pipeline.c.CarState import migration + from xx.pipeline.lib.fingerprint import MIGRATION except ImportError: - migration = {} + MIGRATION = {} if __name__ == "__main__": parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes') @@ -78,7 +78,7 @@ if __name__ == "__main__": break live_fingerprint = CP.carFingerprint - live_fingerprint = migration.get(live_fingerprint, live_fingerprint) + live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint) if args.car is not None: live_fingerprint = args.car @@ -112,7 +112,8 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \ + (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 8952405b8e..6b5ec36935 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -49,7 +49,7 @@ if __name__ == "__main__": sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") - odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8") + odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore coding_text = current_coding.hex() @@ -70,14 +70,14 @@ if __name__ == "__main__": coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 coding_length = len(current_coding) - # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS) - if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"): - coding_variant = "ZF" + # EPS_MQB_ZFLS + if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"): + coding_variant = "ZFLS" coding_byte = 0 coding_bit = 4 - # APA racks (MQB_PP_APA) have a different coding layout - elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00": + # MQB_PP_APA, MQB_VWBS_GEN2 + elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"): coding_variant = "APA" coding_byte = 3 coding_bit = 0 @@ -111,8 +111,8 @@ if __name__ == "__main__": if args.action in ["enable", "disable"]: print("\nAttempting configuration update") - assert(coding_variant in ("ZF", "APA")) - # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the + assert(coding_variant in ("ZFLS", "APA")) + # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the # bit we care about is always in the same place in the first byte if args.action == "enable": new_byte = current_coding_array[coding_byte] | (1 << coding_bit) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 091f211175..7f8fd03b98 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -24,6 +24,8 @@ MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) MAX_YAW_RATE_FILTER = np.radians(2) # per second +MAX_HEIGHT_STD = np.exp(-3.5) + # This is at model frequency, blocks needed for efficiency SMOOTH_CYCLES = 10 BLOCK_SIZE = 100 @@ -32,19 +34,14 @@ INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) +HEIGHT_INIT = np.array([1.22]) -# These values are needed to accommodate biggest modelframe -PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) +# These values are needed to accommodate the model frame in the narrow cam of the C3 +PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235]) DEBUG = os.getenv("DEBUG") is not None -class Calibration: - UNCALIBRATED = 0 - CALIBRATED = 1 - INVALID = 2 - - def is_calibration_valid(rpy: np.ndarray) -> bool: return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1]) # type: ignore @@ -56,6 +53,8 @@ def sanity_clip(rpy: np.ndarray) -> np.ndarray: np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005), np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)]) +def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray: + return (idx*prev_mean + (block_size - idx) * new_val) / block_size class Calibrator: def __init__(self, param_put: bool = False): @@ -68,29 +67,38 @@ class Calibrator: calibration_params = params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + height = HEIGHT_INIT valid_blocks = 0 + self.cal_status = log.LiveCalibrationData.Status.uncalibrated if param_put and calibration_params: try: - msg = log.Event.from_bytes(calibration_params) - rpy_init = np.array(msg.liveCalibration.rpyCalib) - valid_blocks = msg.liveCalibration.validBlocks - wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) + with log.Event.from_bytes(calibration_params) as msg: + rpy_init = np.array(msg.liveCalibration.rpyCalib) + valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) + height = np.array(msg.liveCalibration.height) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks, wide_from_device_euler) + self.reset(rpy_init, valid_blocks, wide_from_device_euler, height) self.update_status() def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + height_init: np.ndarray = HEIGHT_INIT, smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(height_init).all() or len(height_init) != 1: + self.height = HEIGHT_INIT.copy() + else: + self.height = height_init.copy() + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() else: @@ -103,6 +111,7 @@ class Calibrator: self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) + self.heights = np.tile(self.height, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -125,6 +134,7 @@ class Calibrator: valid_idxs = self.get_valid_idxs() if valid_idxs: self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) + self.height = np.mean(self.heights[valid_idxs], axis=0) rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) @@ -134,16 +144,21 @@ class Calibrator: self.calib_spread = np.zeros(3) if self.valid_blocks < INPUTS_NEEDED: - self.cal_status = Calibration.UNCALIBRATED + if self.cal_status == log.LiveCalibrationData.Status.recalibrating: + self.cal_status = log.LiveCalibrationData.Status.recalibrating + else: + self.cal_status = log.LiveCalibrationData.Status.uncalibrated elif is_calibration_valid(self.rpy): - self.cal_status = Calibration.CALIBRATED + self.cal_status = log.LiveCalibrationData.Status.calibrated else: - self.cal_status = Calibration.INVALID + self.cal_status = log.LiveCalibrationData.Status.invalid # If spread is too high, assume mounting was changed and reset to last block. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. - if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED: + # TODO: add height spread check with smooth transition too + if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated: self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) + self.cal_status = log.LiveCalibrationData.Status.recalibrating write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: @@ -161,13 +176,21 @@ class Calibrator: def handle_cam_odom(self, trans: List[float], rot: List[float], wide_from_device_euler: List[float], - trans_std: List[float]) -> Optional[np.ndarray]: + trans_std: List[float], + road_transform_trans: List[float], + road_transform_trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) angle_std_threshold = MAX_VEL_ANGLE_STD - certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or - (self.valid_blocks < INPUTS_NEEDED)) + height_std_threshold = MAX_HEIGHT_STD + rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold + if len(road_transform_trans_std) == 3: + height_certain = road_transform_trans_std[2] < height_std_threshold + else: + height_certain = True + + certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED) if not (straight_and_fast and certain_if_calib): return None @@ -181,10 +204,17 @@ class Calibrator: new_wide_from_device_euler = np.array(wide_from_device_euler) else: new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) - self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) + + if (len(road_transform_trans) == 3): + new_height = np.array([road_transform_trans[2]]) + else: + new_height = HEIGHT_INIT + + self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE)) + self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], + new_wide_from_device_euler, self.idx, float(BLOCK_SIZE)) + self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE)) + self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -207,10 +237,11 @@ class Calibrator: liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() + liveCalibration.height = self.height.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED - liveCalibration.calStatus = Calibration.CALIBRATED + liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated liveCalibration.calPerc = 100. liveCalibration.rpyCalib = [0, 0, 0] liveCalibration.rpyCalibSpread = self.calib_spread.tolist() @@ -244,7 +275,9 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, sm['cameraOdometry'].wideFromDeviceEuler, - sm['cameraOdometry'].transStd) + sm['cameraOdometry'].transStd, + sm['cameraOdometry'].roadTransformTrans, + sm['cameraOdometry'].roadTransformTransStd) if DEBUG and new_rpy is not None: print('got new rpy', new_rpy) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 8b07c46aaa..e4a408d130 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -5,7 +5,6 @@ import time import shutil from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor -from datetime import datetime from enum import IntEnum from typing import List, Optional, Dict, Any @@ -82,13 +81,13 @@ class Laikad: valid_ephem_types: Valid ephemeris types to be used by AstroDog save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ - self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) + self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, + clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) self.auto_fetch_navs = auto_fetch_navs self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None - self.got_first_gnss_msg = False self.last_report_time = GPSTime(0, 0) self.last_fetch_navs_t = GPSTime(0, 0) @@ -100,11 +99,14 @@ class Laikad: self.velfix_function = get_velfix_sympy_func() self.last_fix_pos = None self.last_fix_t = None - self.gps_week = None self.use_qcom = use_qcom self.first_log_time = None self.ttff = -1 + # qcom specific stuff + self.qcom_reports_received = 1 + self.qcom_reports = [] + def load_cache(self): if not self.save_ephemeris: return @@ -115,9 +117,9 @@ class Laikad: nav_dict = {} try: - ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) - glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] - gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] + with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache: + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] for e in sum([glonass_navs, gps_navs], []): if e.prn not in nav_dict: nav_dict[e.prn] = [] @@ -132,26 +134,27 @@ class Laikad: if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) - ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], - 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) - - put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) - cloudlog.debug("Cache saved") + #TODO this only saves currently valid ephems, when we download future ephems we should save them too + valid_navs = [e for e in nav_list if e.valid(self.last_report_time)] + if len(valid_navs) > 0: + ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'], + gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G']) + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) + cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time def create_ephem_statuses(self): ephemeris_statuses = [] - prns_to_check = list(self.astro_dog.get_all_ephem_prns()) - prns_to_check.sort() - for prn in prns_to_check: - eph = self.astro_dog.get_eph(prn, self.last_report_time) - if eph is not None: - status = log.GnssMeasurements.EphemerisStatus.new_message() - status.constellationId = ConstellationId.from_rinex_char(prn[0]).value - status.svId = get_sv_id(prn) - status.type = get_log_eph_type(eph).value - status.source = get_log_eph_source(eph).value - ephemeris_statuses.append(status) + eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], []) + for eph in eph_list: + status = log.GnssMeasurements.EphemerisStatus.new_message() + status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value + status.svId = get_sv_id(eph.prn) + status.type = get_log_eph_type(eph).value + status.source = get_log_eph_source(eph).value + status.tow = eph.epoch.tow + status.gpsWeek = eph.epoch.week + ephemeris_statuses.append(status) return ephemeris_statuses @@ -178,17 +181,32 @@ class Laikad: return position_estimate, position_std, velocity_estimate, velocity_std + def gps_time_from_qcom_report(self, gnss_msg): + report = gnss_msg.drMeasurementReport + if report.source == log.QcomGnss.MeasurementSource.gps: + report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) + elif report.source == log.QcomGnss.MeasurementSource.sbas: + report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) + elif report.source == log.QcomGnss.MeasurementSource.glonass: + report_time = GPSTime.from_glonass(report.glonassYear, + report.glonassDay, + report.glonassMilliseconds / 1000.0) + else: + raise NotImplementedError(f'Unknownconstellation {report.source}') + return report_time + def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) # TODO: Understand and use remaining unknown constellations try: - good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] + report_time = self.gps_time_from_qcom_report(gnss_msg) except NotImplementedError: - good_constellation = False - # gpsWeek 65535 is received rarely from quectel, this cannot be - # passed to GnssMeasurements's gpsWeek (Int16) - good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max + return False + # Garbage timestamps with week > 32767 are sometimes sent by module. + # This is an issue with gpsTime and GLONASS time. + good_week = report_time.week < np.iinfo(np.int16).max return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True @@ -197,17 +215,27 @@ class Laikad: def read_report(self, gnss_msg): if self.use_qcom: + # QCOM reports are per constellation, so we need to aggregate them report = gnss_msg.drMeasurementReport - week = report.gpsWeek - tow = report.gpsMilliseconds / 1000.0 - new_meas = read_raw_qcom(report) + report_time = self.gps_time_from_qcom_report(gnss_msg) + + if report_time - self.last_report_time > 0: + self.qcom_reports_received = max(1, len(self.qcom_reports)) + self.qcom_reports = [report] + else: + self.qcom_reports.append(report) + self.last_report_time = report_time + + new_meas = [] + if len(self.qcom_reports) == self.qcom_reports_received: + for report in self.qcom_reports: + new_meas.extend(read_raw_qcom(report)) + else: report = gnss_msg.measurementReport - week = report.gpsWeek - tow = report.rcvTow + self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) new_meas = read_raw_ublox(report) - self.last_report_time = GPSTime(week, tow) - return week, tow, new_meas + return self.last_report_time, new_meas def is_ephemeris(self, gnss_msg): if self.use_qcom: @@ -217,11 +245,8 @@ class Laikad: def read_ephemeris(self, gnss_msg): if self.use_qcom: - # TODO this is not robust to gps week rollover - if self.gps_week is None: - return try: - ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + ephem = parse_qcom_ephem(gnss_msg.drSvPoly) self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) except Exception: cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module") @@ -281,13 +306,10 @@ class Laikad: if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) elif self.is_good_report(gnss_msg): - week, tow, new_meas = self.read_report(gnss_msg) - self.gps_week = week - if week > 0: - self.got_first_gnss_msg = True - latest_msg_t = GPSTime(week, tow) + report_t, new_meas = self.read_report(gnss_msg) + if report_t.week > 0: if self.auto_fetch_navs: - self.fetch_navs(latest_msg_t, block) + self.fetch_navs(report_t, block) corrected_measurements = self.process_report(new_meas, t) msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] @@ -427,39 +449,27 @@ def clear_tmp_cache(): def main(sm=None, pm=None): #clear_tmp_cache() - use_qcom = not Params().get_bool("UbloxAvailable", block=True) + use_qcom = not Params().get_bool("UbloxAvailable") if use_qcom: raw_name = "qcomGnss" else: raw_name = "ubloxGnss" - raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000) - - if sm is None: - sm = messaging.SubMaster(['clocks',]) + raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time + # TODO ensure low CPU usage before enabling use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ - if replay or "CI" in os.environ: - use_internet = True - laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: - for in_msg in messaging.drain_sock(raw_gnss_sock): + for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True): out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) pm.send('gnssMeasurements', out_msg) - sm.update(0) - if not laikad.got_first_gnss_msg and sm.updated['clocks']: - clocks_msg = sm['clocks'] - t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) - if laikad.auto_fetch_navs: - laikad.fetch_navs(t, block=replay) - if __name__ == "__main__": main() diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index 32fec7724a..6f298deab6 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -4,7 +4,7 @@ extern "C" { typedef Localizer* Localizer_t; Localizer *localizer_init(bool has_ublox) { - return new Localizer(has_ublox); + return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); } void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 6c0307bd64..9b3e3b3b85 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -35,6 +35,8 @@ const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; +const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0"; + static VectorXd floatlist2vector(const capnp::List::Reader& floatlist) { VectorXd res(floatlist.size()); for (int i = 0; i < floatlist.size(); i++) { @@ -68,7 +70,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); } -Localizer::Localizer() { +Localizer::Localizer(LocalizerGnssSource gnss_source) { this->kf = std::make_unique(); this->reset_kalman(); @@ -82,10 +84,9 @@ Localizer::Localizer() { VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); + this->configure_gnss_source(gnss_source); } -Localizer::Localizer(bool has_ublox) : Localizer() { ublox_available = has_ublox; } - void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { VectorXd predicted_state = this->kf->get_x(); MatrixXdr predicted_cov = this->kf->get_P(); @@ -161,6 +162,9 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated); init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated); init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated); + if (DEBUG) { + init_measurement(fix.initFilterState(), predicted_state, predicted_std, true); + } double old_mean = 0.0, new_mean = 0.0; int i = 0; @@ -320,12 +324,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; - float ecef_pos_std; - if (ublox_available) { - ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2)); - } else { - ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2)); - } + float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); @@ -367,10 +366,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } double sensor_time = log.getMeasTime() * 1e-9; - if (ublox_available) - sensor_time -= GPS_UBLOX_SENSOR_TIME_OFFSET; - else - sensor_time -= GPS_QUECTEL_SENSOR_TIME_OFFSET; + sensor_time -= this->gps_time_offset; auto ecef_pos_v = log.getPositionECEF().getValue(); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); @@ -507,7 +503,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra this->calib = live_calib; this->device_from_calib = euler2rot(this->calib); this->calib_from_device = this->device_from_calib.transpose(); - this->calibrated = log.getCalStatus() == 1; + this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; this->observation_values_invalid["liveCalibration"] *= DECAY; } } @@ -659,16 +655,33 @@ void Localizer::determine_gps_mode(double current_time) { } } -int Localizer::locationd_thread() { - ublox_available = Params().getBool("UbloxAvailable", true); - const char* gps_location_socket; - if (ublox_available) { - gps_location_socket = "gpsLocationExternal"; +void Localizer::configure_gnss_source(LocalizerGnssSource source) { + this->gnss_source = source; + if (source == LocalizerGnssSource::UBLOX) { this->gps_std_factor = 10.0; + this->gps_variance_factor = 1.0; + this->gps_vertical_variance_factor = 1.0; + this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; } else { - gps_location_socket = "gpsLocation"; this->gps_std_factor = 2.0; + this->gps_variance_factor = 0.0; + this->gps_vertical_variance_factor = 3.0; + this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; } +} + +int Localizer::locationd_thread() { + LocalizerGnssSource source; + const char* gps_location_socket; + if (Params().getBool("UbloxAvailable")) { + source = LocalizerGnssSource::UBLOX; + gps_location_socket = "gpsLocationExternal"; + } else { + source = LocalizerGnssSource::QCOM; + gps_location_socket = "gpsLocation"; + } + + this->configure_gnss_source(source); const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index e2b2096afc..e8f2f04a2c 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -21,10 +21,13 @@ #define POSENET_STD_HIST_HALF 20 +enum LocalizerGnssSource { + UBLOX, QCOM +}; + class Localizer { public: - Localizer(); - Localizer(bool has_ublox); + Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); int locationd_thread(); @@ -81,10 +84,15 @@ private: double first_valid_log_time = NAN; double ttff = NAN; double last_gps_msg = 0; - bool ublox_available = true; + LocalizerGnssSource gnss_source; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; float gps_std_factor; + float gps_variance_factor; + float gps_vertical_variance_factor; + double gps_time_offset; + + void configure_gnss_source(LocalizerGnssSource source); }; diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 3faf4f8d4e..a5abf8514a 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -171,7 +171,8 @@ class CarKalman(KalmanFilter): if P_initial is not None: self.P_initial = P_initial # init filter - self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, + dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) if __name__ == "__main__": diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index 023479d10e..dc439c23f6 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -212,14 +212,14 @@ class LiveKalman(): live_kf_header = "#pragma once\n\n" live_kf_header += "#include \n" live_kf_header += "#include \n\n" - for state, slc in inspect.getmembers(States, lambda x: type(x) == slice): + for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)): assert(slc.step is None) # unsupported live_kf_header += f'#define STATE_{state}_START {slc.start}\n' live_kf_header += f'#define STATE_{state}_END {slc.stop}\n' live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n' live_kf_header += "\n" - for kind, val in inspect.getmembers(ObservationKind, lambda x: type(x) == int): + for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)): live_kf_header += f'#define OBSERVATION_{kind} {val}\n' live_kf_header += "\n" diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index 4c947422b1..d865509e95 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -33,7 +33,8 @@ class States(): ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer # TODO the offset is likely a translation of the sensor, not a rotation of the camera WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) - # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). + # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables + # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE # Error-state has different slices because it is an ESKF @@ -190,9 +191,9 @@ class LocKalman(): # Observation matrix modifier H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): + for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): + for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:] # these error functions are defined so that say there @@ -204,17 +205,17 @@ class LocKalman(): delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): + for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): delta_quat = sp.Matrix(np.ones(4)) delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :]) err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): + for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :]) inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): + for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): + for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0] inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:]) @@ -324,7 +325,8 @@ class LocKalman(): obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym]) obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym]) obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym]) - msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] + msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, + [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] else: msckf_params = None gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds) @@ -334,12 +336,13 @@ class LocKalman(): # process noise - clock_error_drift = 100.0 if erratic_clock else 0.1 + q_clock_error = 100.0 if erratic_clock else 0.1 + q_clock_error_rate = 10 if erratic_clock else 0.0 self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, 0.0**2, 0.0**2, 0.0**2, 0.0**2, 0.0**2, 0.0**2, 0.1**2, 0.1**2, 0.1**2, - (clock_error_drift)**2, (0)**2, + (q_clock_error)**2, (q_clock_error_rate)**2, (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, (0.02 / 100)**2, 3**2, 3**2, 3**2, @@ -369,7 +372,7 @@ class LocKalman(): self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N if self.N > 0: - x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking + x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] self.computer = LstSqComputer(generated_dir, N) self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)] diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 7e30b1e3a7..de1265f0d7 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -1,10 +1,12 @@ #!/usr/bin/env python3 +import os import math import json import numpy as np import cereal.messaging as messaging from cereal import car +from cereal import log from common.params import Params, put_nonblocking from common.realtime import config_realtime_process, DT_MDL from common.numpy_fast import clip @@ -16,8 +18,11 @@ from system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) +ROLL_LOWERED_MAX = math.radians(8) ROLL_STD_MAX = math.radians(1.5) LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 class ParamsLearner: @@ -102,9 +107,20 @@ class ParamsLearner: self.kf.filter.reset_rewind() +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid + + def main(sm=None, pm=None): config_realtime_process([0, 1, 2, 3], 5) + DEBUG = bool(int(os.getenv("DEBUG", "0"))) + REPLAY = bool(int(os.getenv("REPLAY", "0"))) + if sm is None: sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman']) if pm is None: @@ -113,7 +129,8 @@ def main(sm=None, pm=None): params_reader = Params() # wait for stats about the car to come in from controls cloudlog.info("paramsd is waiting for CarParams") - CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) + with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg: + CP = msg cloudlog.info("paramsd got CarParams") min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio @@ -130,10 +147,8 @@ def main(sm=None, pm=None): # Check if starting values are sane if params is not None: try: - angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0 steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr - params_sane = angle_offset_sane and steer_ratio_sane - if not params_sane: + if not steer_ratio_sane: cloudlog.info(f"Invalid starting values found {params}") params = None except Exception as e: @@ -150,13 +165,22 @@ def main(sm=None, pm=None): } cloudlog.info("Parameter learner resetting to default values") - # When driving in wet conditions the stiffness can go down, and then be too low on the next drive - # Without a way to detect this we have to reset the stiffness every drive - params['stiffnessFactor'] = 1.0 - learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg'])) + if not REPLAY: + # When driving in wet conditions the stiffness can go down, and then be too low on the next drive + # Without a way to detect this we have to reset the stiffness every drive + params['stiffnessFactor'] = 1.0 + + pInitial = None + if DEBUG: + pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None + + learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial) angle_offset_average = params['angleOffsetAverageDeg'] angle_offset = angle_offset_average roll = 0.0 + avg_offset_valid = True + total_offset_valid = True + roll_valid = True while True: sm.update() @@ -174,12 +198,17 @@ def main(sm=None, pm=None): learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0) x = learner.kf.x - angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) - angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) + angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), + angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) + angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), + angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) roll = clip(float(x[States.ROAD_ROLL]), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) roll_std = float(P[States.ROAD_ROLL]) # Account for the opposite signs of the yaw rates sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX) + total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX) msg = messaging.new_message('liveParameters') @@ -192,9 +221,9 @@ def main(sm=None, pm=None): liveParameters.angleOffsetAverageDeg = angle_offset_average liveParameters.angleOffsetDeg = angle_offset liveParameters.valid = all(( - abs(liveParameters.angleOffsetAverageDeg) < 10.0, - abs(liveParameters.angleOffsetDeg) < 10.0, - abs(liveParameters.roll) < ROLL_MAX, + avg_offset_valid, + total_offset_valid, + roll_valid, roll_std < ROLL_STD_MAX, 0.2 <= liveParameters.stiffnessFactor <= 5.0, min_sr <= liveParameters.steerRatio <= max_sr, @@ -203,6 +232,11 @@ def main(sm=None, pm=None): liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS]) liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET]) liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST]) + if DEBUG: + liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message() + liveParameters.filterState.value = x.tolist() + liveParameters.filterState.std = P.tolist() + liveParameters.filterState.valid = True msg.valid = sm.all_checks() diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py index 819bb1570e..97207908e7 100755 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -10,10 +10,12 @@ from cffi import FFI import cereal.messaging as messaging from cereal import log +from common.ffi_wrapper import suffix + SENSOR_DECIMATION = 1 VISION_DECIMATION = 1 -LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) +LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix())) class TestLocationdLib(unittest.TestCase): @@ -38,7 +40,8 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) - return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) + with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt: + return log_evt def test_liblocalizer(self): msg = messaging.new_message('liveCalibration') diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index 2c6508fd42..e3e8c3ca7c 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -5,8 +5,10 @@ import unittest import numpy as np import cereal.messaging as messaging +from cereal import log from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES +from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ + MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT class TestCalibrationd(unittest.TestCase): @@ -15,10 +17,12 @@ class TestCalibrationd(unittest.TestCase): msg = messaging.new_message('liveCalibration') msg.liveCalibration.validBlocks = random.randint(1, 10) msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)] + msg.liveCalibration.height = [random.random() for _ in range(1)] Params().put("CalibrationParams", msg.to_bytes()) c = Calibrator(param_put=True) np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) + np.testing.assert_allclose(msg.liveCalibration.height, c.height) self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) @@ -26,51 +30,79 @@ class TestCalibrationd(unittest.TestCase): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, INPUTS_WANTED) np.testing.assert_allclose(c.rpy, np.zeros(3)) + np.testing.assert_allclose(c.height, HEIGHT_INIT) c.reset() + def test_calibration_low_speed_reject(self): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER - 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, 0) np.testing.assert_allclose(c.rpy, np.zeros(3)) + np.testing.assert_allclose(c.height, HEIGHT_INIT) def test_calibration_yaw_rate_reject(self): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, MAX_YAW_RATE_FILTER ], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, 0) np.testing.assert_allclose(c.rpy, np.zeros(3)) + np.testing.assert_allclose(c.height, HEIGHT_INIT) + - def test_calibration_speed_std_reject(self): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e3, 1e3, 1e3], + [0.0, 0.0, HEIGHT_INIT.item()], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_speed_std_height_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e3, 1e3, 1e3]) self.assertEqual(c.valid_blocks, INPUTS_NEEDED) np.testing.assert_allclose(c.rpy, np.zeros(3)) @@ -80,9 +112,11 @@ class TestCalibrationd(unittest.TestCase): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, INPUTS_WANTED) np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) @@ -94,8 +128,11 @@ class TestCalibrationd(unittest.TestCase): c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, 1) + self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2) if __name__ == "__main__": diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index e184dc3ec4..c90095cdca 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -2,12 +2,9 @@ import time import unittest from cereal import log -import cereal.messaging as messaging from common.params import Params from datetime import datetime from unittest import mock -#from unittest.mock import patch -from tqdm import tqdm from laika.constants import SECS_IN_DAY @@ -19,45 +16,22 @@ from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.helpers import OpenpilotPrefix +from selfdrive.test.process_replay.process_replay import get_process_config, replay_process + +GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) +UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" +QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31" -def get_ublox_gnss(ubloxraw): - with OpenpilotPrefix(): - managed_processes['ubloxd'].start() - timeout_ms = 30 - pm = messaging.PubMaster(['ubloxRaw']) - sock = messaging.sub_sock('ubloxGnss', timeout=timeout_ms) +def get_log_ublox(): + logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0)) - log_msgs = [] - log_t = [] - for x in tqdm(ubloxraw): - pm.send(x.which(), x.as_builder()) - ret = messaging.recv_one(sock) - if ret is not None: - msg = log.Event.new_message(ubloxGnss=ret.ubloxGnss.to_dict()) - msg.logMonoTime = x.logMonoTime - log_msgs.append(msg) - log_t.append(1e-9 * x.logMonoTime) - assert managed_processes['ubloxd'].get_process_state_msg().running - assert len(log_msgs) > 1 or len(ubloxraw) == 0 - managed_processes['ubloxd'].stop() - return log_t, log_msgs - - - -def get_log(segs=range(0)): - logs = [] - for i in segs: - logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - - raw_logs = [m for m in logs if m.which() == 'ubloxRaw'] - all_logs = get_ublox_gnss(raw_logs)[1] + ublox_cfg = get_process_config("ubloxd") + all_logs = replay_process(ublox_cfg, logs) low_gnss = [] for m in all_logs: - if m.ubloxGnss.which() != 'measurementReport': + if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport': continue MAX_MEAS = 7 @@ -72,20 +46,22 @@ def get_log(segs=range(0)): low_gnss.append(m) return all_logs, low_gnss -def get_log_qcom(segs=range(0)): - logs = [] - for i in segs: - logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i))) + +def get_log_qcom(): + logs = LogReader(get_url(QCOM_TEST_ROUTE, 0)) all_logs = [m for m in logs if m.which() == 'qcomGnss'] return all_logs + def verify_messages(lr, laikad, return_one_success=False): good_msgs = [] for m in lr: if m.which() == 'ubloxGnss': gnss_msg = m.ubloxGnss - else: + elif m.which() == 'qcomGnss': gnss_msg = m.qcomGnss + else: + continue msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) @@ -101,7 +77,7 @@ def get_first_gps_time(logs): new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) if len(new_meas) > 0: return new_meas[0].recv_time - else: + elif m.which() == "qcomGnss": if m.qcomGnss.which == 'measurementReport': new_meas = read_raw_qcom(m.qcomGnss.measurementReport) if len(new_meas) > 0: @@ -116,17 +92,14 @@ def get_measurement_mock(gpstime, sat_ephemeris): return meas -GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) - - class TestLaikad(unittest.TestCase): @classmethod def setUpClass(cls): - logs, low_gnss = get_log(range(1)) + logs, low_gnss = get_log_ublox() cls.logs = logs cls.low_gnss = low_gnss - cls.logs_qcom = get_log_qcom(range(1)) + cls.logs_qcom = get_log_qcom() first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -138,7 +111,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) - + # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) ephem = laikad.astro_dog.navs['G01'][0] @@ -190,6 +163,9 @@ class TestLaikad(unittest.TestCase): self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9))) kf_valid = False for m in self.logs: + if m.which() != 'ubloxGnss': + continue + laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9)) if kf_valid: @@ -197,12 +173,12 @@ class TestLaikad(unittest.TestCase): self.assertTrue(kf_valid) def test_laika_online_nav_only(self): - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 44 if use_qcom else 560 - valid_fix_expected = 43 if use_qcom else 560 + correct_msgs_expected = 56 if use_qcom else 560 + valid_fix_expected = 56 if use_qcom else 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -239,7 +215,7 @@ class TestLaikad(unittest.TestCase): def test_get_navs_in_process(self): for auto_fetch_navs in [True, False]: - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) has_navs = False has_fix = False @@ -247,6 +223,9 @@ class TestLaikad(unittest.TestCase): seen_internet_eph = False for m in logs: + if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss': + continue + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) if laikad.orbit_fetch_future is not None: @@ -257,9 +236,9 @@ class TestLaikad(unittest.TestCase): has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid if len(out_msg.gnssMeasurements.ephemerisStatuses): - seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) - seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) - + seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses) + seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses) + self.assertTrue(has_navs or has_polys) self.assertTrue(has_fix) self.assertTrue(seen_chip_eph or auto_fetch_navs) @@ -269,7 +248,8 @@ class TestLaikad(unittest.TestCase): def test_cache(self): use_qcom = True - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): + Params().remove(EPHEMERIS_CACHE) laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom) def wait_for_cache(): max_time = 2 @@ -282,8 +262,8 @@ class TestLaikad(unittest.TestCase): # Test cache with no ephemeris laikad.last_report_time = GPSTime(1,0) laikad.cache_ephemeris() - wait_for_cache() - Params().remove(EPHEMERIS_CACHE) + if Params().get(EPHEMERIS_CACHE) is not None: + self.fail("Cache should not have been written without valid ephem") #laikad.astro_dog.get_navs(self.first_gps_time) msg = verify_messages(logs, laikad, return_one_success=True) @@ -298,12 +278,10 @@ class TestLaikad(unittest.TestCase): # Verify cache is working for only nav by running a segment msg = verify_messages(logs, laikad, return_one_success=True) self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) - self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) + self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses)) self.assertIsNotNone(msg) - - - #TODO test cache with only orbits + #TODO test cache with only orbits #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: # # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently # laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() @@ -333,5 +311,7 @@ class TestLaikad(unittest.TestCase): def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 9f643e2b8f..96233f5320 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -14,7 +14,6 @@ from selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): - MAX_WAITS = 1000 LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] @@ -23,30 +22,20 @@ class TestLocationdProc(unittest.TestCase): self.pm = messaging.PubMaster(self.LLD_MSGS) - Params().put_bool("UbloxAvailable", True) + self.params = Params() + self.params.put_bool("UbloxAvailable", True) managed_processes['locationd'].prepare() managed_processes['locationd'].start() - time.sleep(1) - def tearDown(self): managed_processes['locationd'].stop() - def send_msg(self, msg): - self.pm.send(msg.which(), msg) - waits_left = self.MAX_WAITS - while waits_left and not self.pm.all_readers_updated(msg.which()): - time.sleep(0) - waits_left -= 1 - time.sleep(0.0001) - - def get_fake_msg(self, name, t): + def get_msg(self, name, t): try: msg = messaging.new_message(name) except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - if name == "gpsLocationExternal": msg.gpsLocationExternal.flags = 1 msg.gpsLocationExternal.verticalAccuracy = 1.0 @@ -74,27 +63,27 @@ class TestLocationdProc(unittest.TestCase): return msg def test_params_gps(self): - # first reset params - Params().remove('LastGPSPosition') + self.params.remove('LastGPSPosition') self.x = -2710700 + (random.random() * 1e5) self.y = -4280600 + (random.random() * 1e5) self.z = 3850300 + (random.random() * 1e5) self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z]) - self.fake_duration = 90 # secs # get fake messages at the correct frequency, listed in services.py - fake_msgs = [] - for sec in range(self.fake_duration): + msgs = [] + for sec in range(65): for name in self.LLD_MSGS: for j in range(int(service_list[name].frequency)): - fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9))) + msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9))) - for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime): - self.send_msg(fake_msg) + for msg in sorted(msgs, key=lambda x: x.logMonoTime): + self.pm.send(msg.which(), msg) + if msg.which() == "cameraOdometry": + self.pm.wait_for_readers_to_update(msg.which(), 0.1) time.sleep(1) # wait for async params write - lastGPS = json.loads(Params().get('LastGPSPosition')) + lastGPS = json.loads(self.params.get('LastGPSPosition')) self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3) self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3) self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index fcc068d34e..2bac2a8988 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -63,7 +63,7 @@ class PointBuckets: def __init__(self, x_bounds, min_points, min_points_total): self.x_bounds = x_bounds self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} - self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} + self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True)) self.min_points_total = min_points_total def bucket_lengths(self): @@ -73,7 +73,8 @@ class PointBuckets: return sum(self.bucket_lengths()) def is_valid(self): - return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total) + return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) \ + and (self.__len__() >= self.min_points_total) def add_point(self, x, y): for bound_min, bound_max in self.x_bounds: @@ -139,8 +140,10 @@ class TorqueEstimator: torque_cache = params.get("LiveTorqueParameters") if params_cache is not None and torque_cache is not None: try: - cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters - cache_CP = car.CarParams.from_bytes(params_cache) + with log.Event.from_bytes(torque_cache) as log_evt: + cache_ltp = log_evt.liveTorqueParameters + with car.CarParams.from_bytes(params_cache) as msg: + cache_CP = msg if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION): if cache_ltp.liveValid: initial_params = { @@ -228,7 +231,7 @@ class TorqueEstimator: liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff) - if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]]): + if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]): cloudlog.exception("Live torque parameters are invalid.") liveTorqueParameters.liveValid = False self.reset() @@ -262,8 +265,8 @@ def main(sm=None, pm=None): pm = messaging.PubMaster(['liveTorqueParameters']) params = Params() - CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) - estimator = TorqueEstimator(CP) + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: + estimator = TorqueEstimator(CP) def cache_params(sig, frame): signal.signal(sig, signal.SIG_DFL) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 5b69e3dca7..26003cd1de 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -15,7 +15,7 @@ from system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2460 +TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index 983c7cc0b1..f8607fffc6 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -36,3 +36,8 @@ def unblock_stdout() -> None: # whose low byte is the signal number and whose high byte is the exit status exit_status = os.wait()[1] >> 8 os._exit(exit_status) + + +def write_onroad_params(started, params): + params.put_bool("IsOnroad", started) + params.put_bool("IsOffroad", not started) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index e63053fefd..e9a1b2cb5b 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -7,6 +7,7 @@ import sys import traceback from typing import List, Tuple, Union +from cereal import log import cereal.messaging as messaging import selfdrive.sentry as sentry from common.basedir import BASEDIR @@ -14,7 +15,7 @@ from common.params import Params, ParamKeyType from common.text_window import TextWindow from selfdrive.boardd.set_time import set_time from system.hardware import HARDWARE, PC -from selfdrive.manager.helpers import unblock_stdout +from selfdrive.manager.helpers import unblock_stdout, write_onroad_params from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID @@ -34,6 +35,8 @@ def manager_init() -> None: params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), @@ -42,6 +45,7 @@ def manager_init() -> None: ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), + ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) @@ -136,12 +140,27 @@ def manager_thread() -> None: sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState']) pm = messaging.PubMaster(['managerState']) + write_onroad_params(False, params) ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) + started_prev = False + while True: sm.update() started = sm['deviceState'].started + + if started and not started_prev: + params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + elif not started and started_prev: + params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + + # update onroad params, which drives boardd's safety setter thread + if started != started_prev: + write_onroad_params(started, params) + + started_prev = started + ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index ce18073d9b..0acb23857a 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -17,7 +17,6 @@ from common.basedir import BASEDIR from common.params import Params from common.realtime import sec_since_boot from system.swaglog import cloudlog -from system.hardware import HARDWARE from cereal import log WATCHDOG_FN = "/dev/shm/wd_" @@ -40,7 +39,7 @@ def launcher(proc: str, name: str) -> None: sentry.set_tag("daemon", name) # exec the process - getattr(mod, 'main')() + mod.main() except KeyboardInterrupt: cloudlog.warning(f"child {proc} got SIGINT") except Exception: @@ -67,7 +66,6 @@ def join_process(process: Process, timeout: float) -> None: class ManagerProcess(ABC): - unkillable = False daemon = False sigkill = False onroad = True @@ -91,7 +89,7 @@ class ManagerProcess(ABC): pass def restart(self) -> None: - self.stop() + self.stop(sig=signal.SIGKILL) self.start() def check_watchdog(self, started: bool) -> None: @@ -100,29 +98,30 @@ class ManagerProcess(ABC): try: fn = WATCHDOG_FN + str(self.proc.pid) - # TODO: why can't pylint find struct.unpack? - self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member + with open(fn, "rb") as f: + # TODO: why can't pylint find struct.unpack? + self.last_watchdog_time = struct.unpack('Q', f.read())[0] # pylint: disable=no-member except Exception: pass dt = sec_since_boot() - self.last_watchdog_time / 1e9 if dt > self.watchdog_max_dt: - # Only restart while offroad for now if self.watchdog_seen and ENABLE_WATCHDOG: cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})") self.restart() else: self.watchdog_seen = True - def stop(self, retry: bool=True, block: bool=True) -> Optional[int]: + def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]: if self.proc is None: return None if self.proc.exitcode is None: if not self.shutting_down: cloudlog.info(f"killing {self.name}") - sig = signal.SIGKILL if self.sigkill else signal.SIGINT + if sig is None: + sig = signal.SIGKILL if self.sigkill else signal.SIGINT self.signal(sig) self.shutting_down = True @@ -131,22 +130,11 @@ class ManagerProcess(ABC): join_process(self.proc, 5) - # If process failed to die send SIGKILL or reboot + # If process failed to die send SIGKILL if self.proc.exitcode is None and retry: - if self.unkillable: - cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die") - join_process(self.proc, 15) - - if self.proc.exitcode is None: - cloudlog.critical(f"unkillable process {self.name} failed to die!") - os.system("date >> /data/unkillable_reboot") - os.sync() - HARDWARE.reboot() - raise RuntimeError - else: - cloudlog.info(f"killing {self.name} with SIGKILL") - self.signal(signal.SIGKILL) - self.proc.join() + cloudlog.info(f"killing {self.name} with SIGKILL") + self.signal(signal.SIGKILL) + self.proc.join() ret = self.proc.exitcode cloudlog.info(f"{self.name} is dead with {ret}") @@ -195,6 +183,7 @@ class NativeProcess(ManagerProcess): self.unkillable = unkillable self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt + self.launcher = nativelauncher def prepare(self) -> None: pass @@ -209,7 +198,7 @@ class NativeProcess(ManagerProcess): cwd = os.path.join(BASEDIR, self.cwd) cloudlog.info(f"starting process {self.name}") - self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd, self.name)) + self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name)) self.proc.start() self.watchdog_seen = False self.shutting_down = False @@ -226,6 +215,7 @@ class PythonProcess(ManagerProcess): self.unkillable = unkillable self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt + self.launcher = launcher def prepare(self) -> None: if self.enabled: @@ -241,7 +231,7 @@ class PythonProcess(ManagerProcess): return cloudlog.info(f"starting python {self.module}") - self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name)) + self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name)) self.proc.start() self.watchdog_seen = False self.shutting_down = False @@ -257,14 +247,16 @@ class DaemonProcess(ManagerProcess): self.enabled = enabled self.onroad = True self.offroad = True + self.params = None def prepare(self) -> None: pass def start(self) -> None: - params = Params() - pid = params.get(self.param_name, encoding='utf-8') + if self.params is None: + self.params = Params() + pid = self.params.get(self.param_name, encoding='utf-8') if pid is not None: try: os.kill(int(pid), 0) @@ -283,9 +275,9 @@ class DaemonProcess(ManagerProcess): stderr=open('/dev/null', 'w'), preexec_fn=os.setpgrp) - params.put(self.param_name, str(proc.pid)) + self.params.put(self.param_name, str(proc.pid)) - def stop(self, retry=True, block=True) -> None: + def stop(self, retry=True, block=True, sig=None) -> None: pass diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 57c42aaaaa..7cd1ed9489 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -13,6 +13,9 @@ def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: return CP.notCar # type: ignore +def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: + return not CP.notCar + def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run @@ -22,32 +25,33 @@ def ublox_available() -> bool: def ublox(started, params, CP: car.CarParams) -> bool: use_ublox = ublox_available() - params.put_bool("UbloxAvailable", use_ublox) + if use_ublox != params.get_bool("UbloxAvailable"): + params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox def qcomgps(started, params, CP: car.CarParams) -> bool: return started and not ublox_available() procs = [ - # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption - NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), + NativeProcess("camerad", "system/camerad", ["./camerad"], callback=driverview), NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), PythonProcess("logmessaged", "system.logmessaged", offroad=True), - PythonProcess("micd", "system.micd"), + PythonProcess("micd", "system.micd", callback=iscar), PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), + NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], onroad=False, callback=notcar), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), - NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), + NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]), + NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]), NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), @@ -72,7 +76,7 @@ procs = [ # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar), - PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar), + PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar), ] managed_processes = {p.name: p for p in procs} diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 889ab3d279..39bda1e156 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -59,6 +59,10 @@ class TestManager(unittest.TestCase): self.assertTrue(state.running, f"{p.name} not running") exit_code = p.stop(retry=False) + # TODO: mapsd should exit cleanly + if p.name == "mapsd": + continue + self.assertTrue(exit_code is not None, f"{p.name} failed to exit") # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code diff --git a/selfdrive/modeld/.gitignore b/selfdrive/modeld/.gitignore new file mode 100644 index 0000000000..742d3d1205 --- /dev/null +++ b/selfdrive/modeld/.gitignore @@ -0,0 +1 @@ +*_pyx.cpp diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index c7e0dc5d86..7be4446e67 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -55,7 +55,8 @@ else: del libs[libs.index('OpenCL')] lenv['FRAMEWORKS'] = ['OpenCL'] - # no SNPE on Mac + if arch == "Darwin" or arch == "aarch64": + # no SNPE on Mac and ARM Linux del libs[libs.index('SNPE')] del common_src[common_src.index('runners/snpemodel.cc')] diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc index cde13a9bee..2890b44fe0 100644 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ b/selfdrive/modeld/dmonitoringmodeld.cc @@ -5,6 +5,7 @@ #include #include "cereal/visionipc/visionipc_client.h" +#include "common/params.h" #include "common/swaglog.h" #include "common/util.h" #include "selfdrive/modeld/models/dmonitoring.h" @@ -15,7 +16,7 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { PubMaster pm({"driverStateV2"}); SubMaster sm({"liveCalibration"}); float calib[CALIB_LEN] = {0}; - double last = 0; + // double last = 0; while (!do_exit) { VisionIpcBufExtra extra = {}; @@ -37,8 +38,8 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { // send dm packet dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output); - //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); - last = t1; + // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); + // last = t1; } } @@ -49,6 +50,9 @@ int main(int argc, char **argv) { DMonitoringModelState model; dmonitoring_init(&model); + Params().putBool("DmModelInitialized", true); + + LOGW("connecting to driver stream"); VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true); while (!do_exit && !vipc_client.connect(false)) { util::sleep_for(100); @@ -56,7 +60,7 @@ int main(int argc, char **argv) { // run the models if (vipc_client.connected) { - LOGW("connected with buffer size: %d", vipc_client.buffers[0].len); + LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len); run_model(model, vipc_client); } diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 0a8a8d6358..f19138b179 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -43,7 +43,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer 1.0, 0.0, 0.0).finished(); - const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v); + const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v); Eigen::Matrix device_from_calib = euler2rot(device_from_calib_euler).cast (); auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel; auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib; @@ -53,28 +53,32 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer for (int i=0; i<3*3; i++) { transform.v[i] = warp_matrix(i / 3, i % 3); } - static const mat3 yuv_transform = get_model_yuv_transform(); - return matmul3(yuv_transform, transform); + return transform; } void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) { // messaging PubMaster pm({"modelV2", "cameraOdometry"}); - SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"}); + SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"}); + + Params params; + PublishState ps = {}; // setup filter to track dropped frames FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ); uint32_t frame_id = 0, last_vipc_frame_id = 0; - double last = 0; + // double last = 0; uint32_t run_count = 0; mat3 model_transform_main = {}; mat3 model_transform_extra = {}; + bool nav_enabled = false; bool live_calib_seen = false; float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0}; float nav_features[NAV_FEATURE_LEN] = {0}; + float nav_instructions[NAV_INSTRUCTION_LEN] = {0}; VisionBuf *buf_main = nullptr; VisionBuf *buf_extra = nullptr; @@ -137,6 +141,40 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl vec_desire[desire] = 1.0; } + // Enable/disable nav features + uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime(); + bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9); + bool use_nav = nav_valid && params.getBool("ExperimentalMode"); + if (!nav_enabled && use_nav) { + nav_enabled = true; + } else if (nav_enabled && !use_nav) { + memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN); + memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN); + nav_enabled = false; + } + + if (nav_enabled && sm.updated("navModel")) { + auto nav_model_features = sm["navModel"].getNavModel().getFeatures(); + for (int i=0; i= 0 && distance_idx < 50) { + nav_instructions[distance_idx*3 + direction_idx] = 1; + } + } + } + // tracked dropped frames uint32_t vipc_dropped_frames = meta_main.frame_id - last_vipc_frame_id - 1; float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U)); @@ -154,18 +192,18 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl } double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only); + ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, nav_instructions, prepare_only); double mt2 = millis_since_boot(); float model_execution_time = (mt2 - mt1) / 1000.0; if (model_output != nullptr) { - model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time, - kj::ArrayPtr(model.output.data(), model.output.size()), live_calib_seen); + model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, model, ps, meta_main.timestamp_eof, timestamp_llk, model_execution_time, + nav_enabled, live_calib_seen); posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen); } - //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); - last = mt1; + // printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); + // last = mt1; last_vipc_frame_id = meta_main.frame_id; } } @@ -179,9 +217,6 @@ int main(int argc, char **argv) { assert(ret == 0); } - bool main_wide_camera = Params().getBool("WideCameraOnly"); - bool use_extra_client = !main_wide_camera; // set for single camera mode - // cl init cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); @@ -191,8 +226,22 @@ int main(int argc, char **argv) { model_init(&model, device_id, context); LOGW("models loaded, modeld starting"); + bool main_wide_camera = false; + bool use_extra_client = true; // set to false to use single camera + while (!do_exit) { + auto streams = VisionIpcClient::getAvailableStreams("camerad", false); + if (!streams.empty()) { + use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0; + main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0; + break; + } + + util::sleep_for(100); + } + VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context); VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context); + LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client); while (!do_exit && !vipc_client_main.connect(false)) { util::sleep_for(100); @@ -206,11 +255,11 @@ int main(int argc, char **argv) { // vipc_client.connected is false only when do_exit is true if (!do_exit) { const VisionBuf *b = &vipc_client_main.buffers[0]; - LOGW("connected main cam with buffer size: %d (%d x %d)", b->len, b->width, b->height); + LOGW("connected main cam with buffer size: %zu (%zu x %zu)", b->len, b->width, b->height); if (use_extra_client) { const VisionBuf *wb = &vipc_client_extra.buffers[0]; - LOGW("connected extra cam with buffer size: %d (%d x %d)", wb->len, wb->width, wb->height); + LOGW("connected extra cam with buffer size: %zu (%zu x %zu)", wb->len, wb->width, wb->height); } run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra_client); diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 1bfca8e95a..11808ef552 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -32,28 +32,31 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs ### input format -* single image (640 * 320 * 3 in RGB): - * full input size is 6 * 640/2 * 320/2 = 307200 - * represented in YUV420 with 6 channels: - * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] - * Channel 4 represents the half-res U channel - * Channel 5 represents the half-res V channel - * normalized, ranging from -1.0 to 1.0 +* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format: + * full input size is 1440 * 960 = 1382400 + * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner) +* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs ### output format -* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165)) - * face pose: 12 = 6 + 6 - * face orientation [pitch, yaw, roll] in camera frame: 3 - * face position [dx, dy] relative to image center: 2 - * normalized face size: 1 - * standard deviations for above outputs: 6 - * face visible probability: 1 - * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1 - * eye position and size, and their standard deviations: 8 - * eye visible probability: 1 - * eye closed probability: 1 - * wearing sunglasses probability: 1 - * poor camera vision probability: 1 - * face partially out-of-frame probability: 1 - * (deprecated) distracted probabilities: 2 - * face covered probability: 1 +* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33)) + * for each person in the front seats (2 * 41) + * face pose: 12 = 6 + 6 + * face orientation [pitch, yaw, roll] in camera frame: 3 + * face position [dx, dy] relative to image center: 2 + * normalized face size: 1 + * standard deviations for above outputs: 6 + * face visible probability: 1 + * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1 + * eye position and size, and their standard deviations: 8 + * eye visible probability: 1 + * eye closed probability: 1 + * wearing sunglasses probability: 1 + * face occluded probability: 1 + * touching wheel probability: 1 + * paying attention probability: 1 + * (deprecated) distracted probabilities: 2 + * using phone probability: 1 + * distracted probability: 1 + * common outputs 2 + * poor camera vision probability: 1 + * left hand drive probability: 1 diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index e7e6d46612..eb5239bef0 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -1,7 +1,5 @@ #include -#include "libyuv.h" - #include "common/mat.h" #include "common/modeldata.h" #include "common/params.h" @@ -22,12 +20,13 @@ static inline T *get_buffer(std::vector &buf, const size_t size) { void dmonitoring_init(DMonitoringModelState* s) { #ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true); #else - s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true); #endif - s->m->addCalib(s->calib, CALIB_LEN); + s->m->addInput("input_imgs", NULL, 0); + s->m->addInput("calib", s->calib, CALIB_LEN); } void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) { @@ -92,7 +91,7 @@ DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* st // fclose(dump_yuv_file); double t1 = millis_since_boot(); - s->m->addImage((float*)net_input_buf, yuv_buf_len / 4); + s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float)); for (int i = 0; i < CALIB_LEN; i++) { s->calib[i] = calib[i]; } diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 5538d6ff9b..fb42fcd4f9 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -13,12 +13,6 @@ #include "common/timing.h" #include "common/swaglog.h" -constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15; -constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05; -constexpr float FCW_THRESHOLD_3MS2 = 0.7; - -std::array prev_brake_5ms2_probs = {0,0,0,0,0}; -std::array prev_brake_3ms2_probs = {0,0,0}; // #define DUMP_YUV @@ -33,32 +27,37 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { #else s->m = std::make_unique("models/supercombo.dlc", #endif - &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true, false, context); + &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, false, context); -#ifdef TEMPORAL - s->m->addRecurrent(&s->feature_buffer[0], TEMPORAL_SIZE); -#endif + s->m->addInput("input_imgs", NULL, 0); + s->m->addInput("big_input_imgs", NULL, 0); + // TODO: the input is important here, still need to fix this #ifdef DESIRE - s->m->addDesire(s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1)); + s->m->addInput("desire_pulse", s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1)); #endif #ifdef TRAFFIC_CONVENTION - s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN); + s->m->addInput("traffic_convention", s->traffic_convention, TRAFFIC_CONVENTION_LEN); #endif #ifdef DRIVING_STYLE - s->m->addDrivingStyle(s->driving_style, DRIVING_STYLE_LEN); + s->m->addInput("driving_style", s->driving_style, DRIVING_STYLE_LEN); #endif #ifdef NAV - s->m->addNavFeatures(s->nav_features, NAV_FEATURE_LEN); + s->m->addInput("nav_features", s->nav_features, NAV_FEATURE_LEN); + s->m->addInput("nav_instructions", s->nav_instructions, NAV_INSTRUCTION_LEN); +#endif + +#ifdef TEMPORAL + s->m->addInput("feature_buffer", &s->feature_buffer[0], TEMPORAL_SIZE); #endif } -ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) { +ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, const mat3 &transform, const mat3 &transform_wide, + float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only) { #ifdef DESIRE std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN); if (desire_in != NULL) { @@ -78,6 +77,7 @@ LOGT("Desire enqueued"); #ifdef NAV std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN); + std::memcpy(s->nav_instructions, nav_instructions, sizeof(float)*NAV_INSTRUCTION_LEN); #endif #ifdef DRIVING_STYLE @@ -89,13 +89,13 @@ LOGT("Desire enqueued"); s->traffic_convention[1-rhd_idx] = 0.0; // if getInputBuf is not NULL, net_input_buf will be - auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast(s->m->getInputBuf())); - s->m->addImage(net_input_buf, s->frame->buf_size); + auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast(s->m->getCLBuffer("input_imgs"))); + s->m->setInputBuffer("input_imgs", net_input_buf, s->frame->buf_size); LOGT("Image added"); if (wbuf != nullptr) { - auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast(s->m->getExtraBuf())); - s->m->addExtra(net_extra_buf, s->wide_frame->buf_size); + auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast(s->m->getCLBuffer("big_input_imgs"))); + s->m->setInputBuffer("big_input_imgs", net_extra_buf, s->wide_frame->buf_size); LOGT("Extra image added"); } @@ -148,7 +148,7 @@ void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputL lead.setAStd(to_kj_array_ptr(lead_a_std)); } -void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data) { +void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data, PublishState &ps) { std::array desire_state_softmax; softmax(meta_data.desire_state_prob.array.data(), desire_state_softmax.data(), DESIRE_LEN); @@ -170,18 +170,18 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet //gas_pressed_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].gas_pressed); } - std::memmove(prev_brake_5ms2_probs.data(), &prev_brake_5ms2_probs[1], 4*sizeof(float)); - std::memmove(prev_brake_3ms2_probs.data(), &prev_brake_3ms2_probs[1], 2*sizeof(float)); - prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0]; - prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0]; + std::memmove(ps.prev_brake_5ms2_probs.data(), &ps.prev_brake_5ms2_probs[1], 4*sizeof(float)); + std::memmove(ps.prev_brake_3ms2_probs.data(), &ps.prev_brake_3ms2_probs[1], 2*sizeof(float)); + ps.prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0]; + ps.prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0]; bool above_fcw_threshold = true; - for (int i=0; i threshold; + above_fcw_threshold = above_fcw_threshold && ps.prev_brake_5ms2_probs[i] > threshold; } - for (int i=0; i FCW_THRESHOLD_3MS2; + for (int i=0; i FCW_THRESHOLD_3MS2; } auto disengage = meta.initDisengagePredictions(); @@ -199,6 +199,44 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet meta.setHardBrakePredicted(above_fcw_threshold); } +void fill_confidence(cereal::ModelDataV2::Builder &framed, PublishState &ps) { + if (framed.getFrameId() % (2*MODEL_FREQ) == 0) { + // update every 2s to match predictions interval + auto dbps = framed.getMeta().getDisengagePredictions().getBrakeDisengageProbs(); + auto dgps = framed.getMeta().getDisengagePredictions().getGasDisengageProbs(); + auto dsps = framed.getMeta().getDisengagePredictions().getSteerOverrideProbs(); + + float any_dp[DISENGAGE_LEN]; + float dp_ind[DISENGAGE_LEN]; + + for (int i = 0; i < DISENGAGE_LEN; i++) { + any_dp[i] = 1 - ((1-dbps[i])*(1-dgps[i])*(1-dsps[i])); // any disengage prob + } + + dp_ind[0] = any_dp[0]; + for (int i = 0; i < DISENGAGE_LEN-1; i++) { + dp_ind[i+1] = (any_dp[i+1] - any_dp[i]) / (1 - any_dp[i]); // independent disengage prob for each 2s slice + } + + // rolling buf for 2, 4, 6, 8, 10s + std::memmove(&ps.disengage_buffer[0], &ps.disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1)); + std::memcpy(&ps.disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN); + } + + float score = 0; + for (int i = 0; i < DISENGAGE_LEN; i++) { + score += ps.disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN; + } + + if (score < RYG_GREEN) { + framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::GREEN); + } else if (score < RYG_YELLOW) { + framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::YELLOW); + } else { + framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::RED); + } +} + template void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array &t, const std::array &x, const std::array &y, const std::array &z) { @@ -313,7 +351,7 @@ void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array plan_t; std::fill_n(plan_t.data(), plan_t.size(), NAN); @@ -341,7 +379,10 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out fill_road_edges(framed, plan_t, net_outputs.road_edges); // meta - fill_meta(framed.initMeta(), net_outputs.meta); + fill_meta(framed.initMeta(), net_outputs.meta, ps); + + // confidence + fill_confidence(framed, ps); // leads auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION); @@ -363,8 +404,8 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out } void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, - const ModelOutput &net_outputs, uint64_t timestamp_eof, - float model_execution_time, kj::ArrayPtr raw_pred, const bool valid) { + const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk, + float model_execution_time, const bool nav_enabled, const bool valid) { const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0; MessageBuilder msg; auto framed = msg.initEvent(valid).initModelV2(); @@ -373,11 +414,13 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id framed.setFrameAge(frame_age); framed.setFrameDropPerc(frame_drop * 100); framed.setTimestampEof(timestamp_eof); + framed.setLocationMonoTime(timestamp_llk); framed.setModelExecutionTime(model_execution_time); + framed.setNavEnabled(nav_enabled); if (send_raw_pred) { - framed.setRawPredictions(raw_pred.asBytes()); + framed.setRawPredictions((kj::ArrayPtr(s.output.data(), s.output.size())).asBytes()); } - fill_model(framed, net_outputs); + fill_model(framed, net_outputs, ps); pm.send("modelV2", msg); } @@ -390,15 +433,18 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe const auto &v_std = net_outputs.pose.velocity_std; const auto &r_std = net_outputs.pose.rotation_std; const auto &t_std = net_outputs.wide_from_device_euler.std; + const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; + const auto &road_transform_trans_std = net_outputs.road_transform.position_std; auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); + posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); - + posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); posenetd.setTimestampEof(timestamp_eof); posenetd.setFrameId(vipc_frame_id); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 5734c68cb9..53f81ccde1 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -1,10 +1,5 @@ #pragma once -// gate this here -#define TEMPORAL -#define DESIRE -#define TRAFFIC_CONVENTION - #include #include @@ -17,6 +12,12 @@ #include "selfdrive/modeld/models/nav.h" #include "selfdrive/modeld/runners/run.h" +// gate this here +#define TEMPORAL +#define DESIRE +#define TRAFFIC_CONVENTION +#define NAV + constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; @@ -38,6 +39,10 @@ constexpr int LEAD_MHP_SELECTION = 3; // Padding to get output shape as multiple of 4 constexpr int PAD_SIZE = 2; +constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15; +constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05; +constexpr float FCW_THRESHOLD_3MS2 = 0.7; + struct ModelOutputXYZ { float x; float y; @@ -177,6 +182,14 @@ struct ModelOutputTemporalPose { }; static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4); +struct ModelOutputRoadTransform { + ModelOutputXYZ position_mean; + ModelOutputXYZ rotation_mean; + ModelOutputXYZ position_std; + ModelOutputXYZ rotation_std; +}; +static_assert(sizeof(ModelOutputRoadTransform) == sizeof(ModelOutputXYZ)*4); + struct ModelOutputDisengageProb { float gas_disengage; float brake_disengage; @@ -236,6 +249,7 @@ struct ModelOutput { const ModelOutputPose pose; const ModelOutputWideFromDeviceEuler wide_from_device_euler; const ModelOutputTemporalPose temporal_pose; + const ModelOutputRoadTransform road_transform; }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); @@ -266,15 +280,22 @@ struct ModelState { #endif #ifdef NAV float nav_features[NAV_FEATURE_LEN] = {}; + float nav_instructions[NAV_INSTRUCTION_LEN] = {}; #endif }; +struct PublishState { + std::array disengage_buffer = {}; + std::array prev_brake_5ms2_probs = {}; + std::array prev_brake_3ms2_probs = {}; +}; + void model_init(ModelState* s, cl_device_id device_id, cl_context context); -ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only); +ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, const mat3 &transform, const mat3 &transform_wide, + float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only); void model_free(ModelState* s); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, - const ModelOutput &net_outputs, uint64_t timestamp_eof, - float model_execution_time, kj::ArrayPtr raw_pred, const bool valid); + const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk, + float model_execution_time, const bool nav_enabled, const bool valid); void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid); diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc index 861795e172..8208b0bfef 100644 --- a/selfdrive/modeld/models/nav.cc +++ b/selfdrive/modeld/models/nav.cc @@ -10,17 +10,19 @@ void navmodel_init(NavModelState* s) { #ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true); #else - s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true); #endif + + s->m->addInput("map", NULL, 0); } NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) { memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE); double t1 = millis_since_boot(); - s->m->addImage((float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float)); + s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float)); s->m->execute(); double t2 = millis_since_boot(); @@ -47,11 +49,14 @@ void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan & position.setYStd(to_kj_array_ptr(pos_y_std)); } -void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time) { +void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) { // make msg MessageBuilder msg; - auto framed = msg.initEvent().initNavModel(); - framed.setFrameId(frame_id); + auto evt = msg.initEvent(); + auto framed = evt.initNavModel(); + evt.setValid(extra.valid && route_valid); + framed.setFrameId(extra.frame_id); + framed.setLocationMonoTime(extra.timestamp_sof); framed.setModelExecutionTime(execution_time); framed.setDspExecutionTime(model_res.dsp_execution_time); framed.setFeatures(to_kj_array_ptr(model_res.features.values)); diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h index b2955ad2c5..800abec252 100644 --- a/selfdrive/modeld/models/nav.h +++ b/selfdrive/modeld/models/nav.h @@ -8,7 +8,8 @@ #include "selfdrive/modeld/runners/run.h" constexpr int NAV_INPUT_SIZE = 256*256; -constexpr int NAV_FEATURE_LEN = 64; +constexpr int NAV_FEATURE_LEN = 256; +constexpr int NAV_INSTRUCTION_LEN = 150; constexpr int NAV_DESIRE_LEN = 32; struct NavModelOutputXY { @@ -52,5 +53,5 @@ struct NavModelState { void navmodel_init(NavModelState* s); NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf); -void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time); +void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid); void navmodel_free(NavModelState* s); diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx index 397b8d90e2..3b0961537e 100644 --- a/selfdrive/modeld/models/navmodel.onnx +++ b/selfdrive/modeld/models/navmodel.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9028b36a591763724e95205b48f37f09260b4434fb1f3c6f228db1710a401aa8 -size 12258591 +oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048 +size 14138061 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index 984cf0a553..e878ec25af 100644 --- a/selfdrive/modeld/models/navmodel_q.dlc +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bc7ade56bb4f9525c84a46df22252ea1e321a0518cbcef8bdfc76ccd8ad10b41 -size 3154304 +oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132 +size 3630942 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 13759c62f8..88f19a7d28 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea -size 46011200 +oid sha256:c63ea3eb6c9b5a20c7420c2dc6d6d0f80a6949a39f6d8b74e574f52734154820 +size 47654714 diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc index 75f2c62ab3..4610f503d1 100644 --- a/selfdrive/modeld/navmodeld.cc +++ b/selfdrive/modeld/navmodeld.cc @@ -5,6 +5,7 @@ #include #include "cereal/visionipc/visionipc_client.h" +#include "common/params.h" #include "common/swaglog.h" #include "common/util.h" #include "selfdrive/modeld/models/nav.h" @@ -12,32 +13,42 @@ ExitHandler do_exit; void run_model(NavModelState &model, VisionIpcClient &vipc_client) { + SubMaster sm({"navInstruction"}); PubMaster pm({"navModel"}); - double last_ts = 0; - uint32_t last_frame_id = 0; + //double last_ts = 0; + //uint32_t last_frame_id = 0; VisionIpcBufExtra extra = {}; while (!do_exit) { VisionBuf *buf = vipc_client.recv(&extra); if (buf == nullptr) continue; + sm.update(0); + double t1 = millis_since_boot(); NavModelResult *model_res = navmodel_eval_frame(&model, buf); double t2 = millis_since_boot(); // send navmodel packet - navmodel_publish(pm, extra.frame_id, *model_res, (t2 - t1) / 1000.0); + navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid()); //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts); - last_ts = t1; - last_frame_id = extra.frame_id; + //last_ts = t1; + //last_frame_id = extra.frame_id; } } int main(int argc, char **argv) { setpriority(PRIO_PROCESS, 0, -15); + // there exists a race condition when two processes try to create a + // SNPE model runner at the same time, wait for dmonitoringmodeld to finish + LOGW("waiting for dmonitoringmodeld to initialize"); + if (!Params().getBool("DmModelInitialized", true)) { + return 0; + } + // init the models NavModelState model; navmodel_init(&model); @@ -50,7 +61,7 @@ int main(int argc, char **argv) { // run the models if (vipc_client.connected) { - LOGW("connected with buffer size: %d", vipc_client.buffers[0].len); + LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len); run_model(model, vipc_client); } diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index d4a11a7c0b..9e53874578 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -3,11 +3,12 @@ import os import sys import numpy as np +from typing import Tuple, Dict, Union, Any os.environ["OMP_NUM_THREADS"] = "4" os.environ["OMP_WAIT_POLICY"] = "PASSIVE" -import onnxruntime as ort # pylint: disable=import-error +import onnxruntime as ort ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} @@ -35,16 +36,16 @@ def run_loop(m, tf8_input=False): # run once to initialize CUDA provider if "CUDAExecutionProvider" in m.get_providers(): - m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes)]))) + m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True))) print("ready to run onnx model", keys, ishapes, file=sys.stderr) while 1: inputs = [] - for k, shp, itp in zip(keys, ishapes, itypes): + for k, shp, itp in zip(keys, ishapes, itypes, strict=True): ts = np.product(shp) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp)) - ret = m.run(None, dict(zip(keys, inputs))) + ret = m.run(None, dict(zip(keys, inputs, strict=True))) #print(ret, file=sys.stderr) for r in ret: write(r.astype(np.float32)) @@ -55,14 +56,15 @@ if __name__ == "__main__": print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) options = ort.SessionOptions() options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL + + provider: Union[str, Tuple[str, Dict[Any, Any]]] if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: provider = 'OpenVINOExecutionProvider' elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: options.intra_op_num_threads = 2 - provider = 'CUDAExecutionProvider' + provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) else: options.intra_op_num_threads = 2 - options.inter_op_num_threads = 8 options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL provider = 'CPUExecutionProvider' diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 5616a6c9c7..48c16457fd 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -1,25 +1,18 @@ #include "selfdrive/modeld/runners/onnxmodel.h" -#include -#include - -#include #include #include #include -#include -#include -#include +#include +#include -#include "common/swaglog.h" #include "common/util.h" -ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8, cl_context context) { - LOGD("loading model %s", path); +ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) { + LOGD("loading model %s", path.c_str()); output = _output; output_size = _output_size; - use_extra = _use_extra; use_tf8 = _use_tf8; int err = pipe(pipein); @@ -34,7 +27,7 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int proc_pid = fork(); if (proc_pid == 0) { LOGD("spawning onnx process %s", onnx_runner.c_str()); - char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr}; + char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr}; dup2(pipein[0], 0); dup2(pipeout[1], 1); close(pipein[0]); @@ -78,7 +71,7 @@ void ONNXModel::pread(float *buf, int size) { int err; err = poll(fds, 1, 10000); // 10 second timeout assert(err == 1 || (err == -1 && errno == EINTR)); - LOGD("host read remaining %d/%d poll %d", tr, size*sizeof(float), err); + LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err); err = read(pipeout[0], cbuf, tr); assert(err > 0 || (err == 0 && errno == EINTR)); cbuf += err; @@ -87,72 +80,9 @@ void ONNXModel::pread(float *buf, int size) { LOGD("host read done"); } -void ONNXModel::addRecurrent(float *state, int state_size) { - rnn_input_buf = state; - rnn_state_size = state_size; -} - -void ONNXModel::addDesire(float *state, int state_size) { - desire_input_buf = state; - desire_state_size = state_size; -} - -void ONNXModel::addNavFeatures(float *state, int state_size) { - nav_features_input_buf = state; - nav_features_size = state_size; -} - -void ONNXModel::addDrivingStyle(float *state, int state_size) { - driving_style_input_buf = state; - driving_style_size = state_size; -} - -void ONNXModel::addTrafficConvention(float *state, int state_size) { - traffic_convention_input_buf = state; - traffic_convention_size = state_size; -} - -void ONNXModel::addCalib(float *state, int state_size) { - calib_input_buf = state; - calib_size = state_size; -} - -void ONNXModel::addImage(float *image_buf, int buf_size) { - image_input_buf = image_buf; - image_buf_size = buf_size; -} - -void ONNXModel::addExtra(float *image_buf, int buf_size) { - extra_input_buf = image_buf; - extra_buf_size = buf_size; -} - void ONNXModel::execute() { - // order must be this - if (image_input_buf != NULL) { - pwrite(image_input_buf, image_buf_size); - } - if (extra_input_buf != NULL) { - pwrite(extra_input_buf, extra_buf_size); - } - if (desire_input_buf != NULL) { - pwrite(desire_input_buf, desire_state_size); - } - if (nav_features_input_buf != NULL) { - pwrite(nav_features_input_buf, nav_features_size); - } - if (driving_style_input_buf != NULL) { - pwrite(driving_style_input_buf, driving_style_size); - } - if (traffic_convention_input_buf != NULL) { - pwrite(traffic_convention_input_buf, traffic_convention_size); - } - if (calib_input_buf != NULL) { - pwrite(calib_input_buf, calib_size); - } - if (rnn_input_buf != NULL) { - pwrite(rnn_input_buf, rnn_state_size); + for (auto &input : inputs) { + pwrite(input->buffer, input->size); } pread(output, output_size); } - diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 9990bf1b45..6c325f644e 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -1,51 +1,21 @@ #pragma once -#include - #include "selfdrive/modeld/runners/runmodel.h" class ONNXModel : public RunModel { public: - ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false, cl_context context = NULL); + ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL); ~ONNXModel(); - void addRecurrent(float *state, int state_size); - void addDesire(float *state, int state_size); - void addNavFeatures(float *state, int state_size); - void addDrivingStyle(float *state, int state_size); - void addTrafficConvention(float *state, int state_size); - void addCalib(float *state, int state_size); - void addImage(float *image_buf, int buf_size); - void addExtra(float *image_buf, int buf_size); void execute(); private: int proc_pid; - float *output; size_t output_size; - - float *rnn_input_buf = NULL; - int rnn_state_size; - float *desire_input_buf = NULL; - int desire_state_size; - float *nav_features_input_buf = NULL; - int nav_features_size; - float *driving_style_input_buf = NULL; - int driving_style_size; - float *traffic_convention_input_buf = NULL; - int traffic_convention_size; - float *calib_input_buf = NULL; - int calib_size; - float *image_input_buf = NULL; - int image_buf_size; bool use_tf8; - float *extra_input_buf = NULL; - int extra_buf_size; - bool use_extra; - // pipe to communicate to keras subprocess + // pipe to communicate to onnx_runner subprocess void pread(float *buf, int size); void pwrite(float *buf, int size); int pipein[2]; int pipeout[2]; }; - diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h index 673ddb50b5..00c88131bf 100644 --- a/selfdrive/modeld/runners/runmodel.h +++ b/selfdrive/modeld/runners/runmodel.h @@ -1,18 +1,45 @@ #pragma once + +#include +#include +#include +#include + #include "common/clutil.h" -class RunModel { -public: - virtual ~RunModel() {} - virtual void addRecurrent(float *state, int state_size) {} - virtual void addDesire(float *state, int state_size) {} - virtual void addNavFeatures(float *state, int state_size) {} - virtual void addDrivingStyle(float *state, int state_size) {} - virtual void addTrafficConvention(float *state, int state_size) {} - virtual void addCalib(float *state, int state_size) {} - virtual void addImage(float *image_buf, int buf_size) {} - virtual void addExtra(float *image_buf, int buf_size) {} - virtual void execute() {} - virtual void* getInputBuf() { return nullptr; } - virtual void* getExtraBuf() { return nullptr; } +#include "common/swaglog.h" + +struct ModelInput { + const std::string name; + float *buffer; + int size; + + ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {} + virtual void setBuffer(float *_buffer, int _size) { + assert(size == _size || size == 0); + buffer = _buffer; + size = _size; + } }; +class RunModel { +public: + std::vector> inputs; + + virtual ~RunModel() {} + virtual void execute() {} + virtual void* getCLBuffer(const std::string name) { return nullptr; } + + virtual void addInput(const std::string name, float *buffer, int size) { + inputs.push_back(std::unique_ptr(new ModelInput(name, buffer, size))); + } + virtual void setInputBuffer(const std::string name, float *buffer, int size) { + for (auto &input : inputs) { + if (name == input->name) { + input->setBuffer(buffer, size); + return; + } + } + LOGE("Tried to update input `%s` but no input with this name exists", name.c_str()); + assert(false); + } +}; diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 609a7a6657..441122c522 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -2,8 +2,6 @@ #include "selfdrive/modeld/runners/snpemodel.h" -#include -#include #include #include "common/util.h" @@ -14,20 +12,20 @@ void PrintErrorStringAndExit() { std::exit(EXIT_FAILURE); } -SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) { - output = loutput; - output_size = loutput_size; - use_extra = luse_extra; - use_tf8 = luse_tf8; +SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) { + output = _output; + output_size = _output_size; + use_tf8 = _use_tf8; + #ifdef QCOM2 - if (runtime==USE_GPU_RUNTIME) { - Runtime = zdl::DlSystem::Runtime_t::GPU; - } else if (runtime==USE_DSP_RUNTIME) { - Runtime = zdl::DlSystem::Runtime_t::DSP; + if (runtime == USE_GPU_RUNTIME) { + snpe_runtime = zdl::DlSystem::Runtime_t::GPU; + } else if (runtime == USE_DSP_RUNTIME) { + snpe_runtime = zdl::DlSystem::Runtime_t::DSP; } else { - Runtime = zdl::DlSystem::Runtime_t::CPU; + snpe_runtime = zdl::DlSystem::Runtime_t::CPU; } - assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(Runtime)); + assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime)); #endif model_data = util::read_file(path); assert(model_data.size() > 0); @@ -35,175 +33,86 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int // load model std::unique_ptr container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size()); if (!container) { PrintErrorStringAndExit(); } - printf("loaded model with size: %lu\n", model_data.size()); + LOGW("loaded model with size: %lu", model_data.size()); // create model runner - zdl::SNPE::SNPEBuilder snpeBuilder(container.get()); + zdl::SNPE::SNPEBuilder snpe_builder(container.get()); while (!snpe) { #ifdef QCOM2 - snpe = snpeBuilder.setOutputLayers({}) - .setRuntimeProcessor(Runtime) - .setUseUserSuppliedBuffers(true) - .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE) - .build(); + snpe = snpe_builder.setOutputLayers({}) + .setRuntimeProcessor(snpe_runtime) + .setUseUserSuppliedBuffers(true) + .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE) + .build(); #else - snpe = snpeBuilder.setOutputLayers({}) - .setUseUserSuppliedBuffers(true) - .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE) - .build(); + snpe = snpe_builder.setOutputLayers({}) + .setUseUserSuppliedBuffers(true) + .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE) + .build(); #endif if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl; } - // get input and output names - const auto &strListi_opt = snpe->getInputTensorNames(); - if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names"); - const auto &strListi = *strListi_opt; - //assert(strListi.size() == 1); - const char *input_tensor_name = strListi.at(0); - - const auto &strListo_opt = snpe->getOutputTensorNames(); - if (!strListo_opt) throw std::runtime_error("Error obtaining Output tensor names"); - const auto &strListo = *strListo_opt; - assert(strListo.size() == 1); - const char *output_tensor_name = strListo.at(0); - - printf("model: %s -> %s\n", input_tensor_name, output_tensor_name); - - zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat; - zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1 - zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); - size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float); - - // create input buffer - { - const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name); - const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt; - std::vector strides(bufferShape.rank()); - strides[strides.size() - 1] = size_of_input; - size_t product = 1; - for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i]; - size_t stride = strides[strides.size() - 1]; - for (size_t i = bufferShape.rank() - 1; i > 0; i--) { - stride *= bufferShape[i]; - strides[i-1] = stride; - } - printf("input product is %lu\n", product); - inputBuffer = ubFactory.createUserBuffer(NULL, - product*size_of_input, - strides, - use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat); - - inputMap.add(input_tensor_name, inputBuffer.get()); - } - - if (use_extra) { - const char *extra_tensor_name = strListi.at(1); - const auto &extraDims_opt = snpe->getInputDimensions(extra_tensor_name); - const zdl::DlSystem::TensorShape& bufferShape = *extraDims_opt; - std::vector strides(bufferShape.rank()); - strides[strides.size() - 1] = sizeof(float); - size_t product = 1; - for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i]; - size_t stride = strides[strides.size() - 1]; - for (size_t i = bufferShape.rank() - 1; i > 0; i--) { - stride *= bufferShape[i]; - strides[i-1] = stride; - } - printf("extra product is %lu\n", product); - extraBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat); - - inputMap.add(extra_tensor_name, extraBuffer.get()); - } - // create output buffer - { - const zdl::DlSystem::TensorShape& bufferShape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims(); - if (output_size != 0) { - assert(output_size == bufferShape[1]); - } else { - output_size = bufferShape[1]; - } + zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float; + zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); - std::vector outputStrides = {output_size * sizeof(float), sizeof(float)}; - outputBuffer = ubFactory.createUserBuffer(output, output_size * sizeof(float), outputStrides, &userBufferEncodingFloat); - outputMap.add(output_tensor_name, outputBuffer.get()); + const auto &output_tensor_names_opt = snpe->getOutputTensorNames(); + if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names"); + const auto &output_tensor_names = *output_tensor_names_opt; + assert(output_tensor_names.size() == 1); + const char *output_tensor_name = output_tensor_names.at(0); + const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims(); + if (output_size != 0) { + assert(output_size == buffer_shape[1]); + } else { + output_size = buffer_shape[1]; } + std::vector output_strides = {output_size * sizeof(float), sizeof(float)}; + output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float); + output_map.add(output_tensor_name, output_buffer.get()); #ifdef USE_THNEED - if (Runtime == zdl::DlSystem::Runtime_t::GPU) { + if (snpe_runtime == zdl::DlSystem::Runtime_t::GPU) { thneed.reset(new Thneed()); } #endif } -void SNPEModel::addRecurrent(float *state, int state_size) { - recurrent = state; - recurrent_size = state_size; - recurrentBuffer = this->addExtra(state, state_size, 3); -} +void SNPEModel::addInput(const std::string name, float *buffer, int size) { + const int idx = inputs.size(); + const auto &input_tensor_names_opt = snpe->getInputTensorNames(); + if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names"); + const auto &input_tensor_names = *input_tensor_names_opt; + const char *input_tensor_name = input_tensor_names.at(idx); + const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0; // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py + LOGW("adding index %d: %s", idx, input_tensor_name); -void SNPEModel::addTrafficConvention(float *state, int state_size) { - trafficConvention = state; - trafficConventionBuffer = this->addExtra(state, state_size, 2); -} + zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float; + zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1 + zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); + zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float; -void SNPEModel::addDesire(float *state, int state_size) { - desire = state; - desireBuffer = this->addExtra(state, state_size, 1); -} + const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name); + const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt; + size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float); + std::vector strides(buffer_shape.rank()); + strides[strides.size() - 1] = size_of_input; + size_t product = 1; + for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i]; + size_t stride = strides[strides.size() - 1]; + for (size_t i = buffer_shape.rank() - 1; i > 0; i--) { + stride *= buffer_shape[i]; + strides[i-1] = stride; + } -void SNPEModel::addNavFeatures(float *state, int state_size) { - navFeatures = state; - navFeaturesBuffer = this->addExtra(state, state_size, 1); -} - -void SNPEModel::addDrivingStyle(float *state, int state_size) { - drivingStyle = state; - drivingStyleBuffer = this->addExtra(state, state_size, 2); -} - -void SNPEModel::addCalib(float *state, int state_size) { - calib = state; - calibBuffer = this->addExtra(state, state_size, 1); -} - -void SNPEModel::addImage(float *image_buf, int buf_size) { - input = image_buf; - input_size = buf_size; -} - -void SNPEModel::addExtra(float *image_buf, int buf_size) { - extra = image_buf; - extra_size = buf_size; -} - -std::unique_ptr SNPEModel::addExtra(float *state, int state_size, int idx) { - // get input and output names - const auto real_idx = idx + (use_extra ? 1 : 0); - const auto &strListi_opt = snpe->getInputTensorNames(); - if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names"); - const auto &strListi = *strListi_opt; - const char *input_tensor_name = strListi.at(real_idx); - printf("adding index %d: %s\n", real_idx, input_tensor_name); - - zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat; - zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); - std::vector retStrides = {state_size * sizeof(float), sizeof(float)}; - auto ret = ubFactory.createUserBuffer(state, state_size * sizeof(float), retStrides, &userBufferEncodingFloat); - inputMap.add(input_tensor_name, ret.get()); - return ret; + auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding); + input_map.add(input_tensor_name, input_buffer.get()); + inputs.push_back(std::unique_ptr(new SNPEModelInput(name, buffer, size, std::move(input_buffer)))); } void SNPEModel::execute() { - bool ret = inputBuffer->setBufferAddress(input); - assert(ret == true); - if (use_extra) { - bool extra_ret = extraBuffer->setBufferAddress(extra); - assert(extra_ret == true); - } - if (!snpe->execute(inputMap, outputMap)) { + if (!snpe->execute(input_map, output_map)) { PrintErrorStringAndExit(); } } - diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index 0d84d1d482..e646e5225b 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -11,7 +11,7 @@ #include #include -#include "runmodel.h" +#include "selfdrive/modeld/runners/runmodel.h" #define USE_CPU_RUNTIME 0 #define USE_GPU_RUNTIME 1 @@ -21,17 +21,20 @@ #include "selfdrive/modeld/thneed/thneed.h" #endif +struct SNPEModelInput : public ModelInput { + std::unique_ptr snpe_buffer; + + SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {} + void setBuffer(float *_buffer, int _size) { + ModelInput::setBuffer(_buffer, _size); + assert(snpe_buffer->setBufferAddress(_buffer) == true); + } +}; + class SNPEModel : public RunModel { public: - SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL); - void addRecurrent(float *state, int state_size); - void addTrafficConvention(float *state, int state_size); - void addCalib(float *state, int state_size); - void addDesire(float *state, int state_size); - void addDrivingStyle(float *state, int state_size); - void addNavFeatures(float *state, int state_size); - void addImage(float *image_buf, int buf_size); - void addExtra(float *image_buf, int buf_size); + SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); + void addInput(const std::string name, float *buffer, int size); void execute(); #ifdef USE_THNEED @@ -43,44 +46,16 @@ private: std::string model_data; #ifdef QCOM2 - zdl::DlSystem::Runtime_t Runtime; + zdl::DlSystem::Runtime_t snpe_runtime; #endif // snpe model stuff std::unique_ptr snpe; + zdl::DlSystem::UserBufferMap input_map; + zdl::DlSystem::UserBufferMap output_map; + std::unique_ptr output_buffer; - // snpe input stuff - zdl::DlSystem::UserBufferMap inputMap; - std::unique_ptr inputBuffer; - float *input; - size_t input_size; bool use_tf8; - - // snpe output stuff - zdl::DlSystem::UserBufferMap outputMap; - std::unique_ptr outputBuffer; float *output; size_t output_size; - - // extra input stuff - std::unique_ptr extraBuffer; - float *extra; - size_t extra_size; - bool use_extra; - - // recurrent and desire - std::unique_ptr addExtra(float *state, int state_size, int idx); - float *recurrent; - size_t recurrent_size; - std::unique_ptr recurrentBuffer; - float *trafficConvention; - std::unique_ptr trafficConventionBuffer; - float *desire; - std::unique_ptr desireBuffer; - float *navFeatures; - std::unique_ptr navFeaturesBuffer; - float *drivingStyle; - std::unique_ptr drivingStyleBuffer; - float *calib; - std::unique_ptr calibBuffer; }; diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index 4fdd7ca466..0f35c94800 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -1,79 +1,56 @@ #include "selfdrive/modeld/runners/thneedmodel.h" -#include +#include "common/swaglog.h" -ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) { +ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) { thneed = new Thneed(true, context); - thneed->load(path); + thneed->load(path.c_str()); thneed->clexec(); recorded = false; - output = loutput; - use_extra = luse_extra; + output = _output; } -void ThneedModel::addRecurrent(float *state, int state_size) { - recurrent = state; -} +void* ThneedModel::getCLBuffer(const std::string name) { + int index = -1; + for (int i = 0; i < inputs.size(); i++) { + if (name == inputs[i]->name) { + index = i; + break; + } + } -void ThneedModel::addTrafficConvention(float *state, int state_size) { - trafficConvention = state; -} + if (index == -1) { + LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str()); + assert(false); + } -void ThneedModel::addDesire(float *state, int state_size) { - desire = state; -} - -void ThneedModel::addDrivingStyle(float *state, int state_size) { - drivingStyle = state; -} - -void ThneedModel::addNavFeatures(float *state, int state_size) { - navFeatures = state; -} - -void ThneedModel::addImage(float *image_input_buf, int buf_size) { - input = image_input_buf; -} - -void ThneedModel::addExtra(float *extra_input_buf, int buf_size) { - extra = extra_input_buf; -} - -void* ThneedModel::getInputBuf() { - if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); - else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]); - else return nullptr; -} - -void* ThneedModel::getExtraBuf() { - if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]); - else return nullptr; + if (thneed->input_clmem.size() >= inputs.size()) { + return &thneed->input_clmem[inputs.size() - index - 1]; + } else { + return nullptr; + } } void ThneedModel::execute() { if (!recorded) { thneed->record = true; - if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; - thneed->copy_inputs(inputs); - } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; - thneed->copy_inputs(inputs); + float *input_buffers[inputs.size()]; + for (int i = 0; i < inputs.size(); i++) { + input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; } + + thneed->copy_inputs(input_buffers); thneed->clexec(); thneed->copy_output(output); thneed->stop(); recorded = true; } else { - if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; - thneed->execute(inputs, output); - } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; - thneed->execute(inputs, output); + float *input_buffers[inputs.size()]; + for (int i = 0; i < inputs.size(); i++) { + input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; } + thneed->execute(input_buffers, output); } } - diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h index 63712f1d00..90c40239bf 100644 --- a/selfdrive/modeld/runners/thneedmodel.h +++ b/selfdrive/modeld/runners/thneedmodel.h @@ -5,31 +5,11 @@ class ThneedModel : public RunModel { public: - ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL); - void addRecurrent(float *state, int state_size); - void addTrafficConvention(float *state, int state_size); - void addDesire(float *state, int state_size); - void addNavFeatures(float *state, int state_size); - void addDrivingStyle(float *state, int state_size); - void addImage(float *image_buf, int buf_size); - void addExtra(float *image_buf, int buf_size); + ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); + void *getCLBuffer(const std::string name); void execute(); - void* getInputBuf(); - void* getExtraBuf(); private: Thneed *thneed = NULL; bool recorded; - bool use_extra; - - float *input; - float *extra; float *output; - - // recurrent and desire - float *recurrent; - float *trafficConvention; - float *drivingStyle; - float *desire; - float *navFeatures; }; - diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 2fcff785a9..758948811e 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -9,10 +9,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType from common.transformations.camera import tici_f_frame_size from common.realtime import DT_MDL from selfdrive.manager.process_config import managed_processes - - -VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER, - "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD} +from selfdrive.test.process_replay.vision_meta import meta_from_camera_state IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() @@ -48,9 +45,10 @@ class TestModeld(unittest.TestCase): 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(VIPC_STREAM[msg.which()], IMG_BYTES, cs.frameId, + self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof) return cs diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index 3c7ce5b70a..f4fddaab40 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -35,6 +35,6 @@ if __name__ == "__main__": print("\n\n") print(f"ran modeld {N} times for {TIME}s each") - for n, t in enumerate(execution_times): + for _, t in enumerate(execution_times): print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms") print("\n\n") diff --git a/selfdrive/modeld/thneed/lib.py b/selfdrive/modeld/thneed/lib.py index 38ef3f4262..c058638fad 100644 --- a/selfdrive/modeld/thneed/lib.py +++ b/selfdrive/modeld/thneed/lib.py @@ -1,4 +1,5 @@ -import struct, json +import struct +import json def load_thneed(fn): with open(fn, "rb") as f: diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc index a29a82c8c8..a3bfb8a8c2 100644 --- a/selfdrive/modeld/thneed/thneed_qcom2.cc +++ b/selfdrive/modeld/thneed/thneed_qcom2.cc @@ -43,7 +43,7 @@ int ioctl(int filedes, unsigned long request, void *argp) { if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; - create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority + create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); } @@ -238,24 +238,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) { // ****** copy inputs copy_inputs(finputs, true); - // ****** set power constraint - int ret; - struct kgsl_device_constraint_pwrlevel pwrlevel; - pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX; - - struct kgsl_device_constraint constraint; - constraint.type = KGSL_CONSTRAINT_PWRLEVEL; - constraint.context_id = context_id; - constraint.data = (void*)&pwrlevel; - constraint.size = sizeof(pwrlevel); - - struct kgsl_device_getproperty prop; - prop.type = KGSL_PROP_PWR_CONSTRAINT; - prop.value = (void*)&constraint; - prop.sizebytes = sizeof(constraint); - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - // ****** run commands int i = 0; for (auto &it : cmds) { @@ -268,14 +250,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) { // ****** copy outputs copy_output(foutput); - // ****** unset power constraint - constraint.type = KGSL_CONSTRAINT_NONE; - constraint.data = NULL; - constraint.size = 0; - - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - if (debug >= 1) { te = nanos_since_boot(); printf("model exec in %lu us\n", (te-tb)/1000); diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 35eee5b035..836ed9cc4f 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -3,10 +3,10 @@ import gc import cereal.messaging as messaging from cereal import car +from cereal import log from common.params import Params, put_bool_nonblocking from common.realtime import set_realtime_priority from selfdrive.controls.lib.events import Events -from selfdrive.locationd.calibrationd import Calibration from selfdrive.monitoring.driver_monitor import DriverStatus @@ -22,7 +22,7 @@ def dmonitoringd_thread(sm=None, pm=None): driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) - sm['liveCalibration'].calStatus = Calibration.INVALID + sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid sm['liveCalibration'].rpyCalib = [0, 0, 0] sm['carState'].buttonEvents = [] sm['carState'].standstill = True diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index a2cddc2462..97407e25eb 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -119,7 +119,9 @@ class DriverBlink(): self.right_blink = 0. class DriverStatus(): - def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()): + def __init__(self, rhd_saved=False, settings=None): + if settings is None: + settings = DRIVER_MONITOR_SETTINGS() # init policy settings self.settings = settings @@ -212,7 +214,8 @@ class DriverStatus(): distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: - ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12 + ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ + * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 # if self.ee2_calibrated: @@ -263,14 +266,17 @@ class DriverStatus(): self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD - self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ + * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ + * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() - self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ - driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std + self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types + or DistractedType.DISTRACTED_BLINK in self.distracted_types) \ + and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) # update offseter @@ -306,7 +312,8 @@ class DriverStatus(): self._reset_awareness() return # only restore awareness when paying attention and alert is not red - self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.) + self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)* + (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.) if self.awareness == 1.: self.awareness_passive = min(self.awareness_passive + self.step_change, 1.) # don't display alert banner when awareness is recovering and has cleared orange diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index f72b4a3aaa..98d3f43f12 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -82,7 +82,8 @@ class TestMonitoring(unittest.TestCase): events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false) self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0) self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted) + ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], + EventName.preDriverDistracted) self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted) self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME + @@ -94,7 +95,8 @@ class TestMonitoring(unittest.TestCase): events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false) self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0) self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive) + ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], + EventName.preDriverUnresponsive) self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive) self.assertEqual(events[int((d_status.settings._AWARENESS_TIME + @@ -125,10 +127,14 @@ class TestMonitoring(unittest.TestCase): ds_vector = always_distracted[:] interaction_vector = always_false[:] op_vector = always_true[:] - ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) - ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) - interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON) - op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON) + ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \ + = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) + ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \ + = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) + interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \ + = [True] * int(1/DT_DMON) + op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ + = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted) self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted) @@ -141,7 +147,8 @@ class TestMonitoring(unittest.TestCase): _visible_time = np.random.choice([0.5, 10]) ds_vector = always_no_face[:]*2 interaction_vector = always_false[:]*2 - ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON) + ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \ + [msg_ATTENTIVE] * int(_visible_time/DT_DMON) interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0) @@ -185,7 +192,8 @@ class TestMonitoring(unittest.TestCase): standstill_vector = always_true[:] standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON) events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted) + self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], + EventName.preDriverDistracted) self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted) self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted) @@ -195,9 +203,12 @@ class TestMonitoring(unittest.TestCase): ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - self.assertTrue(EventName.preDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names) - self.assertTrue(EventName.promptDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) - self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) + self.assertTrue(EventName.preDriverUnresponsive in + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names) + self.assertTrue(EventName.promptDriverUnresponsive in + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) + self.assertTrue(EventName.driverUnresponsive in + events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) if __name__ == "__main__": diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore index a070fe32bb..4801d60a2c 100644 --- a/selfdrive/navd/.gitignore +++ b/selfdrive/navd/.gitignore @@ -1,5 +1,6 @@ moc_* *.moc +mapsd map_renderer libmap_renderer.so diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md index 6c7f7eabe3..3047b7f8eb 100644 --- a/selfdrive/navd/README.md +++ b/selfdrive/navd/README.md @@ -1,6 +1,6 @@ # navigation -This directory contains two daemons, `navd` and `map_renderer`, which support navigation in the openpilot stack. +This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack. ### navd diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 23b36adc0a..d1db79506a 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visioni if arch == 'larch64': libs.append('EGL') -if arch in ['larch64', 'x86_64']: +if arch in ['larch64', 'aarch64', 'x86_64']: if arch == 'x86_64': rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath map_env["RPATH"] += [rpath, ] @@ -17,4 +17,4 @@ if arch in ['larch64', 'x86_64']: map_env["RPATH"].append(Dir('.').abspath) map_env["LIBPATH"].append(Dir('.').abspath) maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs) - map_env.Program("map_renderer", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs) + map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs) diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index eda813154a..050c571923 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -29,7 +29,10 @@ class Coordinate: return {'latitude': self.latitude, 'longitude': self.longitude} def __str__(self) -> str: - return f"({self.latitude}, {self.longitude})" + return f'Coordinate({self.latitude}, {self.longitude})' + + def __repr__(self) -> str: + return self.__str__() def __eq__(self, other) -> bool: if not isinstance(other, Coordinate): @@ -128,35 +131,40 @@ def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float: return SPEED_CONVERSIONS[unit] * speed -def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None: - if not len(banners): - return +def field_valid(dat: dict, field: str) -> bool: + return field in dat and dat[field] is not None - current_banner = banners[0] + +def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> Optional[Dict[str, Any]]: + if not len(banners): + return None + + instruction = {} # A segment can contain multiple banners, find one that we need to show now + current_banner = banners[0] for banner in banners: if distance_to_maneuver < banner['distanceAlongGeometry']: current_banner = banner # Only show banner when close enough to maneuver - instruction.showFull = distance_to_maneuver < current_banner['distanceAlongGeometry'] + instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry'] # Primary p = current_banner['primary'] - if 'text' in p: - instruction.maneuverPrimaryText = p['text'] - if 'type' in p: - instruction.maneuverType = p['type'] - if 'modifier' in p: - instruction.maneuverModifier = p['modifier'] + if field_valid(p, 'text'): + instruction['maneuverPrimaryText'] = p['text'] + if field_valid(p, 'type'): + instruction['maneuverType'] = p['type'] + if field_valid(p, 'modifier'): + instruction['maneuverModifier'] = p['modifier'] # Secondary - if 'secondary' in current_banner: - instruction.maneuverSecondaryText = current_banner['secondary']['text'] + if field_valid(current_banner, 'secondary'): + instruction['maneuverSecondaryText'] = current_banner['secondary']['text'] # Lane lines - if 'sub' in current_banner: + if field_valid(current_banner, 'sub'): lanes = [] for component in current_banner['sub']['components']: if component['type'] != 'lane': @@ -167,8 +175,10 @@ def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuv 'directions': [string_to_direction(d) for d in component['directions']], } - if 'active_direction' in component: + if field_valid(component, 'active_direction'): lane['activeDirection'] = string_to_direction(component['active_direction']) lanes.append(lane) - instruction.lanes = lanes + instruction['lanes'] = lanes + + return instruction diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc index b6eec10328..f8501bf4a5 100644 --- a/selfdrive/navd/main.cc +++ b/selfdrive/navd/main.cc @@ -1,28 +1,21 @@ +#include +#include + #include #include -#include #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/navd/map_renderer.h" #include "system/hardware/hw.h" - - -void sigHandler(int s) { - qInfo() << "Shutting down"; - std::signal(s, SIG_DFL); - - qApp->quit(); -} - - int main(int argc, char *argv[]) { qInstallMessageHandler(swagLogMessageHandler); + setpriority(PRIO_PROCESS, 0, -20); QApplication app(argc, argv); - std::signal(SIGINT, sigHandler); - std::signal(SIGTERM, sigHandler); + std::signal(SIGINT, sigTermHandler); + std::signal(SIGTERM, sigTermHandler); MapRenderer * m = new MapRenderer(get_mapbox_settings()); assert(m); diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 51676bb3a3..44acc67b94 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -11,11 +11,13 @@ #include "selfdrive/ui/qt/maps/map_helpers.h" const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear -const int HEIGHT = 512, WIDTH = 512; +const int HEIGHT = 256, WIDTH = 256; const int NUM_VIPC_BUFFERS = 4; const int EARTH_CIRCUMFERENCE_METERS = 40075000; +const int EARTH_RADIUS_METERS = 6378137; const int PIXELS_PER_TILE = 256; +const int MAP_OFFSET = 128; const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE"); const int LLK_DECIMATION = TEST_MODE ? 1 : 10; @@ -26,6 +28,14 @@ float get_zoom_level_for_scale(float lat, float meters_per_pixel) { return log2(num_tiles) - 1; } +QMapbox::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) { + float ang_dist = dist / EARTH_RADIUS_METERS; + float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing); + float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1)); + float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2)); + return QMapbox::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2)); +} + MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) { QSurfaceFormat fmt; @@ -60,8 +70,14 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set gl_functions->glViewport(0, 0, WIDTH, HEIGHT); QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { + // Ignore expected signals // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116 - //LOGD("new state %d", change); + if (change != QMapboxGL::MapChange::MapChangeRegionWillChange && + change != QMapboxGL::MapChange::MapChangeRegionDidChange && + change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame && + change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { + LOGD("New map state: %d", change); + } }); QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) { @@ -70,7 +86,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set if (online) { vipc_server.reset(new VisionIpcServer("navd")); - vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH/2, HEIGHT/2); + vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); vipc_server->start_listener(); pm.reset(new PubMaster({"navThumbnail", "mapRenderState"})); @@ -91,21 +107,24 @@ void MapRenderer::msgUpdate() { auto pos = location.getPositionGeodetic(); auto orientation = location.getCalibratedOrientationNED(); - bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); - if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) { - updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); + if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) { + float bearing = RAD2DEG(orientation.getValue()[2]); + updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing); - // TODO: use the static rendering mode - if (!loaded() && frame_id > 0) { - for (int i = 0; i < 5 && !loaded(); i++) { - LOGW("map render retry #%d, %d", i+1, m_map.isNull()); - QApplication::processEvents(QEventLoop::AllEvents, 100); - update(); + // TODO: use the static rendering mode instead + // retry render a few times + for (int i = 0; i < 5 && !rendered(); i++) { + QApplication::processEvents(QEventLoop::AllEvents, 100); + update(); + if (rendered()) { + LOGW("rendered after %d retries", i+1); + break; } + } - if (!loaded()) { - LOGE("failed to render map after retry"); - } + // fallback to sending a blank frame + if (!rendered()) { + publish(0, false); } } } @@ -150,7 +169,8 @@ void MapRenderer::update() { double end_t = millis_since_boot(); if ((vipc_server != nullptr) && loaded()) { - publish((end_t - start_t) / 1000.0); + publish((end_t - start_t) / 1000.0, true); + last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime(); } } @@ -163,26 +183,28 @@ void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array pm->send("navThumbnail", msg); } -void MapRenderer::publish(const double render_time) { +void MapRenderer::publish(const double render_time, const bool loaded) { QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor); + + auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman(); + bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid(); uint64_t ts = nanos_since_boot(); VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP); VisionIpcBufExtra extra = { .frame_id = frame_id, .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(), .timestamp_eof = ts, + .valid = valid, }; assert(cap.sizeInBytes() >= buf->len); uint8_t* dst = (uint8_t*)buf->addr; uint8_t* src = cap.bits(); - // RGB to greyscale and crop + // RGB to greyscale memset(dst, 128, buf->len); - for (int r = 0; r < HEIGHT/2; r++) { - for (int c = 0; c < WIDTH/2; c++) { - dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3]; - } + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; } vipc_server->send(buf, &extra); @@ -205,7 +227,9 @@ void MapRenderer::publish(const double render_time) { // Send state msg MessageBuilder msg; - auto state = msg.initEvent().initMapRenderState(); + auto evt = msg.initEvent(); + auto state = evt.initMapRenderState(); + evt.setValid(valid); state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime()); state.setRenderTime(render_time); state.setFrameId(frame_id); @@ -243,6 +267,7 @@ void MapRenderer::updateRoute(QList coordinates) { void MapRenderer::initLayers() { if (!m_map->layerExists("navLayer")) { + LOGD("Initializing navLayer"); QVariantMap nav; nav["id"] = "navLayer"; nav["type"] = "line"; diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 0019030b6d..5739ba88f2 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -34,7 +34,7 @@ private: std::unique_ptr vipc_server; std::unique_ptr pm; std::unique_ptr sm; - void publish(const double render_time); + void publish(const double render_time, const bool loaded); void sendThumbnail(const uint64_t ts, const kj::Array &buf); QMapboxGLSettings m_settings; @@ -43,6 +43,10 @@ private: void initLayers(); uint32_t frame_id = 0; + uint64_t last_llk_rendered = 0; + bool rendered() { + return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime(); + } QTimer* timer; diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 3239470b23..57d5e0593c 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -10,12 +10,12 @@ from cffi import FFI from common.ffi_wrapper import suffix from common.basedir import BASEDIR -HEIGHT = WIDTH = SIZE = 512 +HEIGHT = WIDTH = SIZE = 256 METERS_PER_PIXEL = 2 def get_ffi(): - lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix()) + lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix()) ffi = FFI() ffi.cdef(""" @@ -74,7 +74,7 @@ if __name__ == "__main__": renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL) wait_ready(lib, renderer) - geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" + geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501 lib.map_renderer_update_route(renderer, geometry.encode()) POSITIONS = [ diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 7af911ab2a..3a8897e8e2 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -102,6 +102,7 @@ class RouteEngine: new_destination = coordinate_from_param("NavDestination", self.params) if new_destination is None: self.clear_route() + self.reset_recompute_limits() return should_recompute = self.should_recompute() @@ -218,9 +219,39 @@ class RouteEngine: along_geometry = distance_along_geometry(geometry, self.last_position) distance_to_maneuver_along_geometry = step['distance'] - along_geometry + # Banner instructions are for the following maneuver step, don't use empty last step + banner_step = step + if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1: + banner_step = self.route[max(self.step_idx - 1, 0)] + # Current instruction msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry - parse_banner_instructions(msg.navInstruction, step['bannerInstructions'], distance_to_maneuver_along_geometry) + instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry) + if instruction is not None: + for k,v in instruction.items(): + setattr(msg.navInstruction, k, v) + + # All instructions + maneuvers = [] + for i, step_i in enumerate(self.route): + if i < self.step_idx: + distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry + elif i == self.step_idx: + distance_to_maneuver = distance_to_maneuver_along_geometry + else: + distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1)) + + instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver) + if instruction is None: + continue + maneuver = {'distance': distance_to_maneuver} + if 'maneuverType' in instruction: + maneuver['type'] = instruction['maneuverType'] + if 'maneuverModifier' in instruction: + maneuver['modifier'] = instruction['maneuverModifier'] + maneuvers.append(maneuver) + + msg.navInstruction.allManeuvers = maneuvers # Compute total remaining time and distance remaining = 1.0 - along_geometry / max(step['distance'], 1) @@ -265,15 +296,14 @@ class RouteEngine: if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD: if self.step_idx + 1 < len(self.route): self.step_idx += 1 - self.recompute_backoff = 0 - self.recompute_countdown = 0 + self.reset_recompute_limits() else: cloudlog.warning("Destination reached") - Params().remove("NavDestination") # Clear route if driving away from destination dist = self.nav_destination.distance_to(self.last_position) if dist > REROUTE_DISTANCE: + self.params.remove("NavDestination") self.clear_route() def send_route(self): @@ -293,6 +323,10 @@ class RouteEngine: self.step_idx = None self.nav_destination = None + def reset_recompute_limits(self): + self.recompute_backoff = 0 + self.recompute_countdown = 0 + def should_recompute(self): if self.step_idx is None or self.route is None: return True diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py new file mode 100755 index 0000000000..e3eda8bdef --- /dev/null +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -0,0 +1,192 @@ +#!/usr/bin/env python3 +import os +import unittest +import requests +import threading +import http.server +import cereal.messaging as messaging + +from typing import Any +from cereal.visionipc import VisionIpcClient, VisionStreamType +from selfdrive.manager.process_config import managed_processes + +LLK_DECIMATION = 10 +CACHE_PATH = "/data/mbgl-cache-navd.db" + +LOCATION1 = (32.7174, -117.16277) +LOCATION2 = (32.7558, -117.2037) + +def gen_llk(location=LOCATION1): + msg = messaging.new_message('liveLocationKalman') + msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.status = 'valid' + return msg + + +class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): + INTERNET_ACTIVE = True + + def setup(self): + if self.INTERNET_ACTIVE: + super().setup() + + def handle(self): + if self.INTERNET_ACTIVE: + super().handle() + + def finish(self): + if self.INTERNET_ACTIVE: + super().finish() + + def do_GET(self): + url = f'https://api.mapbox.com{self.path}' + + headers = dict(self.headers) + headers["Host"] = "api.mapbox.com" + + r = requests.get(url, headers=headers, timeout=5) + + self.send_response(r.status_code) + self.end_headers() + self.wfile.write(r.content) + + def log_message(self, *args: Any) -> None: + return + + def log_error(self, *args: Any) -> None: + return + + +class MapBoxInternetDisabledServer(threading.Thread): + def run(self): + self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler) + self.server.serve_forever() + + def stop(self): + self.server.shutdown() + + def disable_internet(self): + MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False + + def enable_internet(self): + MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True + + +class TestMapRenderer(unittest.TestCase): + server = MapBoxInternetDisabledServer() + + @classmethod + def setUpClass(cls): + assert "MAPBOX_TOKEN" in os.environ + cls.original_token = os.environ["MAPBOX_TOKEN"] + cls.server.start() + + @classmethod + def tearDownClass(cls) -> None: + cls.server.stop() + + def setUp(self): + self.server.enable_internet() + os.environ['MAPS_HOST'] = 'http://localhost:5000' + + self.sm = messaging.SubMaster(['mapRenderState']) + self.pm = messaging.PubMaster(['liveLocationKalman']) + self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) + + if os.path.exists(CACHE_PATH): + os.remove(CACHE_PATH) + + def tearDown(self): + managed_processes['mapsd'].stop() + + def _setup_test(self): + # start + sync up + managed_processes['mapsd'].start() + + assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10) + + assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, } + assert self.vipc.connect(False) + self.vipc.recv() + + + def _run_test(self, expect_valid, location=LOCATION1): + starting_frame_id = None + + self.location = location + + # run test + prev_frame_id = -1 + for i in range(30*LLK_DECIMATION): + frame_expected = (i+1) % LLK_DECIMATION == 0 + + if self.sm.logMonoTime['mapRenderState'] == 0: + prev_valid = False + prev_frame_id = -1 + else: + prev_valid = self.sm.valid['mapRenderState'] + prev_frame_id = self.sm['mapRenderState'].frameId + + if starting_frame_id is None: + starting_frame_id = prev_frame_id + + llk = gen_llk(self.location) + self.pm.send("liveLocationKalman", llk) + self.pm.wait_for_readers_to_update("liveLocationKalman", 10) + self.sm.update(1000 if frame_expected else 0) + assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency" + + if not frame_expected: + continue + + frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id + + # give a few frames to switch from valid to invalid, or vice versa + invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid) + valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid) + + if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5: + continue + + # check output + assert self.sm.valid['mapRenderState'] == expect_valid + assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1) + assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime + if not expect_valid: + assert self.sm['mapRenderState'].renderTime == 0. + else: + assert 0. < self.sm['mapRenderState'].renderTime < 0.1 + + # check vision ipc output + assert self.vipc.recv() is not None + assert self.vipc.valid == expect_valid + assert self.vipc.timestamp_sof == llk.logMonoTime + assert self.vipc.frame_id == self.sm['mapRenderState'].frameId + + def test_with_internet(self): + self._setup_test() + self._run_test(True) + + def test_with_no_internet(self): + self.server.disable_internet() + self._setup_test() + self._run_test(False) + + def test_recover_from_no_internet(self): + self._setup_test() + self._run_test(True) + + self.server.disable_internet() + + # change locations to force mapsd to refetch + self._run_test(False, LOCATION2) + + self.server.enable_internet() + self._run_test(True, LOCATION2) + + self.location = LOCATION1 + self._run_test(True, LOCATION2) + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index e64907149c..a444a62312 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -23,6 +23,8 @@ class METRIC_TYPE: class StatLog: def __init__(self): self.pid = None + self.zctx = None + self.sock = None def connect(self) -> None: self.zctx = zmq.Context() @@ -31,6 +33,12 @@ class StatLog: self.sock.connect(STATS_SOCKET) self.pid = os.getpid() + def __del__(self): + if self.sock is not None: + self.sock.close() + if self.zctx is not None: + self.zctx.term() + def _send(self, metric: str) -> None: if os.getpid() != self.pid: self.connect() @@ -68,7 +76,7 @@ def main() -> NoReturn: return res # open statistics socket - ctx = zmq.Context().instance() + ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) sock.bind(STATS_SOCKET) @@ -92,70 +100,74 @@ def main() -> NoReturn: last_flush_time = time.monotonic() gauges = {} samples: Dict[str, List[float]] = defaultdict(list) - while True: - started_prev = sm['deviceState'].started - sm.update() - - # Update metrics + try: while True: - try: - metric = sock.recv_string(zmq.NOBLOCK) + started_prev = sm['deviceState'].started + sm.update() + + # Update metrics + while True: try: - metric_type = metric.split('|')[1] - metric_name = metric.split(':')[0] - metric_value = float(metric.split('|')[0].split(':')[1]) + metric = sock.recv_string(zmq.NOBLOCK) + try: + metric_type = metric.split('|')[1] + metric_name = metric.split(':')[0] + metric_value = float(metric.split('|')[0].split(':')[1]) - if metric_type == METRIC_TYPE.GAUGE: - gauges[metric_name] = metric_value - elif metric_type == METRIC_TYPE.SAMPLE: - samples[metric_name].append(metric_value) - else: - cloudlog.event("unknown metric type", metric_type=metric_type) - except Exception: - cloudlog.event("malformed metric", metric=metric) - except zmq.error.Again: - break + if metric_type == METRIC_TYPE.GAUGE: + gauges[metric_name] = metric_value + elif metric_type == METRIC_TYPE.SAMPLE: + samples[metric_name].append(metric_value) + else: + cloudlog.event("unknown metric type", metric_type=metric_type) + except Exception: + cloudlog.event("malformed metric", metric=metric) + except zmq.error.Again: + break - # flush when started state changes or after FLUSH_TIME_S - if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): - result = "" - current_time = datetime.utcnow().replace(tzinfo=timezone.utc) - tags['started'] = sm['deviceState'].started + # flush when started state changes or after FLUSH_TIME_S + if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): + result = "" + current_time = datetime.utcnow().replace(tzinfo=timezone.utc) + tags['started'] = sm['deviceState'].started - for key, value in gauges.items(): - result += get_influxdb_line(f"gauge.{key}", value, current_time, tags) + for key, value in gauges.items(): + result += get_influxdb_line(f"gauge.{key}", value, current_time, tags) - for key, values in samples.items(): - values.sort() - sample_count = len(values) - sample_sum = sum(values) + for key, values in samples.items(): + values.sort() + sample_count = len(values) + sample_sum = sum(values) - stats = { - 'count': sample_count, - 'min': values[0], - 'max': values[-1], - 'mean': sample_sum / sample_count, - } - for percentile in [0.05, 0.5, 0.95]: - value = values[int(round(percentile * (sample_count - 1)))] - stats[f"p{int(percentile * 100)}"] = value + stats = { + 'count': sample_count, + 'min': values[0], + 'max': values[-1], + 'mean': sample_sum / sample_count, + } + for percentile in [0.05, 0.5, 0.95]: + value = values[int(round(percentile * (sample_count - 1)))] + stats[f"p{int(percentile * 100)}"] = value - result += get_influxdb_line(f"sample.{key}", stats, current_time, tags) + result += get_influxdb_line(f"sample.{key}", stats, current_time, tags) - # clear intermediate data - gauges.clear() - samples.clear() - last_flush_time = time.monotonic() + # clear intermediate data + gauges.clear() + samples.clear() + last_flush_time = time.monotonic() - # check that we aren't filling up the drive - if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: - if len(result) > 0: - stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}") - with atomic_write_in_dir(stats_path) as f: - f.write(result) - idx += 1 - else: - cloudlog.error("stats dir full") + # check that we aren't filling up the drive + if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: + if len(result) > 0: + stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}") + with atomic_write_in_dir(stats_path) as f: + f.write(result) + idx += 1 + else: + cloudlog.error("stats dir full") + finally: + sock.close() + ctx.term() if __name__ == "__main__": diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py new file mode 100755 index 0000000000..291f9f6e44 --- /dev/null +++ b/selfdrive/test/ciui.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 +import signal +import subprocess + +signal.signal(signal.SIGINT, signal.SIG_DFL) +signal.signal(signal.SIGTERM, signal.SIG_DFL) + +from PyQt5.QtCore import QTimer # pylint: disable=no-name-in-module, import-error +from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel # pylint: disable=no-name-in-module, import-error +from selfdrive.ui.qt.python_helpers import set_main_window + +class Window(QWidget): + def __init__(self, parent=None): + super(Window, self).__init__(parent) + + layout = QVBoxLayout() + self.setLayout(layout) + + self.l = QLabel("jenkins runner") + layout.addWidget(self.l) + layout.addStretch(1) + layout.setContentsMargins(20, 20, 20, 20) + + cmds = [ + "cat /etc/hostname", + "echo AGNOS v$(cat /VERSION)", + "uptime -p", + ] + self.labels = {} + for c in cmds: + self.labels[c] = QLabel(c) + layout.addWidget(self.labels[c]) + + self.setStyleSheet(""" + * { + color: white; + font-size: 55px; + background-color: black; + font-family: "JetBrains Mono"; + } + """) + + self.timer = QTimer() + self.timer.timeout.connect(self.update) + self.timer.start(10 * 1000) + self.update() + + def update(self): + for cmd, label in self.labels.items(): + out = subprocess.run(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + shell=True, check=False, encoding='utf8').stdout + label.setText(out.strip()) + +if __name__ == "__main__": + app = QApplication([]) + w = Window() + set_main_window(w) + app.exec_() diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py new file mode 100644 index 0000000000..28c70a0ff4 --- /dev/null +++ b/selfdrive/test/fuzzy_generation.py @@ -0,0 +1,84 @@ +import capnp +import hypothesis.strategies as st +from typing import Any, Callable, Dict, List, Optional, Union + +from cereal import log + +DrawType = Callable[[st.SearchStrategy], Any] + + +class FuzzyGenerator: + def __init__(self, draw: DrawType, real_floats: bool): + self.draw = draw + self.real_floats = real_floats + + def generate_native_type(self, field: str) -> st.SearchStrategy[Union[bool, int, float, str, bytes]]: + def floats(**kwargs) -> st.SearchStrategy[float]: + allow_nan = not self.real_floats + allow_infinity = not self.real_floats + return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity) + + if field == 'bool': + return st.booleans() + elif field == 'int8': + return st.integers(min_value=-2**7, max_value=2**7-1) + elif field == 'int16': + return st.integers(min_value=-2**15, max_value=2**15-1) + elif field == 'int32': + return st.integers(min_value=-2**31, max_value=2**31-1) + elif field == 'int64': + return st.integers(min_value=-2**63, max_value=2**63-1) + elif field == 'uint8': + return st.integers(min_value=0, max_value=2**8-1) + elif field == 'uint16': + return st.integers(min_value=0, max_value=2**16-1) + elif field == 'uint32': + return st.integers(min_value=0, max_value=2**32-1) + elif field == 'uint64': + return st.integers(min_value=0, max_value=2**64-1) + elif field == 'float32': + return floats(width=32) + elif field == 'float64': + return floats(width=64) + elif field == 'text': + return st.text(max_size=1000) + elif field == 'data': + return st.binary(max_size=1000) + elif field == 'anyPointer': + return st.text() + else: + raise NotImplementedError(f'Invalid type : {field}') + + def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy: + def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy: + if field_type.which() == 'struct': + return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema) + elif field_type.which() == 'list': + return st.lists(rec(field_type.list.elementType)) + elif field_type.which() == 'enum': + schema = field.schema.elementType if base_type == 'list' else field.schema + return st.sampled_from(list(schema.enumerants.keys())) + else: + return self.generate_native_type(field_type.which()) + + if 'slot' in field.proto.to_dict(): + base_type = field.proto.slot.type.which() + return rec(field.proto.slot.type) + else: + return self.generate_struct(field.schema) + + def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: Optional[str] = None) -> st.SearchStrategy[Dict[str, Any]]: + full_fill: List[str] = list(schema.non_union_fields) + single_fill: List[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else [] + return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill}) + + @classmethod + def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> Dict[str, Any]: + fg = cls(draw, real_floats=real_floats) + data: Dict[str, Any] = draw(fg.generate_struct(struct.schema)) + return data + + @classmethod + def get_random_event_msg(cls, draw: DrawType, events: List[str], real_floats: bool = False) -> List[Dict[str, Any]]: + fg = cls(draw, real_floats=real_floats) + return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)] diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 8cc996c28d..f7dab576f3 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -2,19 +2,30 @@ import os import time from functools import wraps -from system.hardware import PC +import cereal.messaging as messaging +from common.params import Params from selfdrive.manager.process_config import managed_processes +from system.hardware import PC from system.version import training_version, terms_version def set_params_enabled(): - from common.params import Params + os.environ['PASSIVE'] = "0" + os.environ['REPLAY'] = "1" + os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" + os.environ['LOGPRINT'] = "debug" + params = Params() params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) params.put_bool("OpenpilotEnabledToggle", True) params.put_bool("Passive", False) + # valid calib + msg = messaging.new_message('liveCalibration') + msg.liveCalibration.validBlocks = 20 + msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] + params.put("CalibrationParams", msg.to_bytes()) def phone_only(f): @wraps(f) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 8febbf4022..541f7d8747 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -8,7 +8,7 @@ from common.realtime import Ratekeeper, DT_MDL from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU +from selfdrive.controls.radard import _LEAD_ACCEL_TAU class Plant: diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 1d1b6ec423..3a7868aaa6 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -11,20 +11,29 @@ def get_url(route_name, segment_num, log_type="rlog"): ext = "hevc" if log_type.endswith('camera') else "bz2" return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" - -def upload_file(path, name): - from azure.storage.blob import BlockBlobService # pylint: disable=import-error - +def get_sas_token(): sas_token = os.environ.get("AZURE_TOKEN", None) if os.path.isfile(TOKEN_PATH): sas_token = open(TOKEN_PATH).read().strip() if sas_token is None: - sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \ - --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n") - service = BlockBlobService(account_name="commadataci", sas_token=sas_token) + sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci \ + --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') \ + --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n") + + return sas_token + +def upload_bytes(data, name): + from azure.storage.blob import BlockBlobService # pylint: disable=import-error + service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) + service.create_blob_from_bytes("openpilotci", name, data) + return BASE_URL + name + +def upload_file(path, name): + from azure.storage.blob import BlockBlobService # pylint: disable=import-error + service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) service.create_blob_from_path("openpilotci", name, path) - return "https://commadataci.blob.core.windows.net/openpilotci/" + name + return BASE_URL + name if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 531ddb3a02..d1743ac539 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -15,9 +15,10 @@ Currently the following processes are tested: * calibrationd * dmonitoringd * locationd -* laikad * paramsd * ubloxd +* laikad +* torqued ### Usage ``` @@ -45,3 +46,83 @@ To generate new logs: `./test_processes.py` Then, check in the new logs using git-lfs. Make sure to also update the `ref_commit` file to the current commit. + +## API + +Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. + +```py +def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]: + +def replay_process( + cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, + fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False +) -> List[capnp._DynamicStructReader]: +``` + +Example usage: +```py +from selfdrive.test.process_replay import replay_process_with_name +from tools.lib.logreader import LogReader + +lr = LogReader(...) + +# provide a name of the process to replay +output_logs = replay_process_with_name('locationd', lr) + +# or list of names +output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr) +``` + +Supported processes: +* controlsd +* radard +* plannerd +* calibrationd +* dmonitoringd +* locationd +* paramsd +* ubloxd +* laikad +* torqued +* modeld +* dmonitoringmodeld + +Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files. + +```py +from selfdrive.test.process_replay import get_custom_params_from_lr + +previous_segment_lr = LogReader(...) +current_segment_lr = LogReader(...) + +custom_params = get_custom_params_from_lr(previous_segment_lr, 'last') + +output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_params) +``` + +Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values. + +```py +from tools.lib.framereader import FrameReader + +frs = { + 'roadCameraState': FrameReader(...), + 'wideRoadCameraState': FrameReader(...), + 'driverCameraState': FrameReader(...), +} + +output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs) +``` + +To capture stdout/stderr of the replayed process, `captured_output_store` can be provided. + +```py +output_store = dict() +# pass dictionary by reference, it will be filled with standard outputs - even if process replay fails +output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_output_store=output_store) + +# entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process +print(output_store['radard']['out']) # radard stdout +print(output_store['radard']['err']) # radard stderr +``` \ No newline at end of file diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py index e69de29bb2..a872c310d7 100644 --- a/selfdrive/test/process_replay/__init__.py +++ b/selfdrive/test/process_replay/__init__.py @@ -0,0 +1,2 @@ +from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ + replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/capture.py b/selfdrive/test/process_replay/capture.py new file mode 100644 index 0000000000..28206c6b91 --- /dev/null +++ b/selfdrive/test/process_replay/capture.py @@ -0,0 +1,59 @@ +import os +import sys + +from typing import Tuple, no_type_check + +class FdRedirect: + def __init__(self, file_prefix: str, fd: int): + fname = os.path.join("/tmp", f"{file_prefix}.{fd}") + if os.path.exists(fname): + os.unlink(fname) + self.dest_fd = os.open(fname, os.O_WRONLY | os.O_CREAT) + self.dest_fname = fname + self.source_fd = fd + os.set_inheritable(self.dest_fd, True) + + def __del__(self): + os.close(self.dest_fd) + + def purge(self) -> None: + os.unlink(self.dest_fname) + + def read(self) -> bytes: + with open(self.dest_fname, "rb") as f: + return f.read() or b"" + + def link(self) -> None: + os.dup2(self.dest_fd, self.source_fd) + + +class ProcessOutputCapture: + def __init__(self, proc_name: str, prefix: str): + prefix = f"{proc_name}_{prefix}" + self.stdout_redirect = FdRedirect(prefix, 1) + self.stderr_redirect = FdRedirect(prefix, 2) + + def __del__(self): + self.stdout_redirect.purge() + self.stderr_redirect.purge() + + @no_type_check # ipython classes have incompatible signatures + def link_with_current_proc(self) -> None: + try: + # prevent ipykernel from redirecting stdout/stderr of python subprocesses + from ipykernel.iostream import OutStream + if isinstance(sys.stdout, OutStream): + sys.stdout = sys.__stdout__ + if isinstance(sys.stderr, OutStream): + sys.stderr = sys.__stderr__ + except ImportError: + pass + + # link stdout/stderr to the fifo + self.stdout_redirect.link() + self.stderr_redirect.link() + + def read_outerr(self) -> Tuple[str, str]: + out_str = self.stdout_redirect.read().decode() + err_str = self.stderr_redirect.read().decode() + return out_str, err_str diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index c96e624421..a929fae6ed 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import bz2 import sys import math import capnp @@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon -def save_log(dest, log_msgs, compress=True): - dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) - - if compress: - dat = bz2.compress(dat) - - with open(dest, "wb") as f: - f.write(dat) - - def remove_ignored_fields(msg, ignore): msg = msg.as_builder() for key in ignore: @@ -70,7 +59,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non field_tolerances = {} default_tolerance = EPSILON if tolerance is None else tolerance - log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)) + log1, log2 = ( + [m for m in log if m.which() not in ignore_msgs] + for log in (log1, log2) + ) if len(log1) != len(log2): cnt1 = Counter(m.which() for m in log1) @@ -78,9 +70,8 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}") diff = [] - for msg1, msg2 in zip(log1, log2): + for msg1, msg2 in zip(log1, log2, strict=True): if msg1.which() != msg2.which(): - print(msg1.which(), msg2.which()) raise Exception("msgs not aligned between logs") msg1 = remove_ignored_fields(msg1, ignore_fields) diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py index 8571f36c36..5cf1acfa59 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/selfdrive/test/process_replay/helpers.py @@ -2,12 +2,15 @@ import os import shutil import uuid +from typing import List, Optional + from common.params import Params class OpenpilotPrefix(object): - def __init__(self, prefix: str = None) -> None: + def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): self.prefix = prefix if prefix else str(uuid.uuid4()) self.msgq_path = os.path.join('/dev/shm', self.prefix) + self.clean_dirs_on_exit = clean_dirs_on_exit def __enter__(self): os.environ['OPENPILOT_PREFIX'] = self.prefix @@ -16,11 +19,31 @@ class OpenpilotPrefix(object): except FileExistsError: pass + return self + def __exit__(self, exc_type, exc_obj, exc_tb): + if self.clean_dirs_on_exit: + self.clean_dirs() + del os.environ['OPENPILOT_PREFIX'] + return False + + def clean_dirs(self): symlink_path = Params().get_param_path() if os.path.exists(symlink_path): shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) - del os.environ['OPENPILOT_PREFIX'] - return False + + +class DummySocket: + def __init__(self): + self.data: List[bytes] = [] + + def receive(self, non_blocking: bool = False) -> Optional[bytes]: + if non_blocking: + return None + + return self.data.pop() + + def send(self, data: bytes): + self.data.append(data) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py new file mode 100644 index 0000000000..eb2aba8799 --- /dev/null +++ b/selfdrive/test/process_replay/migration.py @@ -0,0 +1,109 @@ +from collections import defaultdict + +from cereal import messaging +from selfdrive.test.process_replay.vision_meta import meta_from_encode_index + + +def migrate_all(lr, old_logtime=False, camera_states=False): + msgs = migrate_sensorEvents(lr, old_logtime) + msgs = migrate_carParams(msgs, old_logtime) + if camera_states: + msgs = migrate_cameraStates(msgs) + + return msgs + + +def migrate_cameraStates(lr): + all_msgs = [] + frame_to_encode_id = defaultdict(dict) + + for msg in lr: + if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]: + continue + + encode_index = getattr(msg, msg.which()) + meta = meta_from_encode_index(msg.which()) + + assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}" + frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId + + for msg in lr: + if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]: + all_msgs.append(msg) + continue + + camera_state = getattr(msg, msg.which()) + encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId) + if encode_id is None: + print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}") + continue + + new_msg = messaging.new_message(msg.which()) + new_camera_state = getattr(new_msg, new_msg.which()) + new_camera_state.frameId = encode_id + new_camera_state.encodeId = encode_id + new_camera_state.timestampSof = camera_state.timestampSof + new_camera_state.timestampEof = camera_state.timestampEof + new_msg.logMonoTime = msg.logMonoTime + new_msg.valid = msg.valid + + all_msgs.append(new_msg.as_reader()) + + return all_msgs + + +def migrate_carParams(lr, old_logtime=False): + all_msgs = [] + for msg in lr: + if msg.which() == 'carParams': + CP = messaging.new_message('carParams') + CP.carParams = msg.carParams.as_builder() + for car_fw in CP.carParams.carFw: + car_fw.brand = CP.carParams.carName + if old_logtime: + CP.logMonoTime = msg.logMonoTime + msg = CP.as_reader() + all_msgs.append(msg) + + return all_msgs + + +def migrate_sensorEvents(lr, old_logtime=False): + all_msgs = [] + for msg in lr: + if msg.which() != 'sensorEventsDEPRECATED': + all_msgs.append(msg) + continue + + # migrate to split sensor events + for evt in msg.sensorEventsDEPRECATED: + # build new message for each sensor type + sensor_service = '' + if evt.which() == 'acceleration': + sensor_service = 'accelerometer' + elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated': + sensor_service = 'gyroscope' + elif evt.which() == 'light' or evt.which() == 'proximity': + sensor_service = 'lightSensor' + elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated': + sensor_service = 'magnetometer' + elif evt.which() == 'temperature': + sensor_service = 'temperatureSensor' + + m = messaging.new_message(sensor_service) + m.valid = True + if old_logtime: + m.logMonoTime = msg.logMonoTime + + m_dat = getattr(m, sensor_service) + m_dat.version = evt.version + m_dat.sensor = evt.sensor + m_dat.type = evt.type + m_dat.source = evt.source + if old_logtime: + m_dat.timestamp = evt.timestamp + setattr(m_dat, evt.which(), getattr(evt, evt.which())) + + all_msgs.append(m.as_reader()) + + return all_msgs diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 68cbb28aaf..56bb3e1b3e 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -4,42 +4,51 @@ import sys import time from collections import defaultdict from typing import Any -from itertools import zip_longest import cereal.messaging as messaging -from cereal.visionipc import VisionIpcServer, VisionStreamType +from common.params import Params from common.spinner import Spinner -from common.timeout import Timeout -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size from system.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.test.process_replay.compare_logs import compare_logs, save_log +from selfdrive.test.process_replay.compare_logs import compare_logs from selfdrive.test.process_replay.test_processes import format_diff +from selfdrive.test.process_replay.process_replay import get_process_config, replay_process from system.version import get_commit from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 MAX_FRAMES = 100 if PC else 600 NAV_FRAMES = 50 -NO_NAV = "NO_NAV" in os.environ # TODO: make map renderer work in CI -SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) +NO_NAV = "NO_NAV" in os.environ +SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0"))) -VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER, - "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD} def get_log_fn(ref_commit, test_route): return f"{test_route}_model_tici_{ref_commit}.bz2" -def replace_calib(msg, calib): - msg = msg.as_builder() - if calib is not None: - msg.liveCalibration.rpyCalib = calib.tolist() - return msg +def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): + all_msgs = [] + cam_state_counts = defaultdict(int) + # keep adding messages until cam states are equal to MAX_FRAMES + for msg in sorted(logs, key=lambda m: m.logMonoTime): + all_msgs.append(msg) + if msg.which() in frs_types: + cam_state_counts[msg.which()] += 1 + + if all(cam_state_counts[state] == max_frames for state in frs_types): + break + + if len(include_all_types) != 0: + other_msgs = [m for m in logs if m.which() in include_all_types] + all_msgs.extend(other_msgs) + + return all_msgs def nav_model_replay(lr): @@ -54,6 +63,7 @@ def nav_model_replay(lr): try: assert "MAPBOX_TOKEN" in os.environ os.environ['MAP_RENDER_TEST_MODE'] = '1' + Params().put_bool('DmModelInitialized', True) managed_processes['mapsd'].start() managed_processes['navmodeld'].start() @@ -101,102 +111,38 @@ def model_replay(lr, frs): else: spinner = None - vipc_server = VisionIpcServer("camerad") - vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size)) - vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size)) - vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size)) - vipc_server.start_listener() + log_msgs = [] - sm = messaging.SubMaster(['modelV2', 'driverStateV2']) - pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) + # modeld is using frame pairs + modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"}) + dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"}) + if not SEND_EXTRA_INPUTS: + modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] + dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] + # initial calibration + cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder() + cal_msg.logMonoTime = lr[0].logMonoTime + modeld_logs.insert(0, cal_msg.as_reader()) + dmodeld_logs.insert(0, cal_msg.as_reader()) + + modeld = get_process_config("modeld") + dmonitoringmodeld = get_process_config("dmonitoringmodeld") try: - managed_processes['modeld'].start() - managed_processes['dmonitoringmodeld'].start() - time.sleep(5) - sm.update(1000) - - log_msgs = [] - last_desire = None - recv_cnt = defaultdict(int) - frame_idxs = defaultdict(int) - - # init modeld with valid calibration - cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"] - for _ in range(5): - pm.send(cal_msgs[0].which(), cal_msgs[0].as_builder()) - time.sleep(0.1) - - msgs = defaultdict(list) - for msg in lr: - msgs[msg.which()].append(msg) - - for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']): - # need a pair of road/wide msgs - if None in (cam_msgs[0], cam_msgs[1]): - break - - for msg in cam_msgs: - if msg is None: - continue - - if SEND_EXTRA_INPUTS: - if msg.which() == "liveCalibration": - last_calib = list(msg.liveCalibration.rpyCalib) - pm.send(msg.which(), replace_calib(msg, last_calib)) - elif msg.which() == "lateralPlan": - last_desire = msg.lateralPlan.desire - dat = messaging.new_message('lateralPlan') - dat.lateralPlan.desire = last_desire - pm.send('lateralPlan', dat) - - if msg.which() in VIPC_STREAM: - msg = msg.as_builder() - camera_state = getattr(msg, msg.which()) - img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="nv12")[0] - frame_idxs[msg.which()] += 1 - - # send camera state and frame - camera_state.frameId = frame_idxs[msg.which()] - pm.send(msg.which(), msg) - vipc_server.send(VIPC_STREAM[msg.which()], img.flatten().tobytes(), camera_state.frameId, - camera_state.timestampSof, camera_state.timestampEof) - - recv = None - if msg.which() in ('roadCameraState', 'wideRoadCameraState'): - if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: - recv = "modelV2" - elif msg.which() == 'driverCameraState': - recv = "driverStateV2" - - # wait for a response - with Timeout(15, f"timed out waiting for {recv}"): - if recv: - recv_cnt[recv] += 1 - log_msgs.append(messaging.recv_one(sm.sock[recv])) - - if spinner: - spinner.update("replaying models: road %d/%d, driver %d/%d" % (frame_idxs['roadCameraState'], - frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count)) - - - if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES: - break - else: - print(f'Received {frame_idxs["roadCameraState"]} frames') - + if spinner: + spinner.update("running model replay") + modeld_msgs = replay_process(modeld, modeld_logs, frs) + dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs) + log_msgs.extend([m for m in modeld_msgs if m.which() == "modelV2"]) + log_msgs.extend([m for m in dmonitoringmodeld_msgs if m.which() == "driverStateV2"]) finally: if spinner: spinner.close() - managed_processes['modeld'].stop() - managed_processes['dmonitoringmodeld'].stop() - return log_msgs if __name__ == "__main__": - update = "--update" in sys.argv replay_dir = os.path.dirname(os.path.abspath(__file__)) ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit") @@ -209,6 +155,31 @@ if __name__ == "__main__": 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) } + # Update tile refs + if update: + import urllib + import requests + import threading + import http.server + from selfdrive.test.openpilotci import upload_bytes + os.environ['MAPS_HOST'] = 'http://localhost:5000' + + class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): + def do_GET(self): + assert len(self.path) > 10 # Sanity check on path length + r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30) + upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/')) + self.send_response(r.status_code) + self.send_header('Content-type','text/html') + self.end_headers() + self.wfile.write(r.content) + + server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler) + thread = threading.Thread(None, server.serve_forever, daemon=True) + thread.start() + else: + os.environ['MAPS_HOST'] = BASE_URL.rstrip('/') + # run replays log_msgs = model_replay(lr, frs) if not NO_NAV: @@ -221,10 +192,18 @@ if __name__ == "__main__": ref_commit = f.read().strip() log_fn = get_log_fn(ref_commit, TEST_ROUTE) try: - expected_msgs = 2*MAX_FRAMES + all_logs = list(LogReader(BASE_URL + log_fn)) + cmp_log = [] + + # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel) + model_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "modelV2") + cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES] + dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") + cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] if not NO_NAV: - expected_msgs += NAV_FRAMES*3 - cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs] + nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"]) + nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3] + cmp_log += nav_logs ignore = [ 'logMonoTime', diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index bd026f5710..e101afb227 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -82db08d52b155336e9a1dadd11485d5acdf2eba0 +377ed362faa9410a8b81d50978d74ee60b8e6f6a diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3072ecd0c9..1bc6c7034b 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -1,611 +1,779 @@ #!/usr/bin/env python3 -import importlib import os -import sys -import threading import time +import copy +import json +import heapq import signal +import platform +from collections import OrderedDict from dataclasses import dataclass, field -from typing import Dict, List, Optional, Callable - +from typing import Dict, List, Optional, Callable, Union, Any, Iterable, Tuple +from tqdm import tqdm import capnp import cereal.messaging as messaging -from cereal import car, log +from cereal import car from cereal.services import service_list +from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from common.params import Params from common.timeout import Timeout from common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from selfdrive.car.car_helpers import get_car, interfaces -from selfdrive.test.process_replay.helpers import OpenpilotPrefix -from selfdrive.manager.process import PythonProcess from selfdrive.manager.process_config import managed_processes +from selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket +from selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams +from selfdrive.test.process_replay.migration import migrate_all +from selfdrive.test.process_replay.capture import ProcessOutputCapture +from tools.lib.logreader import LogReader # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 -CI = "CI" in os.environ -TIMEOUT = 15 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") + +class LauncherWithCapture: + def __init__(self, capture: ProcessOutputCapture, launcher: Callable): + self.capture = capture + self.launcher = launcher + + def __call__(self, *args, **kwargs): + self.capture.link_with_current_proc() + self.launcher(*args, **kwargs) + + +class ReplayContext: + def __init__(self, cfg): + self.proc_name = cfg.proc_name + self.pubs = cfg.pubs + self.main_pub = cfg.main_pub + self.main_pub_drained = cfg.main_pub_drained + self.unlocked_pubs = cfg.unlocked_pubs + assert(len(self.pubs) != 0 or self.main_pub is not None) + + def __enter__(self): + self.open_context() + + return self + + def __exit__(self, exc_type, exc_obj, exc_tb): + self.close_context() + + def open_context(self): + messaging.toggle_fake_events(True) + messaging.set_fake_prefix(self.proc_name) + + if self.main_pub is None: + self.events = OrderedDict() + pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs] + for pub in pubs_with_events: + self.events[pub] = messaging.fake_event_handle(pub, enable=True) + else: + self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)} + + def close_context(self): + del self.events + + messaging.toggle_fake_events(False) + messaging.delete_fake_prefix() + + @property + def all_recv_called_events(self): + return [man.recv_called_event for man in self.events.values()] + + @property + def all_recv_ready_events(self): + return [man.recv_ready_event for man in self.events.values()] + + def send_sync(self, pm, endpoint, dat): + self.events[endpoint].recv_called_event.wait() + self.events[endpoint].recv_called_event.clear() + pm.send(endpoint, dat) + self.events[endpoint].recv_ready_event.set() + + def unlock_sockets(self): + expected_sets = len(self.events) + while expected_sets > 0: + index = messaging.wait_for_one_event(self.all_recv_called_events) + self.all_recv_called_events[index].clear() + self.all_recv_ready_events[index].set() + expected_sets -= 1 + + def wait_for_recv_called(self): + messaging.wait_for_one_event(self.all_recv_called_events) + + def wait_for_next_recv(self, trigger_empty_recv): + index = messaging.wait_for_one_event(self.all_recv_called_events) + if self.main_pub is not None and self.main_pub_drained and trigger_empty_recv: + self.all_recv_called_events[index].clear() + self.all_recv_ready_events[index].set() + self.all_recv_called_events[index].wait() + + @dataclass class ProcessConfig: proc_name: str - pub_sub: Dict[str, List[str]] + pubs: List[str] + subs: List[str] ignore: List[str] - init_callback: Optional[Callable] - should_recv_callback: Optional[Callable] - tolerance: Optional[float] - fake_pubsubmaster: bool - submaster_config: Dict[str, List[str]] = field(default_factory=dict) - environ: Dict[str, str] = field(default_factory=dict) - subtest_name: str = "" + config_callback: Optional[Callable] = None + init_callback: Optional[Callable] = None + should_recv_callback: Optional[Callable] = None + tolerance: Optional[float] = None + processing_time: float = 0.001 field_tolerances: Dict[str, float] = field(default_factory=dict) timeout: int = 30 + simulation: bool = True + main_pub: Optional[str] = None + main_pub_drained: bool = True + vision_pubs: List[str] = field(default_factory=list) + ignore_alive_pubs: List[str] = field(default_factory=list) + unlocked_pubs: List[str] = field(default_factory=list) -def wait_for_event(evt): - if not evt.wait(TIMEOUT): - if threading.currentThread().getName() == "MainThread": - # tested process likely died. don't let test just hang - raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.") - else: - # done testing this process, let it die - sys.exit(0) +class ProcessContainer: + def __init__(self, cfg: ProcessConfig): + self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False) + self.cfg = copy.deepcopy(cfg) + self.process = copy.deepcopy(managed_processes[cfg.proc_name]) + self.msg_queue: List[capnp._DynamicStructReader] = [] + self.cnt = 0 + self.pm: Optional[messaging.PubMaster] = None + self.sockets: Optional[List[messaging.SubSocket]] = None + self.rc: Optional[ReplayContext] = None + self.vipc_server: Optional[VisionIpcServer] = None + self.capture: Optional[ProcessOutputCapture] = None + + @property + def has_empty_queue(self) -> bool: + return len(self.msg_queue) == 0 + + @property + def pubs(self) -> List[str]: + return self.cfg.pubs + + @property + def subs(self) -> List[str]: + return self.cfg.subs + + def _setup_env(self, params_config: Dict[str, Any], environ_config: Dict[str, Any]): + for k, v in environ_config.items(): + if len(v) != 0: + os.environ[k] = v + elif k in os.environ: + del os.environ[k] + + os.environ["PROC_NAME"] = self.cfg.proc_name + if self.cfg.simulation: + os.environ["SIMULATION"] = "1" + elif "SIMULATION" in os.environ: + del os.environ["SIMULATION"] + + params = Params() + for k, v in params_config.items(): + if isinstance(v, bool): + params.put_bool(k, v) + else: + params.put(k, v) + + def _setup_vision_ipc(self, all_msgs): + assert len(self.cfg.vision_pubs) != 0 + + device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData") + + vipc_server = VisionIpcServer("camerad") + streams_metas = available_streams(all_msgs) + for meta in streams_metas: + if meta.camera_state in self.cfg.vision_pubs: + vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type]) + vipc_server.start_listener() + + self.vipc_server = vipc_server + + def _start_process(self): + if self.capture is not None: + self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher) + self.process.prepare() + self.process.start() + + def start( + self, params_config: Dict[str, Any], environ_config: Dict[str, Any], + all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], + fingerprint: Optional[str], capture_output: bool + ): + with self.prefix as p: + self._setup_env(params_config, environ_config) + + if self.cfg.config_callback is not None: + params = Params() + self.cfg.config_callback(params, self.cfg, all_msgs) + + self.rc = ReplayContext(self.cfg) + self.rc.open_context() + + self.pm = messaging.PubMaster(self.cfg.pubs) + self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs] + + if len(self.cfg.vision_pubs) != 0: + self._setup_vision_ipc(all_msgs) + assert self.vipc_server is not None + + if capture_output: + self.capture = ProcessOutputCapture(self.cfg.proc_name, p.prefix) + + self._start_process() + + if self.cfg.init_callback is not None: + self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint) + + # wait for process to startup + with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"): + while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs): + time.sleep(0) + + def stop(self): + with self.prefix: + self.process.signal(signal.SIGKILL) + self.process.stop() + self.rc.close_context() + self.prefix.clean_dirs() + + def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]: + assert self.rc and self.pm and self.sockets and self.process.proc + + output_msgs = [] + with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"): + end_of_cycle = True + if self.cfg.should_recv_callback is not None: + end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt) + + self.msg_queue.append(msg) + if end_of_cycle: + self.rc.wait_for_recv_called() + + # call recv to let sub-sockets reconnect, after we know the process is ready + if self.cnt == 0: + for s in self.sockets: + messaging.recv_one_or_none(s) + + # empty recv on drained pub indicates the end of messages, only do that if there're any + trigger_empty_recv = False + if self.cfg.main_pub and self.cfg.main_pub_drained: + trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False) + + for m in self.msg_queue: + self.pm.send(m.which(), m.as_builder()) + # send frames if needed + if self.vipc_server is not None and m.which() in self.cfg.vision_pubs: + camera_state = getattr(m, m.which()) + camera_meta = meta_from_camera_state(m.which()) + assert frs is not None + img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0] + self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), + camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) + self.msg_queue = [] + + self.rc.unlock_sockets() + self.rc.wait_for_next_recv(trigger_empty_recv) + + for socket in self.sockets: + ms = messaging.drain_sock(socket) + for m in ms: + m = m.as_builder() + m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9) + output_msgs.append(m.as_reader()) + self.cnt += 1 + assert self.process.proc.is_alive() + + return output_msgs -class FakeSocket: - def __init__(self, wait=True): - self.data = [] - self.wait = wait - self.recv_called = threading.Event() - self.recv_ready = threading.Event() - - def receive(self, non_blocking=False): - if non_blocking: - return None - - if self.wait: - self.recv_called.set() - wait_for_event(self.recv_ready) - self.recv_ready.clear() - return self.data.pop() - - def send(self, data): - if self.wait: - wait_for_event(self.recv_called) - self.recv_called.clear() - - self.data.append(data) - - if self.wait: - self.recv_ready.set() - - def wait_for_recv(self): - wait_for_event(self.recv_called) - - -class DumbSocket: - def __init__(self, s=None): - if s is not None: - try: - dat = messaging.new_message(s) - except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member - # lists - dat = messaging.new_message(s, 0) - - self.data = dat.to_bytes() - - def receive(self, non_blocking=False): - return self.data - - def send(self, dat): - pass - - -class FakeSubMaster(messaging.SubMaster): - def __init__(self, services, ignore_alive=None, ignore_avg_freq=None): - super().__init__(services, ignore_alive=ignore_alive, ignore_avg_freq=ignore_avg_freq, addr=None) - self.sock = {s: DumbSocket(s) for s in services} - self.update_called = threading.Event() - self.update_ready = threading.Event() - self.wait_on_getitem = False - - def __getitem__(self, s): - # hack to know when fingerprinting is done - if self.wait_on_getitem: - self.update_called.set() - wait_for_event(self.update_ready) - self.update_ready.clear() - return self.data[s] - - def update(self, timeout=-1): - self.update_called.set() - wait_for_event(self.update_ready) - self.update_ready.clear() - - def update_msgs(self, cur_time, msgs): - wait_for_event(self.update_called) - self.update_called.clear() - super().update_msgs(cur_time, msgs) - self.update_ready.set() - - def wait_for_update(self): - wait_for_event(self.update_called) - - -class FakePubMaster(messaging.PubMaster): - def __init__(self, services): # pylint: disable=super-init-not-called - self.data = {} - self.sock = {} - self.last_updated = None - for s in services: - try: - data = messaging.new_message(s) - except capnp.lib.capnp.KjException: - data = messaging.new_message(s, 0) - self.data[s] = data.as_reader() - self.sock[s] = DumbSocket() - self.send_called = threading.Event() - self.get_called = threading.Event() - - def send(self, s, dat): - self.last_updated = s - if isinstance(dat, bytes): - self.data[s] = log.Event.from_bytes(dat) - else: - self.data[s] = dat.as_reader() - self.send_called.set() - wait_for_event(self.get_called) - self.get_called.clear() - - def wait_for_msg(self): - wait_for_event(self.send_called) - self.send_called.clear() - dat = self.data[self.last_updated] - self.get_called.set() - return dat - - -def fingerprint(msgs, fsm, can_sock, fingerprint): +def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint): print("start fingerprinting") - fsm.wait_on_getitem = True + params = Params() + canmsgs = [msg for msg in msgs if msg.which() == "can"][:300] - # populate fake socket with data for fingerprinting - canmsgs = [msg for msg in msgs if msg.which() == "can"] - wait_for_event(can_sock.recv_called) - can_sock.recv_called.clear() - can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]] - can_sock.recv_ready.set() - can_sock.wait = False + # controlsd expects one arbitrary can and pandaState + rc.send_sync(pm, "can", messaging.new_message("can", 1)) + pm.send("pandaStates", messaging.new_message("pandaStates", 1)) + rc.send_sync(pm, "can", messaging.new_message("can", 1)) + rc.wait_for_next_recv(True) - # we know fingerprinting is done when controlsd sets sm['lateralPlan'].sensorValid - wait_for_event(fsm.update_called) - fsm.update_called.clear() + # fingerprinting is done, when CarParams is set + while params.get("CarParams") is None: + if len(canmsgs) == 0: + raise ValueError("Fingerprinting failed. Run out of can msgs") - fsm.wait_on_getitem = False - can_sock.wait = True - can_sock.data = [] - - fsm.update_ready.set() + m = canmsgs.pop(0) + rc.send_sync(pm, "can", m.as_builder().to_bytes()) + rc.wait_for_next_recv(False) -def get_car_params(msgs, fsm, can_sock, fingerprint): +def get_car_params_callback(rc, pm, msgs, fingerprint): + params = Params() if fingerprint: CarInterface, _, _ = interfaces[fingerprint] CP = CarInterface.get_non_essential_params(fingerprint) else: - can = FakeSocket(wait=False) - sendcan = FakeSocket(wait=False) + can = DummySocket() + sendcan = DummySocket() + + canmsgs = [msg for msg in msgs if msg.which() == "can"] + has_cached_cp = params.get("CarParamsCache") is not None + assert len(canmsgs) != 0, "CAN messages are required for fingerprinting" + assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \ + "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." - canmsgs = [msg for msg in msgs if msg.which() == 'can'] for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) - Params().put("CarParams", CP.to_bytes()) + params.put("CarParams", CP.to_bytes()) + return CP -def controlsd_rcv_callback(msg, CP, cfg, fsm): +def controlsd_rcv_callback(msg, cfg, frame): # no sendcan until controlsd is initialized - socks = [s for s in cfg.pub_sub[msg.which()] if - (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0] - if "sendcan" in socks and fsm.frame < 2000: - socks.remove("sendcan") - return socks, len(socks) > 0 - - -def radar_rcv_callback(msg, CP, cfg, fsm): if msg.which() != "can": - return [], False - elif CP.radarUnavailable: - return ["radarState", "liveTracks"], True + return False - radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474], - "chrysler": [0x2d4]}.get(CP.carName, None) - - if radar_msgs is None: - raise NotImplementedError - - for m in msg.can: - if m.src == 1 and m.address in radar_msgs: - return ["radarState", "liveTracks"], True - return [], False + socks = [ + s for s in cfg.subs if + frame % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0 + ] + if "sendcan" in socks and (frame - 1) < 2000: + socks.remove("sendcan") + return len(socks) > 0 -def calibration_rcv_callback(msg, CP, cfg, fsm): +def calibration_rcv_callback(msg, cfg, frame): # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets. # should_recv always true to increment frame - recv_socks = [] - frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster - if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0): - recv_socks = ["liveCalibration"] - return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry' + return (frame - 1) == 0 or msg.which() == 'cameraOdometry' -def torqued_rcv_callback(msg, CP, cfg, fsm): +def torqued_rcv_callback(msg, cfg, frame): # should_recv always true to increment frame - recv_socks = [] - frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster - if msg.which() == 'liveLocationKalman' and (frame % 5) == 0: - recv_socks = ["liveTorqueParameters"] - return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman' + return (frame - 1) == 0 or msg.which() == 'liveLocationKalman' -def ublox_rcv_callback(msg, CP, cfg, fsm): - msg_class, msg_id = msg.ubloxRaw[2:4] - if (msg_class, msg_id) in {(1, 7 * 16)}: - return ["gpsLocationExternal"], True - elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}: - return ["ubloxGnss"], True - else: - return [], False +def dmonitoringmodeld_rcv_callback(msg, cfg, frame): + return msg.which() == "driverCameraState" + + +class ModeldCameraSyncRcvCallback: + def __init__(self): + self.road_present = False + self.wide_road_present = False + self.is_dual_camera = True + + def __call__(self, msg, cfg, frame): + if msg.which() == "initData": + self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"] + elif msg.which() == "roadCameraState": + self.road_present = True + elif msg.which() == "wideRoadCameraState": + self.wide_road_present = True + + if self.road_present and self.wide_road_present: + self.road_present, self.wide_road_present = False, False + return True + elif self.road_present and not self.is_dual_camera: + self.road_present = False + return True + else: + return False + + +class MessageBasedRcvCallback: + def __init__(self, trigger_msg_type): + self.trigger_msg_type = trigger_msg_type + + def __call__(self, msg, cfg, frame): + return msg.which() == self.trigger_msg_type + + +class FrequencyBasedRcvCallback: + def __init__(self, trigger_msg_type): + self.trigger_msg_type = trigger_msg_type + + def __call__(self, msg, cfg, frame): + if msg.which() != self.trigger_msg_type: + return False + + resp_sockets = [ + s for s in cfg.subs + if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0 + ] + return bool(len(resp_sockets)) + + +def controlsd_config_callback(params, cfg, lr): + controlsState = None + initialized = False + for msg in lr: + if msg.which() == "controlsState": + controlsState = msg.controlsState + if initialized: + break + elif msg.which() == "carEvents": + initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] + + assert controlsState is not None and initialized, "controlsState never initialized" + params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) + + +def laikad_config_pubsub_callback(params, cfg, lr): + ublox = params.get_bool("UbloxAvailable") + main_key = "ubloxGnss" if ublox else "qcomGnss" + sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", }) + + cfg.pubs = set(cfg.pubs) - sub_keys + cfg.main_pub = main_key + cfg.main_pub_drained = True + + +def locationd_config_pubsub_callback(params, cfg, lr): + ublox = params.get_bool("UbloxAvailable") + sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) + + cfg.pubs = set(cfg.pubs) - sub_keys CONFIGS = [ ProcessConfig( proc_name="controlsd", - pub_sub={ - "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], - "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], - "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], - "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], - "testJoystick": [], "liveTorqueParameters": [], - }, + pubs=[ + "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", + "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState", + "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", + "testJoystick", "liveTorqueParameters" + ], + subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], - init_callback=fingerprint, + config_callback=controlsd_config_callback, + init_callback=controlsd_fingerprint_callback, should_recv_callback=controlsd_rcv_callback, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, - submaster_config={ - 'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'], # dcam is expected at 20 Hz - 'ignore_alive': [], - } + processing_time=0.004, + main_pub="can", ), ProcessConfig( proc_name="radard", - pub_sub={ - "can": ["radarState", "liveTracks"], - "liveParameters": [], "carState": [], "modelV2": [], - }, + pubs=["can", "carState", "modelV2"], + subs=["radarState", "liveTracks"], ignore=["logMonoTime", "valid", "radarState.cumLagMs"], - init_callback=get_car_params, - should_recv_callback=radar_rcv_callback, - tolerance=None, - fake_pubsubmaster=True, + init_callback=get_car_params_callback, + should_recv_callback=MessageBasedRcvCallback("modelV2"), + unlocked_pubs=["can"], ), ProcessConfig( proc_name="plannerd", - pub_sub={ - "modelV2": ["lateralPlan", "longitudinalPlan", "uiPlan"], - "carControl": [], "carState": [], "controlsState": [], "radarState": [], - }, + pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], + subs=["lateralPlan", "longitudinalPlan", "uiPlan"], ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"], - init_callback=get_car_params, - should_recv_callback=None, + init_callback=get_car_params_callback, + should_recv_callback=FrequencyBasedRcvCallback("modelV2"), tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="calibrationd", - pub_sub={ - "carState": ["liveCalibration"], - "cameraOdometry": [], - "carParams": [], - }, + pubs=["carState", "cameraOdometry", "carParams"], + subs=["liveCalibration"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, should_recv_callback=calibration_rcv_callback, - tolerance=None, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="dmonitoringd", - pub_sub={ - "driverStateV2": ["driverMonitoringState"], - "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [], - }, + pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"], + subs=["driverMonitoringState"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, - should_recv_callback=None, + should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, ), ProcessConfig( proc_name="locationd", - pub_sub={ - "cameraOdometry": ["liveLocationKalman"], - "accelerometer": [], "gyroscope": [], - "gpsLocationExternal": [], "liveCalibration": [], "carState": [], "gpsLocation": [], - }, + pubs=[ + "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", + "liveCalibration", "carState", "carParams", "gpsLocation" + ], + subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, - should_recv_callback=None, + config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=False, ), ProcessConfig( proc_name="paramsd", - pub_sub={ - "liveLocationKalman": ["liveParameters"], - "carState": [] - }, + pubs=["liveLocationKalman", "carState"], + subs=["liveParameters"], ignore=["logMonoTime", "valid"], - init_callback=get_car_params, - should_recv_callback=None, + init_callback=get_car_params_callback, + should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"), tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, + processing_time=0.004, ), ProcessConfig( proc_name="ubloxd", - pub_sub={ - "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"], - }, + pubs=["ubloxRaw"], + subs=["ubloxGnss", "gpsLocationExternal"], ignore=["logMonoTime"], - init_callback=None, - should_recv_callback=ublox_rcv_callback, - tolerance=None, - fake_pubsubmaster=False, ), ProcessConfig( proc_name="laikad", - pub_sub={ - "ubloxGnss": ["gnssMeasurements"], - "qcomGnss": ["gnssMeasurements"], - "clocks": [] - }, + pubs=["ubloxGnss", "qcomGnss"], + subs=["gnssMeasurements"], ignore=["logMonoTime"], - init_callback=get_car_params, - should_recv_callback=None, + config_callback=laikad_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=False, + processing_time=0.002, timeout=60*10, # first messages are blocked on internet assistance + main_pub="ubloxGnss", # config_callback will switch this to qcom if needed ), ProcessConfig( proc_name="torqued", - pub_sub={ - "liveLocationKalman": ["liveTorqueParameters"], - "carState": [], "controlsState": [], - }, + pubs=["liveLocationKalman", "carState", "carControl"], + subs=["liveTorqueParameters"], ignore=["logMonoTime"], - init_callback=get_car_params, + init_callback=get_car_params_callback, should_recv_callback=torqued_rcv_callback, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, + ), + ProcessConfig( + proc_name="modeld", + pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], + subs=["modelV2", "cameraOdometry"], + ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], + should_recv_callback=ModeldCameraSyncRcvCallback(), + tolerance=NUMPY_TOLERANCE, + processing_time=0.020, + main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream), + main_pub_drained=False, + vision_pubs=["roadCameraState", "wideRoadCameraState"], + ignore_alive_pubs=["wideRoadCameraState"], + ), + ProcessConfig( + proc_name="dmonitoringmodeld", + pubs=["liveCalibration", "driverCameraState"], + subs=["driverStateV2"], + ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"], + should_recv_callback=dmonitoringmodeld_rcv_callback, + tolerance=NUMPY_TOLERANCE, + processing_time=0.020, + main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream), + main_pub_drained=False, + vision_pubs=["driverCameraState"], + ignore_alive_pubs=["driverCameraState"], ), ] -def replay_process(cfg, lr, fingerprint=None): - with OpenpilotPrefix(): - if cfg.fake_pubsubmaster: - return python_replay_process(cfg, lr, fingerprint) - else: - return replay_process_with_sockets(cfg, lr, fingerprint) +def get_process_config(name: str) -> ProcessConfig: + try: + return copy.deepcopy(next(c for c in CONFIGS if c.proc_name == name)) + except StopIteration as ex: + raise Exception(f"Cannot find process config with name: {name}") from ex -def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): - params = Params() - params.clear_all() - params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("Passive", False) - params.put_bool("DisengageOnAccelerator", True) - params.put_bool("WideCameraOnly", False) - params.put_bool("DisableLogging", False) +def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]: + """ + Use this to get custom params dict based on provided logs. + Useful when replaying following processes: calibrationd, paramsd, torqued + The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs. + """ - os.environ["NO_RADAR_SLEEP"] = "1" - os.environ["REPLAY"] = "1" - os.environ["SKIP_FW_QUERY"] = "" - os.environ["FINGERPRINT"] = "" + car_params = [m for m in lr if m.which() == "carParams"] + live_calibration = [m for m in lr if m.which() == "liveCalibration"] + live_parameters = [m for m in lr if m.which() == "liveParameters"] + live_torque_parameters = [m for m in lr if m.which() == "liveTorqueParameters"] - if lr is not None: - services = {m.which() for m in lr} - params.put_bool("UbloxAvailable", "ubloxGnss" in services) + assert initial_state in ["first", "last"] + msg_index = 0 if initial_state == "first" else -1 - if lr is not None: - services = {m.which() for m in lr} - params.put_bool("UbloxAvailable", "ubloxGnss" in services) + assert len(car_params) > 0, "carParams required for initial state of liveParameters and liveTorqueCarParams" + CP = car_params[msg_index].carParams - if cfg is not None: - # Clear all custom processConfig environment variables - for config in CONFIGS: - for k, _ in config.environ.items(): - if k in os.environ: - del os.environ[k] + custom_params = {} + if len(live_calibration) > 0: + custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes() + if len(live_parameters) > 0: + lp_dict = live_parameters[msg_index].to_dict() + lp_dict["carFingerprint"] = CP.carFingerprint + custom_params["LiveParameters"] = json.dumps(lp_dict) + if len(live_torque_parameters) > 0: + custom_params["LiveTorqueCarParams"] = CP.as_builder().to_bytes() + custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes() - os.environ.update(cfg.environ) - os.environ['PROC_NAME'] = cfg.proc_name + return custom_params - if simulation: - os.environ["SIMULATION"] = "1" - elif "SIMULATION" in os.environ: - del os.environ["SIMULATION"] - # Initialize controlsd with a controlsState packet - if controlsState is not None: - params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) +def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, + List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]: + if isinstance(name, str): + cfgs = [get_process_config(name)] + elif isinstance(name, Iterable): + cfgs = [get_process_config(n) for n in name] else: - params.remove("ReplayControlsState") + raise ValueError("name must be str or collections of strings") - # Regen or python process - if CP is not None: - if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: - params.put_bool("DisengageOnAccelerator", False) - - if CP.fingerprintSource == "fw": - params.put("CarParamsCache", CP.as_builder().to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = CP.carFingerprint - - if CP.openpilotLongitudinalControl: - params.put_bool("ExperimentalLongitudinalEnabled", True) + return replay_process(cfgs, lr, *args, **kwargs) -def python_replay_process(cfg, lr, fingerprint=None): - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] - pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] - - fsm = FakeSubMaster(pub_sockets, **cfg.submaster_config) - fpm = FakePubMaster(sub_sockets) - args = (fsm, fpm) - if 'can' in list(cfg.pub_sub.keys()): - can_sock = FakeSocket() - args = (fsm, fpm, can_sock) - - all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) - pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - - controlsState = None - initialized = False - for msg in lr: - if msg.which() == 'controlsState': - controlsState = msg.controlsState - if initialized: - break - elif msg.which() == 'carEvents': - initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] - - assert controlsState is not None and initialized, "controlsState never initialized" - - if fingerprint is not None: - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = fingerprint - setup_env(cfg=cfg, controlsState=controlsState, lr=lr) +def replay_process( + cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, + fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, + captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False +) -> List[capnp._DynamicStructReader]: + if isinstance(cfg, Iterable): + cfgs = list(cfg) else: - CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr) + cfgs = [cfg] - assert(type(managed_processes[cfg.proc_name]) is PythonProcess) - managed_processes[cfg.proc_name].prepare() - mod = importlib.import_module(managed_processes[cfg.proc_name].module) + all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs)) + process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress) - thread = threading.Thread(target=mod.main, args=args) - thread.daemon = True - thread.start() - - if cfg.init_callback is not None: - if 'can' not in list(cfg.pub_sub.keys()): - can_sock = None - cfg.init_callback(all_msgs, fsm, can_sock, fingerprint) - - CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) - - # wait for started process to be ready - if 'can' in list(cfg.pub_sub.keys()): - can_sock.wait_for_recv() + if return_all_logs: + keys = {m.which() for m in process_logs} + modified_logs = [m for m in all_msgs if m.which() not in keys] + modified_logs.extend(process_logs) + modified_logs.sort(key=lambda m: int(m.logMonoTime)) + log_msgs = modified_logs else: - fsm.wait_for_update() + log_msgs = process_logs - log_msgs, msg_queue = [], [] - for msg in pub_msgs: - if cfg.should_recv_callback is not None: - recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm) - else: - recv_socks = [s for s in cfg.pub_sub[msg.which()] if - (fsm.frame + 1) % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0] - should_recv = bool(len(recv_socks)) - - if msg.which() == 'can': - can_sock.send(msg.as_builder().to_bytes()) - else: - msg_queue.append(msg.as_builder()) - - if should_recv: - fsm.update_msgs(msg.logMonoTime / 1e9, msg_queue) - msg_queue = [] - - recv_cnt = len(recv_socks) - while recv_cnt > 0: - m = fpm.wait_for_msg().as_builder() - m.logMonoTime = msg.logMonoTime - m = m.as_reader() - - log_msgs.append(m) - recv_cnt -= m.which() in recv_socks return log_msgs -def replay_process_with_sockets(cfg, lr, fingerprint=None): - pm = messaging.PubMaster(cfg.pub_sub.keys()) - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] - sockets = {s: messaging.sub_sock(s, timeout=100) for s in sub_sockets} +def _replay_multi_process( + cfgs: List[ProcessConfig], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]], fingerprint: Optional[str], + custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool +) -> List[capnp._DynamicStructReader]: + if fingerprint is not None: + params_config = generate_params_config(lr=lr, fingerprint=fingerprint, custom_params=custom_params) + env_config = generate_environ_config(fingerprint=fingerprint) + else: + CP = next((m.carParams for m in lr if m.which() == "carParams"), None) + params_config = generate_params_config(lr=lr, CP=CP, custom_params=custom_params) + env_config = generate_environ_config(CP=CP) + + # validate frs and vision pubs + for cfg in cfgs: + if len(cfg.vision_pubs) == 0: + continue + + assert frs is not None, "frs must be provided when replaying process using vision streams" + assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\ + f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}" + assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}" all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) - pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - - # We need to fake SubMaster alive since we can't inject a fake clock - setup_env(simulation=True, cfg=cfg, lr=lr) - - if cfg.proc_name == "laikad": - ublox = Params().get_bool("UbloxAvailable") - keys = set(cfg.pub_sub.keys()) - ({"qcomGnss", } if ublox else {"ubloxGnss", }) - pub_msgs = [msg for msg in pub_msgs if msg.which() in keys] - - managed_processes[cfg.proc_name].prepare() - managed_processes[cfg.proc_name].start() - log_msgs = [] try: - # Wait for process to startup - with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"): - while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): - time.sleep(0) + containers = [] + for cfg in cfgs: + container = ProcessContainer(cfg) + container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None) + containers.append(container) - for s in sockets.values(): - messaging.recv_one_or_none(s) + all_pubs = {pub for container in containers for pub in container.pubs} + all_subs = {sub for container in containers for sub in container.subs} + lr_pubs = all_pubs - all_subs + pubs_to_containers = {pub: [container for container in containers if pub in container.pubs] for pub in all_pubs} - # Do the replay - cnt = 0 - for msg in pub_msgs: - with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): - resp_sockets = cfg.pub_sub[msg.which()] - if cfg.should_recv_callback is not None: - resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None) + pub_msgs = [msg for msg in all_msgs if msg.which() in lr_pubs] + # external queue for messages taken from logs; internal queue for messages generated by processes, which will be republished + external_pub_queue: List[capnp._DynamicStructReader] = pub_msgs.copy() + internal_pub_queue: List[capnp._DynamicStructReader] = [] + # heap for maintaining the order of messages generated by processes, where each element: (logMonoTime, index in internal_pub_queue) + internal_pub_index_heap: List[Tuple[int, int]] = [] - # Make sure all subscribers are connected - if len(log_msgs) == 0 and len(resp_sockets) > 0: - for s in sockets.values(): - messaging.recv_one_or_none(s) + pbar = tqdm(total=len(external_pub_queue), disable=disable_progress) + while len(external_pub_queue) != 0 or (len(internal_pub_index_heap) != 0 and not all(c.has_empty_queue for c in containers)): + if len(internal_pub_index_heap) == 0 or (len(external_pub_queue) != 0 and external_pub_queue[0].logMonoTime < internal_pub_index_heap[0][0]): + msg = external_pub_queue.pop(0) + pbar.update(1) + else: + _, index = heapq.heappop(internal_pub_index_heap) + msg = internal_pub_queue[index] - pm.send(msg.which(), msg.as_builder()) - while not pm.all_readers_updated(msg.which()): - time.sleep(0) - - for s in resp_sockets: - m = messaging.recv_one_retry(sockets[s]) - m = m.as_builder() - m.logMonoTime = msg.logMonoTime - log_msgs.append(m.as_reader()) - cnt += 1 + target_containers = pubs_to_containers[msg.which()] + for container in target_containers: + output_msgs = container.run_step(msg, frs) + for m in output_msgs: + if m.which() in all_pubs: + internal_pub_queue.append(m) + heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1)) + log_msgs.extend(output_msgs) finally: - managed_processes[cfg.proc_name].signal(signal.SIGKILL) - managed_processes[cfg.proc_name].stop() + for container in containers: + container.stop() + if captured_output_store is not None: + assert container.capture is not None + out, err = container.capture.read_outerr() + captured_output_store[container.cfg.proc_name] = {"out": out, "err": err} return log_msgs -def check_enabled(msgs): +def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]: + params_dict = { + "OpenpilotEnabledToggle": True, + "Passive": False, + "DisengageOnAccelerator": True, + "DisableLogging": False, + } + + if custom_params is not None: + params_dict.update(custom_params) + if lr is not None: + has_ublox = any(msg.which() == "ubloxGnss" for msg in lr) + params_dict["UbloxAvailable"] = has_ublox + is_rhd = next((msg.driverMonitoringState.isRHD for msg in lr if msg.which() == "driverMonitoringState"), False) + params_dict["IsRhdDetected"] = is_rhd + + if CP is not None: + if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: + params_dict["DisengageOnAccelerator"] = False + + if fingerprint is None: + if CP.fingerprintSource == "fw": + params_dict["CarParamsCache"] = CP.as_builder().to_bytes() + + if CP.openpilotLongitudinalControl: + params_dict["ExperimentalLongitudinalEnabled"] = True + + return params_dict + + +def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str, Any]: + environ_dict = {} + if platform.system() != "Darwin": + environ_dict["PARAMS_ROOT"] = "/dev/shm/params" + if log_dir is not None: + environ_dict["LOG_ROOT"] = log_dir + + environ_dict["NO_RADAR_SLEEP"] = "1" + environ_dict["REPLAY"] = "1" + + # Regen or python process + if CP is not None and fingerprint is None: + if CP.fingerprintSource == "fw": + environ_dict['SKIP_FW_QUERY'] = "" + environ_dict['FINGERPRINT'] = "" + else: + environ_dict['SKIP_FW_QUERY'] = "1" + environ_dict['FINGERPRINT'] = CP.carFingerprint + elif fingerprint is not None: + environ_dict['SKIP_FW_QUERY'] = "1" + environ_dict['FINGERPRINT'] = fingerprint + else: + environ_dict["SKIP_FW_QUERY"] = "" + environ_dict["FINGERPRINT"] = "" + + return environ_dict + + +def check_openpilot_enabled(msgs: Union[LogReader, List[capnp._DynamicStructReader]]) -> bool: cur_enabled_count = 0 max_enabled_count = 0 for msg in msgs: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2e1c439698..3388f0638f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -627aa0f54e377d1f3954c58e37c0a15b555e20b3 +b3c089c376bb34666110bb6944e8f0501f37780b \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 8de4eb43fc..07d3c04e37 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -1,365 +1,114 @@ #!/usr/bin/env python3 -import bz2 import os -import time -import multiprocessing import argparse -from tqdm import tqdm -# run DM procs -os.environ["USE_WEBCAM"] = "1" +import time +import capnp -import cereal.messaging as messaging -from cereal import car -from cereal.services import service_list -from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.params import Params -from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot -from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size, tici_e_frame_size -from panda.python import Panda -from selfdrive.car.toyota.values import EPS_SCALE -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled +from typing import Union, Iterable, Optional, List, Any, Dict, Tuple + +from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ + check_openpilot_enabled, get_custom_params_from_lr from selfdrive.test.update_ci_routes import upload_route from tools.lib.route import Route from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log -def replay_panda_states(s, msgs): - pm = messaging.PubMaster([s, 'peripheralState']) - rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - smsgs = [m for m in msgs if m.which() in ['pandaStates', 'pandaStateDEPRECATED']] - # TODO: safety param migration should be handled automatically - safety_param_migration = { - "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE, - "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, - } +def regen_segment( + lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, + daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False +) -> List[capnp._DynamicStructReader]: + if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): + raise ValueError("whitelist_proc must be a string or iterable") - # Migrate safety param base on carState - cp = [m for m in msgs if m.which() == 'carParams'][0].carParams - if cp.carFingerprint in safety_param_migration: - safety_param = safety_param_migration[cp.carFingerprint] - elif len(cp.safetyConfigs): - safety_param = cp.safetyConfigs[0].safetyParam - if cp.safetyConfigs[0].safetyParamDEPRECATED != 0: - safety_param = cp.safetyConfigs[0].safetyParamDEPRECATED + all_msgs = sorted(lr, key=lambda m: m.logMonoTime) + custom_params = get_custom_params_from_lr(all_msgs) + + if daemons != "all": + if isinstance(daemons, str): + raise ValueError(f"Invalid value for daemons: {daemons}") + + replayed_processes = [] + for d in daemons: + cfg = get_process_config(d) + replayed_processes.append(cfg) else: - safety_param = cp.safetyParamDEPRECATED + replayed_processes = CONFIGS - while True: - for m in smsgs: - if m.which() == 'pandaStateDEPRECATED': - new_m = messaging.new_message('pandaStates', 1) - new_m.pandaStates[0] = m.pandaStateDEPRECATED - new_m.pandaStates[0].safetyParam = safety_param - pm.send(s, new_m) - else: - new_m = m.as_builder() - new_m.pandaStates[-1].safetyParam = safety_param - new_m.logMonoTime = int(sec_since_boot() * 1e9) - pm.send(s, new_m) + print("Replayed processes:", [p.proc_name for p in replayed_processes]) + print("\n\n", "*"*30, "\n\n", sep="") - new_m = messaging.new_message('peripheralState') - pm.send('peripheralState', new_m) + output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm) - rk.keep_time() + return output_logs -def replay_manager_state(s, msgs): - pm = messaging.PubMaster([s, ]) - rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - - while True: - new_m = messaging.new_message('managerState') - new_m.managerState.processes = [{'name': name, 'running': True} for name in managed_processes] - pm.send(s, new_m) - rk.keep_time() - - -def replay_device_state(s, msgs): - pm = messaging.PubMaster([s, ]) - rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - smsgs = [m for m in msgs if m.which() == s] - while True: - for m in smsgs: - new_m = m.as_builder() - new_m.logMonoTime = int(sec_since_boot() * 1e9) - new_m.deviceState.freeSpacePercent = 50 - new_m.deviceState.memoryUsagePercent = 50 - pm.send(s, new_m) - rk.keep_time() - - -def replay_sensor_event(s, msgs): - pm = messaging.PubMaster([s, ]) - rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - smsgs = [m for m in msgs if m.which() == s] - while True: - for m in smsgs: - m = m.as_builder() - m.logMonoTime = int(sec_since_boot() * 1e9) - getattr(m, m.which()).timestamp = m.logMonoTime - pm.send(m.which(), m) - rk.keep_time() - - -def replay_service(s, msgs): - pm = messaging.PubMaster([s, ]) - rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - smsgs = [m for m in msgs if m.which() == s] - while True: - for m in smsgs: - new_m = m.as_builder() - new_m.logMonoTime = int(sec_since_boot() * 1e9) - pm.send(s, new_m) - rk.keep_time() - - -def replay_cameras(lr, frs, disable_tqdm=False): - eon_cameras = [ - ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True), - ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), - ] - tici_cameras = [ - ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, False), - ("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD, False), - ("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), - ] - - def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client): - services = [(s, stream)] - if use_extra_client: - services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD)) - pm = messaging.PubMaster([s for s, _ in services]) - rk = Ratekeeper(1 / dt, print_delay_threshold=None) - - img = b"\x00" * int(size[0] * size[1] * 3 / 2) - while True: - if frames is not None: - img = frames[rk.frame % len(frames)] - - rk.keep_time() - - for s, stream in services: - m = messaging.new_message(s) - msg = getattr(m, s) - msg.frameId = rk.frame - msg.timestampSof = m.logMonoTime - msg.timestampEof = m.logMonoTime - pm.send(s, m) - - vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof) - - init_data = [m for m in lr if m.which() == 'initData'][0] - cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras - - # init vipc server and cameras - p = [] - vs = VisionIpcServer("camerad") - for (s, dt, size, stream, use_extra_client) in cameras: - fr = frs.get(s, None) - - frames = None - if fr is not None: - print(f"Decompressing frames {s}") - frames = [] - for i in tqdm(range(fr.frame_count), disable=disable_tqdm): - img = fr.get(i, pix_fmt='nv12')[0] - frames.append(img.flatten().tobytes()) - - vs.create_buffers(stream, 40, False, size[0], size[1]) - if use_extra_client: - vs.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, size[0], size[1]) - p.append(multiprocessing.Process(target=replay_camera, - args=(s, stream, dt, vs, frames, size, use_extra_client))) - - vs.start_listener() - return vs, p - - -def migrate_carparams(lr): - all_msgs = [] - for msg in lr: - if msg.which() == 'carParams': - CP = messaging.new_message('carParams') - CP.carParams = msg.carParams.as_builder() - for car_fw in CP.carParams.carFw: - car_fw.brand = CP.carParams.carName - msg = CP.as_reader() - all_msgs.append(msg) - - return all_msgs - - -def migrate_sensorEvents(lr, old_logtime=False): - all_msgs = [] - for msg in lr: - if msg.which() != 'sensorEventsDEPRECATED': - all_msgs.append(msg) - continue - - # migrate to split sensor events - for evt in msg.sensorEventsDEPRECATED: - # build new message for each sensor type - sensor_service = '' - if evt.which() == 'acceleration': - sensor_service = 'accelerometer' - elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated': - sensor_service = 'gyroscope' - elif evt.which() == 'light' or evt.which() == 'proximity': - sensor_service = 'lightSensor' - elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated': - sensor_service = 'magnetometer' - elif evt.which() == 'temperature': - sensor_service = 'temperatureSensor' - - m = messaging.new_message(sensor_service) - m.valid = True - if old_logtime: - m.logMonoTime = msg.logMonoTime - - m_dat = getattr(m, sensor_service) - m_dat.version = evt.version - m_dat.sensor = evt.sensor - m_dat.type = evt.type - m_dat.source = evt.source - if old_logtime: - m_dat.timestamp = evt.timestamp - setattr(m_dat, evt.which(), getattr(evt, evt.which())) - - all_msgs.append(m.as_reader()) - - return all_msgs - -def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): - lr = migrate_carparams(list(lr)) - lr = migrate_sensorEvents(list(lr)) - if frs is None: - frs = dict() - - params = Params() - os.environ["LOG_ROOT"] = outdir - - # Get and setup initial state - CP = [m for m in lr if m.which() == 'carParams'][0].carParams - controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState - liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0] - - setup_env(CP=CP, controlsState=controlsState) - params.put("CalibrationParams", liveCalibration.as_builder().to_bytes()) - - vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) - fake_daemons = { - 'sensord': [ - multiprocessing.Process(target=replay_sensor_event, args=('accelerometer', lr)), - multiprocessing.Process(target=replay_sensor_event, args=('gyroscope', lr)), - multiprocessing.Process(target=replay_sensor_event, args=('magnetometer', lr)), - ], - 'pandad': [ - multiprocessing.Process(target=replay_service, args=('can', lr)), - multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)), - multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)), - ], - 'managerState': [ - multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)), - ], - 'thermald': [ - multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)), - ], - 'camerad': [ - *cam_procs, - ], - } - - try: - # TODO: make first run of onnxruntime CUDA provider fast - managed_processes["modeld"].start() - managed_processes["dmonitoringmodeld"].start() - time.sleep(5) - - # start procs up - ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd'] - ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore) - for procs in fake_daemons.values(): - for p in procs: - p.start() - - for _ in tqdm(range(60), disable=disable_tqdm): - # ensure all procs are running - for d, procs in fake_daemons.items(): - for p in procs: - if not p.is_alive(): - raise Exception(f"{d}'s {p.name} died") - time.sleep(1) - finally: - # kill everything - for p in managed_processes.values(): - p.stop() - for procs in fake_daemons.values(): - for p in procs: - p.terminate() - - del vs - - segment = params.get("CurrentRoute", encoding='utf-8') + "--0" - seg_path = os.path.join(outdir, segment) - # check to make sure openpilot is engaged in the route - if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))): - raise Exception(f"Route did not engage for long enough: {segment}") - - return seg_path - - -def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False): +def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]: if use_route_meta: r = Route(route) lr = LogReader(r.log_paths()[sidx]) - fr = FrameReader(r.camera_paths()[sidx]) - if r.ecamera_paths()[sidx] is not None: - wfr = FrameReader(r.ecamera_paths()[sidx]) - else: - wfr = None + frs = {} + if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None: + frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx]) + if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None: + frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx]) + if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None: + frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx]) else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") - fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") - device_type = next(iter(lr)).initData.deviceType - if device_type == 'tici': - wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") - else: - wfr = None - - frs = {'roadCameraState': fr} - if wfr is not None: - frs['wideRoadCameraState'] = wfr - rpath = regen_segment(lr, frs, outdir=outdir, disable_tqdm=disable_tqdm) + frs = { + 'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"), + 'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"), + } + if next((True for m in lr if m.which() == "wideRoadCameraState"), False): + frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") - # compress raw rlog before uploading - with open(os.path.join(rpath, "rlog"), "rb") as f: - data = bz2.compress(f.read()) - with open(os.path.join(rpath, "rlog.bz2"), "wb") as f: - f.write(data) - os.remove(os.path.join(rpath, "rlog")) + return lr, frs - lr = LogReader(os.path.join(rpath, 'rlog.bz2')) - controls_state_active = [m.controlsState.active for m in lr if m.which() == 'controlsState'] - assert any(controls_state_active), "Segment did not engage" - relr = os.path.relpath(rpath) +def regen_and_save( + route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA, + upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False +) -> str: + lr, frs = setup_data_readers(route, sidx, use_route_meta) + output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm) + + log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime())) + rel_log_dir = os.path.relpath(log_dir) + rpath = os.path.join(log_dir, "rlog.bz2") + + os.makedirs(log_dir) + save_log(rpath, output_logs, compress=True) + + print("\n\n", "*"*30, "\n\n", sep="") + print("New route:", rel_log_dir, "\n") + + if not check_openpilot_enabled(output_logs): + raise Exception("Route did not engage for long enough") - print("\n\n", "*"*30, "\n\n") - print("New route:", relr, "\n") if upload: - upload_route(relr, exclude_patterns=['*.hevc', ]) - return relr + upload_route(rel_log_dir) + + return rel_log_dir if __name__ == "__main__": + def comma_separated_list(string): + return string.split(",") + + all_procs = [p.proc_name for p in CONFIGS] parser = argparse.ArgumentParser(description="Generate new segments from old ones") parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket") parser.add_argument("--outdir", help="log output dir", default=FAKEDATA) + parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs, + help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)") + parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[], + help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)") parser.add_argument("route", type=str, help="The source route") parser.add_argument("seg", type=int, help="Segment in source route") args = parser.parse_args() - regen_and_save(args.route, args.seg, args.upload, outdir=args.outdir) + + blacklist_set = set(args.blacklist_procs) + daemons = [p for p in args.whitelist_procs if p not in blacklist_set] + regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir) diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index 1b3e0f112e..2ed2be61ac 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -137,7 +137,7 @@ if __name__ == "__main__": failed = True diff += 'amount of frames not equal\n' - for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames)): + for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)): for j in range(3): fr = frame[j] cmp_f = cmp_frame[j] @@ -159,7 +159,7 @@ if __name__ == "__main__": diff += f'different at a large amount of pixels ({diff_len})\n' else: diff += 'different at (frame, yuv, pixel, ref, HEAD):\n' - for k in zip(*np.nonzero(frame_diff)): + for k in zip(*np.nonzero(frame_diff), strict=True): diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n' if failed: diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 28e0f70589..c58599caee 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -1,175 +1,31 @@ #!/usr/bin/env python3 -import sys -import unittest - +import copy +from hypothesis import given, HealthCheck, Phase, settings import hypothesis.strategies as st -import numpy as np -from hypothesis import given, settings, note +from parameterized import parameterized +import unittest from cereal import log from selfdrive.car.toyota.values import CAR as TOYOTA +from selfdrive.test.fuzzy_generation import FuzzyGenerator import selfdrive.test.process_replay.process_replay as pr +# These processes currently fail because of unrealistic data breaking assumptions +# that openpilot makes causing error with NaN, inf, int size, array indexing ... +# TODO: Make each one testable +NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld'] +TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] -def get_process_config(process): - return [cfg for cfg in pr.CONFIGS if cfg.proc_name == process][0] - - -def get_event_union_strategy(r, name): - return st.fixed_dictionaries({ - 'valid': st.just(True), - 'logMonoTime': st.integers(min_value=0, max_value=2**64-1), - name: r[name[0].upper() + name[1:]], - }) - - -def get_strategy_for_events(event_types, finite=False): - # TODO: generate automatically based on capnp definitions - def floats(**kwargs): - allow_nan = False if finite else None - allow_infinity = False if finite else None - return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity) - - r = {} - r['liveLocationKalman.Measurement'] = st.fixed_dictionaries({ - 'value': st.lists(floats(), min_size=3, max_size=3), - 'std': st.lists(floats(), min_size=3, max_size=3), - 'valid': st.just(True), - }) - r['LiveLocationKalman'] = st.fixed_dictionaries({ - 'angularVelocityCalibrated': r['liveLocationKalman.Measurement'], - 'inputsOK': st.booleans(), - 'posenetOK': st.booleans(), - }) - r['CarState'] = st.fixed_dictionaries({ - 'vEgo': floats(width=32), - 'vEgoRaw': floats(width=32), - 'steeringPressed': st.booleans(), - 'steeringAngleDeg': floats(width=32), - }) - r['CameraOdometry'] = st.fixed_dictionaries({ - 'frameId': st.integers(min_value=0, max_value=2**32 - 1), - 'timestampEof': st.integers(min_value=0, max_value=2**64 - 1), - 'trans': st.lists(floats(width=32), min_size=3, max_size=3), - 'rot': st.lists(floats(width=32), min_size=3, max_size=3), - 'transStd': st.lists(floats(width=32), min_size=3, max_size=3), - 'rotStd': st.lists(floats(width=32), min_size=3, max_size=3), - }) - r['SensorEventData.SensorVec'] = st.fixed_dictionaries({ - 'v': st.lists(floats(width=32), min_size=3, max_size=3), - 'status': st.just(1), - }) - r['SensorEventData_gyro'] = st.fixed_dictionaries({ - 'version': st.just(1), - 'sensor': st.just(5), - 'type': st.just(16), - 'timestamp': st.integers(min_value=0, max_value=2**63 - 1), - 'source': st.just(8), # BMX055 - 'gyroUncalibrated': r['SensorEventData.SensorVec'], - }) - r['SensorEventData_accel'] = st.fixed_dictionaries({ - 'version': st.just(1), - 'sensor': st.just(1), - 'type': st.just(1), - 'timestamp': st.integers(min_value=0, max_value=2**63 - 1), - 'source': st.just(8), # BMX055 - 'acceleration': r['SensorEventData.SensorVec'], - }) - r['SensorEvents'] = st.lists(st.one_of(r['SensorEventData_gyro'], r['SensorEventData_accel']), min_size=1) - r['GpsLocationExternal'] = st.fixed_dictionaries({ - 'flags': st.just(1), - 'latitude': floats(), - 'longitude': floats(), - 'altitude': floats(), - 'speed': floats(width=32), - 'bearingDeg': floats(width=32), - 'accuracy': floats(width=32), - 'timestamp': st.integers(min_value=0, max_value=2**63 - 1), - 'source': st.just(6), # Ublox - 'vNED': st.lists(floats(width=32), min_size=3, max_size=3), - 'verticalAccuracy': floats(width=32), - 'bearingAccuracyDeg': floats(width=32), - 'speedAccuracy': floats(width=32), - }) - r['LiveCalibration'] = st.fixed_dictionaries({ - 'calStatus': st.integers(min_value=0, max_value=1), - 'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3), - }) - - return st.lists(st.one_of(*[get_event_union_strategy(r, n) for n in event_types])) - - -def get_strategy_for_process(process, finite=False): - return get_strategy_for_events(get_process_config(process).pub_sub.keys(), finite) - - -def convert_to_lr(msgs): - return [log.Event.new_message(**m).as_reader() for m in msgs] - - -def is_finite(d, exclude=[], prefix=""): # pylint: disable=dangerous-default-value - ret = True - for k, v in d.items(): - name = prefix + f"{k}" - if name in exclude: - continue - - if isinstance(v, dict): - if not is_finite(v, exclude, name + "."): - ret = False - else: - try: - if not np.isfinite(v).all(): - note((name, v)) - ret = False - except TypeError: - pass - - return ret - - -def test_process(dat, name): - cfg = get_process_config(name) - lr = convert_to_lr(dat) - pr.TIMEOUT = 0.1 - return pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2) - - -class TestFuzzy(unittest.TestCase): - @given(get_strategy_for_process('paramsd')) - @settings(deadline=1000) - def test_paramsd(self, dat): - for r in test_process(dat, 'paramsd'): - d = r.liveParameters.to_dict() - assert is_finite(d) - - @given(get_strategy_for_process('locationd', finite=True)) - @settings(deadline=1000) - def test_locationd(self, dat): - exclude = [ - 'positionGeodetic.std', - 'velocityNED.std', - 'orientationNED.std', - 'calibratedOrientationECEF.std', - ] - for r in test_process(dat, 'locationd'): - d = r.liveLocationKalman.to_dict() - assert is_finite(d, exclude) +class TestFuzzProcesses(unittest.TestCase): + @parameterized.expand(TEST_CASES) + @given(st.data()) + @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) + def test_fuzz_process(self, proc_name, cfg, data): + msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) + lr = [log.Event.new_message(**m).as_reader() for m in msgs] + cfg.timeout = 5 + pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True) if __name__ == "__main__": - procs = { - 'locationd': TestFuzzy().test_locationd, - 'paramsd': TestFuzzy().test_paramsd, - } - - if len(sys.argv) != 2: - print("Usage: ./test_fuzzy.py ") - sys.exit(0) - - proc = sys.argv[1] - if proc not in procs: - print(f"{proc} not available") - sys.exit(0) - else: - procs[proc]() + unittest.main() diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index a2dd938e2f..0e099d83e2 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict from selfdrive.car.car_helpers import interface_names from selfdrive.test.openpilotci import get_url, upload_file -from selfdrive.test.process_replay.compare_logs import compare_logs, save_log -from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process +from selfdrive.test.process_replay.compare_logs import compare_logs +from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY @@ -25,44 +26,46 @@ source_segments = [ ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID - ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 + ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500 ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 + ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 # Enable when port is tested and dashcamOnly is no longer set - #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS ] segments = [ - ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), - ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), - ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), - ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), - ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), - ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"), - ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"), - ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"), - ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"), - ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), - ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), - ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), - ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), - ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), - ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), -] + ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), + ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), + ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), + ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), + ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), + ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), + ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), + ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), + ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), + ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), + ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), + ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), + ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), + ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), + ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), + ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), + ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), + ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "ford", "mazda", "tesla"] +excluded_interfaces = ["mock", "mazda", "tesla"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") +EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} def run_test_process(data): @@ -79,7 +82,7 @@ def run_test_process(data): assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" upload_file(cur_log_fn, os.path.basename(cur_log_fn)) os.remove(cur_log_fn) - return (segment, cfg.proc_name, cfg.subtest_name, res) + return (segment, cfg.proc_name, res) def get_log_data(segment): @@ -97,13 +100,13 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non ref_log_msgs = list(LogReader(ref_log_path)) try: - log_msgs = replay_process(cfg, lr) + log_msgs = replay_process(cfg, lr, disable_progress=True) except Exception as e: raise Exception("failed on segment: " + segment) from e # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": - if not check_enabled(log_msgs): + if not check_openpilot_enabled(log_msgs): return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: @@ -153,7 +156,7 @@ def format_diff(results, log_paths, ref_commit): if __name__ == "__main__": all_cars = {car for car, _ in segments} - all_procs = {cfg.proc_name for cfg in CONFIGS} + all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS} parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output") parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs, @@ -221,24 +224,24 @@ if __name__ == "__main__": if cfg.proc_name not in tested_procs: continue - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2") + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") if args.update_refs: # reference logs will not exist if routes were just regenerated ref_log_path = get_url(*segment.rsplit("--", 1)) else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2") + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) dat = None if args.upload_only else log_data[segment] pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) - log_paths[segment][cfg.proc_name + cfg.subtest_name]['ref'] = ref_log_path - log_paths[segment][cfg.proc_name + cfg.subtest_name]['new'] = cur_log_fn + log_paths[segment][cfg.proc_name]['ref'] = ref_log_path + log_paths[segment][cfg.proc_name]['new'] = cur_log_fn results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) - for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): + for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): if not args.upload_only: - results[segment][proc + subtest_name] = result + results[segment][proc] = result diff1, diff2, failed = format_diff(results, log_paths, ref_commit) if not upload: diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py new file mode 100644 index 0000000000..77c6b0345d --- /dev/null +++ b/selfdrive/test/process_replay/vision_meta.py @@ -0,0 +1,43 @@ +from collections import namedtuple +from cereal.visionipc import VisionStreamType +from common.realtime import DT_MDL, DT_DMON +from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size + +VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"]) +ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size} +WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size} +DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size} +VIPC_STREAM_METADATA = [ + # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes) + ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES), + ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES), + ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES), +] + + +def meta_from_camera_state(state): + meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[0] == state), None) + return meta + + +def meta_from_encode_index(encode_index): + meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[1] == encode_index), None) + return meta + + +def meta_from_stream_type(stream_type): + meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[2] == stream_type), None) + return meta + + +def available_streams(lr=None): + if lr is None: + return [VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA] + + result = [] + for meta in VIPC_STREAM_METADATA: + has_cam_state = next((True for m in lr if m.which() == meta[0]), False) + if has_cam_state: + result.append(VideoStreamMeta(*meta)) + + return result diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 732a69eebd..28e3b34e40 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -2,8 +2,8 @@ import os import sys import cProfile # pylint: disable=import-error -import pprofile # pylint: disable=import-error -import pyprof2calltree # pylint: disable=import-error +import pprofile +import pyprof2calltree from common.params import Params from tools.lib.logreader import LogReader @@ -25,7 +25,7 @@ CARS = { def get_inputs(msgs, process, fingerprint): for config in CONFIGS: if config.proc_name == process: - sub_socks = list(config.pub_sub.keys()) + sub_socks = list(config.pubs) trigger = sub_socks[0] break diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index b7d586a83b..1b99c31038 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -33,6 +33,7 @@ echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$ sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config sudo systemctl daemon-reload sudo systemctl restart ssh +sudo systemctl restart NetworkManager sudo systemctl disable ssh-param-watcher.path sudo systemctl disable ssh-param-watcher.service sudo mount -o ro,remount / @@ -41,6 +42,13 @@ while true; do if ! sudo systemctl is-active -q ssh; then sudo systemctl start ssh fi + + if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then + echo 'starting UI' + cp $SOURCE_DIR/selfdrive/test/ciui.py /data/ + /data/ciui.py & + fi + sleep 5s done @@ -54,7 +62,9 @@ if [ ! -d "$SOURCE_DIR" ]; then fi cd $SOURCE_DIR -rm -f .git/index.lock +# cleanup orphaned locks +find .git -type f -name "*.lock" -exec rm {} + + git reset --hard git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 81d68aa877..d71f49dc3a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -1,11 +1,14 @@ #!/usr/bin/env python3 +import math import json import os +import shutil import subprocess import time import numpy as np import unittest from collections import Counter, defaultdict +from functools import cached_property from pathlib import Path from cereal import car @@ -15,6 +18,7 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET +from system.hardware import HARDWARE from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader @@ -22,31 +26,51 @@ from tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { "selfdrive.controls.controlsd": 39.0, - "./loggerd": 10.0, + "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, + "./mapsd": 2.0, "selfdrive.controls.plannerd": 16.5, - "./_ui": 19.2, + "./_ui": 18.0, "selfdrive.locationd.paramsd": 9.0, "./_sensord": 12.0, "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, - "./boardd": 3.63, "./_dmonitoringmodeld": 5.0, + "./_navmodeld": 1.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, - "./_soundd": 1.0, + "./_soundd": (15.0, 65.0), "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, "./clocksd": 0.02, - "./ubloxd": 0.02, "selfdrive.tombstoned": 0, "./logcatd": 0, + "system.micd": 10.0, + "system.timezoned": 0, + "selfdrive.boardd.pandad": 0, + "selfdrive.statsd": 0.4, + "selfdrive.navd.navd": 0.4, + "system.loggerd.uploader": 3.0, + "system.loggerd.deleter": 0.1, + "selfdrive.locationd.laikad": (1.0, 80.0), # TODO: better GPS setup in testing closet } +PROCS.update({ + "tici": { + "./boardd": 4.0, + "./ubloxd": 0.02, + "system.sensord.pigeond": 6.0, + }, + "tizi": { + "./boardd": 19.0, + "system.sensord.rawgps.rawgpsd": 1.0, + } +}.get(HARDWARE.get_device_type(), {})) + TIMINGS = { # rtols: max/min, rsd "can": [2.5, 0.35], @@ -62,6 +86,8 @@ TIMINGS = { "driverCameraState": [2.5, 0.35], "modelV2": [2.5, 0.35], "driverStateV2": [2.5, 0.40], + "navModel": [2.5, 0.35], + "mapRenderState": [2.5, 0.35], "liveLocationKalman": [2.5, 0.35], "wideRoadCameraState": [1.5, 0.35], } @@ -71,48 +97,6 @@ def cputime_total(ct): return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem -def check_cpu_usage(proclogs): - result = "\n" - result += "------------------------------------------------\n" - result += "------------------ CPU Usage -------------------\n" - result += "------------------------------------------------\n" - - plogs_by_proc = defaultdict(list) - for pl in proclogs: - for x in pl.procLog.procs: - if len(x.cmdline) > 0: - n = list(x.cmdline)[0] - plogs_by_proc[n].append(x) - - print(plogs_by_proc.keys()) - - r = True - dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9 - for proc_name, expected_cpu in PROCS.items(): - err = "" - cpu_usage = 0. - x = plogs_by_proc[proc_name] - if len(x) > 2: - cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) - cpu_usage = cpu_time / dt * 100. - if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0): - # cpu usage is high while playing sounds - if not (proc_name == "./_soundd" and cpu_usage < 65.): - err = "using more CPU than normal" - elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)): - err = "using less CPU than normal" - else: - err = "NO METRICS FOUND" - - result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n" - if len(err) > 0: - r = False - - result += "------------------------------------------------\n" - print(result) - return r - - class TestOnroad(unittest.TestCase): @classmethod @@ -120,19 +104,20 @@ class TestOnroad(unittest.TestCase): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-2]) - cls.lr = list(LogReader(os.path.join(segs[-2], "rlog"))) + print(segs[-3]) + cls.lr = list(LogReader(os.path.join(segs[-3], "rlog"))) return # setup env - os.environ['REPLAY'] = "1" - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" - os.environ['LOGPRINT'] = 'debug' - params = Params() - params.clear_all() + if "CI" in os.environ: + params.clear_all() + params.remove("CurrentRoute") set_params_enabled() + os.environ['TESTING_CLOSET'] = '1' + if os.path.exists(ROOT): + shutil.rmtree(ROOT) + os.system("rm /dev/shm/*") # Make sure athena isn't running os.system("pkill -9 -f athena") @@ -177,6 +162,25 @@ class TestOnroad(unittest.TestCase): # use the second segment by default as it's the first full segment cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog"))) + @cached_property + def service_msgs(self): + msgs = defaultdict(list) + for m in self.lr: + msgs[m.which()].append(m) + return msgs + + def test_service_frequencies(self): + for s, msgs in self.service_msgs.items(): + if s in ('initData', 'sentinel'): + continue + + # skip gps services for now + if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'): + continue + + with self.subTest(service=s): + assert len(msgs) >= math.floor(service_list[s].frequency*55) + def test_cloudlog_size(self): msgs = [m for m in self.lr if m.which() == 'logMessage'] @@ -193,7 +197,7 @@ class TestOnroad(unittest.TestCase): result += "-------------- UI Draw Timing ------------------\n" result += "------------------------------------------------\n" - ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug'] + ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']] 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" @@ -201,24 +205,84 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) - self.assertGreater(len(ts), 20*50, "insufficient samples") - #self.assertLess(max(ts), 30.) + self.assertLess(max(ts), 250.) self.assertLess(np.mean(ts), 10.) #self.assertLess(np.std(ts), 5.) + # some slow frames are expected since camerad/modeld can preempt ui + veryslow = [x for x in ts if x > 40.] + assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}" + def test_cpu_usage(self): - proclogs = [m for m in self.lr if m.which() == 'procLog'] - self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples") - cpu_ok = check_cpu_usage(proclogs) + result = "\n" + result += "------------------------------------------------\n" + result += "------------------ CPU Usage -------------------\n" + result += "------------------------------------------------\n" + + plogs_by_proc = defaultdict(list) + for pl in self.service_msgs['procLog']: + for x in pl.procLog.procs: + if len(x.cmdline) > 0: + n = list(x.cmdline)[0] + plogs_by_proc[n].append(x) + print(plogs_by_proc.keys()) + + cpu_ok = True + dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9 + for proc_name, expected_cpu in PROCS.items(): + + err = "" + cpu_usage = 0. + x = plogs_by_proc[proc_name] + if len(x) > 2: + cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) + cpu_usage = cpu_time / dt * 100. + + if isinstance(expected_cpu, tuple): + exp = str(expected_cpu) + minn, maxx = expected_cpu + else: + exp = f"{expected_cpu:5.2f}" + minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)) + maxx = max(expected_cpu * 1.15, expected_cpu + 5.0) + + if cpu_usage > maxx: + err = "using more CPU than expected" + elif cpu_usage < minn: + err = "using less CPU than expected" + else: + err = "NO METRICS FOUND" + + result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({exp}%) {err}\n" + if len(err) > 0: + cpu_ok = False + + # Ensure there's no missing procs + all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning} + for p in all_procs: + with self.subTest(proc=p): + assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" + + result += "------------------------------------------------\n" + print(result) + self.assertTrue(cpu_ok) + def test_memory_usage(self): + mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']] + print("Memory usage: ", mems) + + # check for big leaks. note that memory usage is + # expected to go up while the MSGQ buffers fill up + self.assertLessEqual(max(mems) - min(mems), 3.0) + def test_camera_processing_time(self): result = "\n" result += "------------------------------------------------\n" result += "-------------- Debayer Timing ------------------\n" result += "------------------------------------------------\n" - ts = [getattr(getattr(m, m.which()), "processingTime") for m in self.lr if 'CameraState' in m.which()] + ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()] self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}") result += f"execution time: min {min(ts):.5f}s\n" result += f"execution time: max {max(ts):.5f}s\n" @@ -226,6 +290,23 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) + @unittest.skip("TODO: enable once timings are fixed") + def test_camera_frame_timings(self): + result = "\n" + result += "------------------------------------------------\n" + result += "----------------- SoF Timing ------------------\n" + result += "------------------------------------------------\n" + for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: + ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] + d_ms = np.diff(ts) / 1e6 + d50 = np.abs(d_ms-50) + self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") + result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" + result += "------------------------------------------------\n" + print(result) + def test_mpc_execution_timings(self): result = "\n" result += "------------------------------------------------\n" @@ -234,7 +315,7 @@ class TestOnroad(unittest.TestCase): cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s] + ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -254,7 +335,7 @@ class TestOnroad(unittest.TestCase): ("driverStateV2", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] + ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -270,7 +351,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- Service Timings --------------\n" result += "------------------------------------------------\n" for s, (maxmin, rsd) in TIMINGS.items(): - msgs = [m.logMonoTime for m in self.lr if m.which() == s] + msgs = [m.logMonoTime for m in self.service_msgs[s]] if not len(msgs): raise Exception(f"missing {s}") @@ -305,6 +386,17 @@ class TestOnroad(unittest.TestCase): expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1 self.assertEqual(startup_alert, expected, "wrong startup alert") + def test_engagable(self): + no_entries = Counter() + for m in self.service_msgs['carEvents']: + for evt in m.carEvents: + if evt.noEntry: + no_entries[evt.name] += 1 + + eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']] + assert all(eng), \ + f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}" + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py new file mode 100755 index 0000000000..5991250945 --- /dev/null +++ b/selfdrive/test/test_time_to_onroad.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import os +import time +import subprocess + +import cereal.messaging as messaging +from common.basedir import BASEDIR +from common.timeout import Timeout +from selfdrive.test.helpers import set_params_enabled + + +def test_time_to_onroad(): + # launch + set_params_enabled() + manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + proc = subprocess.Popen(["python", manager_path]) + + start_time = time.monotonic() + sm = messaging.SubMaster(['controlsState', 'deviceState']) + try: + # wait for onroad + with Timeout(20, "timed out waiting to go onroad"): + while True: + sm.update(1000) + if sm['deviceState'].started: + break + time.sleep(1) + + # wait for engageability + with Timeout(10, "timed out waiting for engageable"): + while True: + sm.update(1000) + if sm['controlsState'].engageable: + break + time.sleep(1) + print(f"engageable after {time.monotonic() - start_time:.2f}s") + + # once we're enageable, must be for the next few seconds + for _ in range(500): + sm.update(100) + assert sm['controlsState'].engageable + finally: + proc.terminate() + if proc.wait(60) is None: + proc.kill() diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 46dd4901e5..a831ad6e2e 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -73,7 +73,7 @@ class TestValgrind(unittest.TestCase): self.leak = False def replay_process(self, config, logreader): - pub_sockets = [s for s in config.pub_sub.keys()] # We dump data from logs here + pub_sockets = list(config.pub_sub.keys()) # We dump data from logs here sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub] # We get responses here pm = messaging.PubMaster(pub_sockets) sm = messaging.SubMaster(sub_sockets) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index a2b971999c..cee2f49e56 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -6,6 +6,7 @@ from tqdm import tqdm from azure.storage.blob import BlockBlobService # pylint: disable=import-error from selfdrive.car.tests.routes import routes as test_car_models_routes +from selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE from selfdrive.test.process_replay.test_processes import source_segments as replay_segments from xx.chffr.lib import azureutil # pylint: disable=import-error from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error @@ -51,7 +52,7 @@ def sync_to_ci_public(route): return True print(f"Uploading {route}") - for (source_account, source_bucket), source_key in zip(SOURCES, source_keys): + for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True): print(f"Trying {source_account}/{source_bucket}") cmd = [ "azcopy", @@ -81,6 +82,7 @@ if __name__ == "__main__": if not len(to_sync): # sync routes from the car tests routes and process replay + to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE]) to_sync.extend([rt.route for rt in test_car_models_routes]) to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments]) diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index 2094faeaa7..f3e822da51 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -8,7 +8,7 @@ from selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): @abstractmethod - def update(self, max_cpu_temp: float, ignition: bool) -> int: + def update(self, cur_temp: float, ignition: bool) -> int: pass @@ -18,19 +18,19 @@ class TiciFanController(BaseFanController): cloudlog.info("Setting up TICI fan handler") self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) + self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML)) - def update(self, max_cpu_temp: float, ignition: bool) -> int: - self.controller.neg_limit = -(80 if ignition else 30) + def update(self, cur_temp: float, ignition: bool) -> int: + self.controller.neg_limit = -(100 if ignition else 30) self.controller.pos_limit = -(30 if ignition else 0) if ignition != self.last_ignition: self.controller.reset() - error = 70 - max_cpu_temp + error = 70 - cur_temp fan_pwr_out = -int(self.controller.update( error=error, - feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80]) + feedforward=interp(cur_temp, [60.0, 100.0], [0, -100]) )) self.last_ignition = ignition diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py index 857866f64e..22d618485c 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/selfdrive/thermald/tests/test_fan_controller.py @@ -14,43 +14,43 @@ def patched_controller(controller_class): class TestFanController(unittest.TestCase): def wind_up(self, controller, ignition=True): for _ in range(1000): - controller.update(max_cpu_temp=100, ignition=ignition) + controller.update(100, ignition) def wind_down(self, controller, ignition=False): for _ in range(1000): - controller.update(max_cpu_temp=10, ignition=ignition) + controller.update(10, ignition) @parameterized.expand(ALL_CONTROLLERS) def test_hot_onroad(self, controller_class): controller = patched_controller(controller_class) self.wind_up(controller) - self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70) + self.assertGreaterEqual(controller.update(100, True), 70) @parameterized.expand(ALL_CONTROLLERS) def test_offroad_limits(self, controller_class): controller = patched_controller(controller_class) self.wind_up(controller) - self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30) + self.assertLessEqual(controller.update(100, False), 30) @parameterized.expand(ALL_CONTROLLERS) def test_no_fan_wear(self, controller_class): controller = patched_controller(controller_class) self.wind_down(controller) - self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0) + self.assertEqual(controller.update(10, False), 0) @parameterized.expand(ALL_CONTROLLERS) def test_limited(self, controller_class): controller = patched_controller(controller_class) - self.wind_up(controller, ignition=True) - self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80) + self.wind_up(controller, True) + self.assertEqual(controller.update(100, True), 100) @parameterized.expand(ALL_CONTROLLERS) def test_windup_speed(self, controller_class): controller = patched_controller(controller_class) - self.wind_down(controller, ignition=True) + self.wind_down(controller, True) for _ in range(10): - controller.update(max_cpu_temp=90, ignition=True) - self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60) + controller.update(90, True) + self.assertGreaterEqual(controller.update(90, True), 60) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 6b1be2d7ef..57b16accff 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -120,7 +120,8 @@ class TestPowerMonitoring(unittest.TestCase): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 350 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 - with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): + with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \ + pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = False @@ -177,23 +178,23 @@ class TestPowerMonitoring(unittest.TestCase): if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) - + def test_delay_shutdown_time(self): pm = PowerMonitoring() pm.car_battery_capacity_uWh = 0 ignition = False - in_car = True + in_car = True offroad_timestamp = ssb started_seen = True pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: - self.assertFalse(pm.should_shutdown(ignition, in_car, - offroad_timestamp, - started_seen), + self.assertFalse(pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time") - self.assertTrue(pm.should_shutdown(ignition, in_car, - offroad_timestamp, + self.assertTrue(pm.should_shutdown(ignition, in_car, + offroad_timestamp, started_seen), f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time") diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 531e0b04d1..931f9be88f 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import datetime import os +import json import queue import threading import time @@ -13,6 +14,7 @@ import psutil import cereal.messaging as messaging from cereal import log from common.dict_helpers import strip_deprecated_keys +from common.time import MIN_DATE from common.filter_simple import FirstOrderFilter from common.params import Params from common.realtime import DT_TRML, sec_since_boot @@ -34,19 +36,20 @@ DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML) # 1.5x the expected pandaState frequency ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) -HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps']) +HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', + 'network_metered', 'nvme_temps', 'modem_temps']) # List of thermal bands. We will stay within this region as long as we are within the bounds. # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict. THERMAL_BANDS = OrderedDict({ ThermalStatus.green: ThermalBand(None, 80.0), ThermalStatus.yellow: ThermalBand(75.0, 96.0), - ThermalStatus.red: ThermalBand(80.0, 107.), + ThermalStatus.red: ThermalBand(88.0, 107.), ThermalStatus.danger: ThermalBand(94.0, None), }) # Override to highest thermal band when offroad and above this temp -OFFROAD_DANGER_TEMP = 79.5 +OFFROAD_DANGER_TEMP = 75 prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {} @@ -58,7 +61,7 @@ def populate_tz_by_type(): if not n.startswith("thermal_zone"): continue with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f: - tz_by_type[f.read().strip()] = int(n.lstrip("thermal_zone")) + tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone")) def read_tz(x): if x is None: @@ -101,6 +104,8 @@ def hw_state_thread(end_event, hw_queue): modem_version = None modem_nv = None modem_configured = False + modem_restarted = False + modem_missing_count = 0 while not end_event.is_set(): # these are expensive calls. update every 10s @@ -118,6 +123,16 @@ def hw_state_thread(end_event, hw_queue): if (modem_version is not None) and (modem_nv is not None): cloudlog.event("modem version", version=modem_version, nv=modem_nv) + else: + if not modem_restarted: + # TODO: we may be able to remove this with a MM update + # ModemManager's probing on startup can fail + # rarely, restart the service to probe again. + modem_missing_count += 1 + if modem_missing_count > 3: + modem_restarted = True + cloudlog.event("restarting ModemManager") + os.system("sudo systemctl restart --no-block ModemManager") tx, rx = HARDWARE.get_modem_data_usage() @@ -165,7 +180,8 @@ def thermald_thread(end_event, hw_queue): off_ts = None started_ts = None started_seen = False - thermal_status = ThermalStatus.green + startup_blocked_ts = None + thermal_status = ThermalStatus.yellow last_hw_state = HardwareState( network_type=NetworkType.none, @@ -177,8 +193,8 @@ def thermald_thread(end_event, hw_queue): modem_temps=[], ) - all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) - offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) + all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) + offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) should_start_prev = False in_car = False engaged_prev = False @@ -196,6 +212,7 @@ def thermald_thread(end_event, hw_queue): pandaStates = sm['pandaStates'] peripheralState = sm['peripheralState'] + peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown msg = read_thermal(thermal_config) @@ -209,7 +226,7 @@ def thermald_thread(end_event, hw_queue): in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected # Setup fan handler on first connect to panda - if fan_controller is None and peripheralState.pandaType != log.PandaState.PandaType.unknown: + if fan_controller is None and peripheral_panda_present: if TICI: fan_controller = TiciFanController() @@ -240,7 +257,7 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() - # this one is only used for offroad + # this subset is only used for offroad temp_sources = [ msg.deviceState.memoryTempC, max(msg.deviceState.cpuTempC), @@ -251,14 +268,15 @@ def thermald_thread(end_event, hw_queue): # this drives the thermal status while onroad temp_sources.append(max(msg.deviceState.pmicTempC)) all_comp_temp = all_temp_filter.update(max(temp_sources)) + msg.deviceState.maxTempC = all_comp_temp if fan_controller is not None: msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: - # If device is offroad we want to cool down before going onroad - # since going onroad increases load and can make temps go over 107 + # if device is offroad and already hot without the extra onroad load, + # we want to cool down first before increasing load thermal_status = ThermalStatus.danger else: current_band = THERMAL_BANDS[thermal_status] @@ -272,13 +290,12 @@ def thermald_thread(end_event, hw_queue): # Ensure date/time are valid now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10) - set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"])) + startup_conditions["time_valid"] = now > MIN_DATE + set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present) startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version - startup_conditions["offroad_min_time"] = (not started_seen) or ((off_ts is not None) and (sec_since_boot() - off_ts) > 5.) # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 @@ -286,10 +303,15 @@ def thermald_thread(end_event, hw_queue): params.get_bool("Passive") startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") - # if any CPU gets above 107 or the battery gets above 63, kill all processes - # controls will warn with CPU above 95 or battery above 60 + + # must be at an engageable thermal band to go onroad + startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger - set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"])) + extra_text = f"{offroad_comp_temp:.1f}C" + show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] + set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there if TICI: @@ -313,9 +335,6 @@ def thermald_thread(end_event, hw_queue): should_start = should_start and all(startup_conditions.values()) if should_start != should_start_prev or (count == 0): - params.put_bool("IsOnroad", should_start) - params.put_bool("IsOffroad", not should_start) - params.put_bool("IsEngaged", False) engaged_prev = False HARDWARE.set_power_save(not should_start) @@ -337,10 +356,16 @@ def thermald_thread(end_event, hw_queue): if started_ts is None: started_ts = sec_since_boot() started_seen = True + if startup_blocked_ts is not None: + cloudlog.event("Startup after block", block_duration=(sec_since_boot() - startup_blocked_ts), + startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, + startup_conditions_prev=startup_conditions_prev, error=True) + startup_blocked_ts = None else: if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev): cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True) startup_conditions_prev = startup_conditions.copy() + startup_blocked_ts = sec_since_boot() started_ts = None if off_ts is None: @@ -374,8 +399,6 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.thermalStatus = thermal_status pm.send("deviceState", msg) - should_start_prev = should_start - # Log to statsd statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent) statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent) @@ -398,15 +421,26 @@ def thermald_thread(end_event, hw_queue): statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent) # report to server once every 10 minutes - if (count % int(600. / DT_TRML)) == 0: - cloudlog.event("STATUS_PACKET", - count=count, - pandaStates=[strip_deprecated_keys(p.to_dict()) for p in pandaStates], - peripheralState=strip_deprecated_keys(peripheralState.to_dict()), - location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None), - deviceState=strip_deprecated_keys(msg.to_dict())) + rising_edge_started = should_start and not should_start_prev + if rising_edge_started or (count % int(600. / DT_TRML)) == 0: + dat = { + 'count': count, + 'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates], + 'peripheralState': strip_deprecated_keys(peripheralState.to_dict()), + 'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None), + 'deviceState': strip_deprecated_keys(msg.to_dict()) + } + cloudlog.event("STATUS_PACKET", **dat) + + # save last one before going onroad + if rising_edge_started: + try: + params.put("LastOffroadStatusPacket", json.dumps(dat)) + except Exception: + cloudlog.exception("failed to save offroad status") count += 1 + should_start_prev = should_start def main(): diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 65fb45b678..b1086305b7 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -54,7 +54,7 @@ def get_tombstones(): with os.scandir(folder) as d: # Loop over first 1000 directory entries - for _, f in zip(range(1000), d): + for _, f in zip(range(1000), d, strict=False): if f.name.startswith("tombstone"): files.append((f.path, int(f.stat().st_ctime))) elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640: diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index 60eb4b43c7..cb95652191 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -12,3 +12,4 @@ qt/setup/setup qt/setup/reset qt/setup/wifi qt/setup/updater +translations/alerts_generated.h diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index a8c8463bd7..7e90423fc2 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -9,9 +9,9 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', if arch == 'larch64': base_libs.append('EGL') -maps = arch in ['larch64', 'x86_64'] +maps = arch in ['larch64', 'aarch64', 'x86_64'] -if maps and arch == 'x86_64': +if maps and arch != 'larch64': rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] qt_env["RPATH"] += rpath @@ -20,7 +20,7 @@ if arch == "Darwin": qt_env['FRAMEWORKS'] += ['OpenCL'] qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) -widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", +widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", @@ -29,7 +29,8 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", qt_env['CPPDEFINES'] = [] if maps: base_libs += ['qmapboxgl'] - widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc"] + widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc", + "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"] qt_env['CPPDEFINES'] += ["ENABLE_MAPS"] widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) @@ -64,6 +65,7 @@ qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) + qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) # build translation files @@ -103,7 +105,7 @@ if GetOption('extras'): installers = [ ("openpilot", release), ("openpilot_test", f"{release}-staging"), - ("openpilot_nightly", "master-ci"), + ("openpilot_nightly", "nightly"), ("openpilot_internal", "master"), ("dashcam", dashcam), ("dashcam_test", f"{dashcam}-staging"), @@ -129,5 +131,5 @@ if GetOption('extras'): assert f[0].get_size() < 300*1e3 # build watch3 -if arch in ['x86_64', 'Darwin'] or GetOption('extras'): +if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc index 55b9a47474..e2b4358b65 100644 --- a/selfdrive/ui/mui.cc +++ b/selfdrive/ui/mui.cc @@ -110,14 +110,8 @@ int main(int argc, char *argv[]) { if (onroad) { auto cs = sm["controlsState"].getControlsState(); UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; - if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT) { - status = STATUS_WARNING; - } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) { - status = STATUS_ALERT; - } - auto lp = sm["lateralPlan"].getLateralPlan(); - if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE || status == STATUS_ALERT) { + if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) { status_bar->blinkingColor(bg_colors[status]); } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING || lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) { diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 3f3c9a5885..b674d39fbd 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -2,13 +2,19 @@ #include #include +#include #include #include "selfdrive/ui/qt/offroad/experimental_mode.h" #include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/drive_stats.h" #include "selfdrive/ui/qt/widgets/prime.h" +#ifdef ENABLE_MAPS +#include "selfdrive/ui/qt/maps/map_settings.h" +#else +#include "selfdrive/ui/qt/widgets/drive_stats.h" +#endif + // HomeWindow: the container for the offroad and onroad UIs HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { @@ -28,6 +34,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { slayout->addWidget(home); onroad = new OnroadWindow(this); + QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); }); slayout->addWidget(onroad); body = new BodyWindow(this); @@ -48,6 +55,10 @@ void HomeWindow::showSidebar(bool show) { sidebar->setVisible(show); } +void HomeWindow::showMapPanel(bool show) { + onroad->showMapPanel(show); +} + void HomeWindow::updateState(const UIState &s) { const SubMaster &sm = *(s.sm); @@ -102,11 +113,11 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(40, 40, 40, 45); + main_layout->setContentsMargins(40, 40, 40, 40); // top header QHBoxLayout* header_layout = new QHBoxLayout(); - header_layout->setContentsMargins(15, 15, 15, 0); + header_layout->setContentsMargins(0, 0, 0, 0); header_layout->setSpacing(16); update_notif = new QPushButton(tr("UPDATE")); @@ -130,27 +141,47 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(25); center_layout = new QStackedLayout(); - // Vertical experimental button and drive stats layout - QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this); - QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget); - statsAndExperimentalModeButton->setSpacing(30); - statsAndExperimentalModeButton->setMargin(0); + QWidget *home_widget = new QWidget(this); + { + QHBoxLayout *home_layout = new QHBoxLayout(home_widget); + home_layout->setContentsMargins(0, 0, 0, 0); + home_layout->setSpacing(30); - ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); - QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + // left: MapSettings/PrimeAdWidget + QStackedWidget *left_widget = new QStackedWidget(this); +#ifdef ENABLE_MAPS + left_widget->addWidget(new MapSettings); +#else + left_widget->addWidget(new DriveStats); +#endif + left_widget->addWidget(new PrimeAdWidget); + left_widget->setStyleSheet("border-radius: 10px;"); - statsAndExperimentalModeButton->addWidget(experimental_mode, 1); - statsAndExperimentalModeButton->addWidget(new DriveStats, 1); + left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1); + connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { + left_widget->setCurrentIndex(prime_type ? 0 : 1); + }); - // Horizontal experimental + drive stats and setup widget - QWidget* statsAndSetupWidget = new QWidget(this); - QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget); - statsAndSetup->setMargin(0); - statsAndSetup->setSpacing(30); - statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1); - statsAndSetup->addWidget(new SetupWidget); + home_layout->addWidget(left_widget, 1); - center_layout->addWidget(statsAndSetupWidget); + // right: ExperimentalModeButton, SetupWidget + QWidget* right_widget = new QWidget(this); + QVBoxLayout* right_column = new QVBoxLayout(right_widget); + right_column->setContentsMargins(0, 0, 0, 0); + right_widget->setFixedWidth(750); + right_column->setSpacing(30); + + ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); + QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + right_column->addWidget(experimental_mode, 1); + + SetupWidget *setup_widget = new SetupWidget; + QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings); + right_column->addWidget(setup_widget, 1); + + home_layout->addWidget(right_widget, 1); + } + center_layout->addWidget(home_widget); // add update & alerts widgets update_widget = new UpdateAlert(); @@ -168,7 +199,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { setStyleSheet(R"( * { - color: white; + color: white; } OffroadHome { background-color: black; diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index ed1c215467..c6032852a1 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -55,6 +55,7 @@ public slots: void offroadTransition(bool offroad); void showDriverView(bool show); void showSidebar(bool show); + void showMapPanel(bool show); protected: void mousePressEvent(QMouseEvent* e) override; diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index abbf434d69..7487df8bcc 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -1,22 +1,16 @@ #include "selfdrive/ui/qt/maps/map.h" #include -#include #include -#include -#include -#include "common/swaglog.h" #include "common/transformations/coordinates.hpp" #include "selfdrive/ui/qt/maps/map_helpers.h" -#include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/ui.h" const int PAN_TIMEOUT = 100; -const float MANEUVER_TRANSITION_THRESHOLD = 10; const float MAX_ZOOM = 17; const float MIN_ZOOM = 14; @@ -24,31 +18,32 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -const QString ICON_SUFFIX = ".png"; - MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState); + map_overlay = new QWidget (this); + map_overlay->setAttribute(Qt::WA_TranslucentBackground, true); + QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay); + overlay_layout->setContentsMargins(0, 0, 0, 0); + // Instructions map_instructions = new MapInstructions(this); - QObject::connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions); - QObject::connect(this, &MapWindow::distanceChanged, map_instructions, &MapInstructions::updateDistance); - map_instructions->setFixedWidth(width()); map_instructions->setVisible(false); map_eta = new MapETA(this); - QObject::connect(this, &MapWindow::ETAChanged, map_eta, &MapETA::updateETA); + map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); + map_eta->setFixedHeight(120); - const int h = 120; - map_eta->setFixedHeight(h); - map_eta->move(25, 1080 - h - bdr_s*2); - map_eta->setVisible(false); + error = new QLabel(this); + error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)"); + error->setAlignment(Qt::AlignCenter); - auto last_gps_position = coordinate_from_param("LastGPSPosition"); - if (last_gps_position.has_value()) { - last_position = *last_gps_position; - } + overlay_layout->addWidget(error); + overlay_layout->addWidget(map_instructions); + overlay_layout->addStretch(1); + overlay_layout->addWidget(map_eta); + last_position = coordinate_from_param("LastGPSPosition"); grabGesture(Qt::GestureType::PinchGesture); qDebug() << "MapWindow initialized"; } @@ -77,10 +72,28 @@ void MapWindow::initLayers() { nav["type"] = "line"; nav["source"] = "navSource"; m_map->addLayer(nav, "road-intersection"); - m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee")); + + QVariantMap transition; + transition["duration"] = 400; // ms + m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot)); + m_map->setPaintProperty("navLayer", "line-color-transition", transition); m_map->setPaintProperty("navLayer", "line-width", 7.5); m_map->setLayoutProperty("navLayer", "line-cap", "round"); - m_map->addAnnotationIcon("default_marker", QImage("../assets/navigation/default_marker.svg")); + } + if (!m_map->layerExists("pinLayer")) { + qDebug() << "Initializing pinLayer"; + m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg")); + QVariantMap pin; + pin["id"] = "pinLayer"; + pin["type"] = "symbol"; + pin["source"] = "pinSource"; + m_map->addLayer(pin); + m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport"); + m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker"); + m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true); + m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true); + m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0); + m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom"); } if (!m_map->layerExists("carPosLayer")) { qDebug() << "Initializing carPosLayer"; @@ -96,6 +109,7 @@ void MapWindow::initLayers() { m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5); m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true); m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true); + // TODO: remove, symbol-sort-key does not seem to matter outside of each layer m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0); } } @@ -107,14 +121,32 @@ void MapWindow::updateState(const UIState &s) { const SubMaster &sm = *(s.sm); update(); + if (sm.updated("modelV2")) { + // set path color on change, and show map on rising edge of navigate on openpilot + bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() && + sm["controlsState"].getControlsState().getEnabled(); + if (nav_enabled != uiState()->scene.navigate_on_openpilot) { + if (loaded_once) { + m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled)); + } + if (nav_enabled) { + emit requestVisible(true); + } + } + uiState()->scene.navigate_on_openpilot = nav_enabled; + } + if (sm.updated("liveLocationKalman")) { auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); auto locationd_pos = locationd_location.getPositionGeodetic(); auto locationd_orientation = locationd_location.getCalibratedOrientationNED(); auto locationd_velocity = locationd_location.getVelocityCalibrated(); - locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && - locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid(); + // Check std norm + auto pos_ecef_std = locationd_location.getPositionECEF().getStd(); + bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100; + + locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough); if (locationd_valid) { last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); @@ -128,26 +160,28 @@ void MapWindow::updateState(const UIState &s) { // Only open the map on setting destination the first time if (allow_open) { - setVisible(true); // Show map on destination set/change + emit requestSettings(false); + emit requestVisible(true); // Show map on destination set/change allow_open = false; } } - if (m_map.isNull()) { - return; - } - - loaded_once = loaded_once || m_map->isFullyLoaded(); + loaded_once = loaded_once || (m_map && m_map->isFullyLoaded()); if (!loaded_once) { - map_instructions->showError(tr("Map Loading")); + setError(tr("Map Loading")); return; } - initLayers(); - if (locationd_valid || laikad_valid) { - map_instructions->noError(); + if (!locationd_valid) { + setError(tr("Waiting for GPS")); + } else if (routing_problem) { + setError(tr("Waiting for route")); + } else { + setError(""); + } + if (locationd_valid) { // Update current location marker auto point = coordinate_to_collection(*last_position); QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {}); @@ -155,8 +189,6 @@ void MapWindow::updateState(const UIState &s) { carPosSource["type"] = "geojson"; carPosSource["data"] = QVariant::fromValue(feature1); m_map->updateSource("carPosSource", carPosSource); - } else { - map_instructions->showError(tr("Waiting for GPS")); } if (pan_counter == 0) { @@ -168,20 +200,24 @@ void MapWindow::updateState(const UIState &s) { if (zoom_counter == 0) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); - zoom_counter = -1; - } else if (zoom_counter > 0) { + } else { zoom_counter--; } if (sm.updated("navInstruction")) { + // an invalid navInstruction packet with a nav destination is only possible if: + // - API exception/no internet + // - route response is empty + // - any time navd is waiting for recompute_countdown + routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value(); + if (sm.valid("navInstruction")) { auto i = sm["navInstruction"].getNavInstruction(); - emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining()); + map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining()); - if (locationd_valid || laikad_valid) { + if (locationd_valid) { m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance - emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged - emit instructionsChanged(i); + map_instructions->updateInstructions(i); } } else { clearRoute(); @@ -204,9 +240,17 @@ void MapWindow::updateState(const UIState &s) { } } +void MapWindow::setError(const QString &err_str) { + if (err_str != error->text()) { + error->setText(err_str); + error->setVisible(!err_str.isEmpty()); + if (!err_str.isEmpty()) map_instructions->setVisible(false); + } +} + void MapWindow::resizeGL(int w, int h) { m_map->resize(size() / MAP_SCALE); - map_instructions->setFixedWidth(width()); + map_overlay->setFixedSize(width(), height()); } void MapWindow::initializeGL() { @@ -220,9 +264,13 @@ void MapWindow::initializeGL() { m_map->setMargins({0, 350, 0, 50}); m_map->setPitch(MIN_PITCH); - m_map->setStyleUrl("mapbox://styles/commaai/ckr64tlwp0azb17nqvr9fj13s"); + m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"); QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { + // set global animation duration to 0 ms so visibility changes are instant + if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingStyle) { + m_map->setTransitionOptions(0, 0); + } if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) { loaded_once = true; } @@ -241,7 +289,7 @@ void MapWindow::clearRoute() { updateDestinationMarker(); } - map_instructions->hideIfNoError(); + map_instructions->setVisible(false); map_eta->setVisible(false); allow_open = true; } @@ -319,348 +367,26 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) { void MapWindow::offroadTransition(bool offroad) { if (offroad) { clearRoute(); + uiState()->scene.navigate_on_openpilot = false; + routing_problem = false; } else { auto dest = coordinate_from_param("NavDestination"); - setVisible(dest.has_value()); + emit requestVisible(dest.has_value()); } last_bearing = {}; } void MapWindow::updateDestinationMarker() { - if (marker_id != -1) { - m_map->removeAnnotation(marker_id); - marker_id = -1; - } + m_map->setPaintProperty("pinLayer", "visibility", "none"); auto nav_dest = coordinate_from_param("NavDestination"); if (nav_dest.has_value()) { - auto ano = QMapbox::SymbolAnnotation {*nav_dest, "default_marker"}; - marker_id = m_map->addAnnotation(QVariant::fromValue(ano)); + auto point = coordinate_to_collection(*nav_dest); + QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {}); + QVariantMap pinSource; + pinSource["type"] = "geojson"; + pinSource["data"] = QVariant::fromValue(feature); + m_map->updateSource("pinSource", pinSource); + m_map->setPaintProperty("pinLayer", "visibility", "visible"); } } - -MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) { - is_rhd = Params().getBool("IsRhdDetected"); - QHBoxLayout *main_layout = new QHBoxLayout(this); - main_layout->setContentsMargins(11, 50, 11, 11); - { - QVBoxLayout *layout = new QVBoxLayout; - icon_01 = new QLabel; - layout->addWidget(icon_01); - layout->addStretch(); - main_layout->addLayout(layout); - } - - { - QVBoxLayout *layout = new QVBoxLayout; - - distance = new QLabel; - distance->setStyleSheet(R"(font-size: 90px;)"); - layout->addWidget(distance); - - primary = new QLabel; - primary->setStyleSheet(R"(font-size: 60px;)"); - primary->setWordWrap(true); - layout->addWidget(primary); - - secondary = new QLabel; - secondary->setStyleSheet(R"(font-size: 50px;)"); - secondary->setWordWrap(true); - layout->addWidget(secondary); - - lane_widget = new QWidget; - lane_widget->setFixedHeight(125); - - lane_layout = new QHBoxLayout(lane_widget); - layout->addWidget(lane_widget); - - main_layout->addLayout(layout); - } - - setStyleSheet(R"( - * { - color: white; - font-family: "Inter"; - } - )"); - - QPalette pal = palette(); - pal.setColor(QPalette::Background, QColor(0, 0, 0, 150)); - setAutoFillBackground(true); - setPalette(pal); -} - -void MapInstructions::updateDistance(float d) { - d = std::max(d, 0.0f); - QString distance_str; - - if (uiState()->scene.is_metric) { - if (d > 500) { - distance_str.setNum(d / 1000, 'f', 1); - distance_str += tr(" km"); - } else { - distance_str.setNum(50 * int(d / 50)); - distance_str += tr(" m"); - } - } else { - float miles = d * METER_TO_MILE; - float feet = d * METER_TO_FOOT; - - if (feet > 500) { - distance_str.setNum(miles, 'f', 1); - distance_str += tr(" mi"); - } else { - distance_str.setNum(50 * int(feet / 50)); - distance_str += tr(" ft"); - } - } - - distance->setAlignment(Qt::AlignLeft); - distance->setText(distance_str); -} - -void MapInstructions::showError(QString error_text) { - primary->setText(""); - distance->setText(error_text); - distance->setAlignment(Qt::AlignCenter); - - secondary->setVisible(false); - icon_01->setVisible(false); - - this->error = true; - lane_widget->setVisible(false); - - setVisible(true); -} - -void MapInstructions::noError() { - error = false; -} - -void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) { - // Word wrap widgets need fixed width - primary->setFixedWidth(width() - 250); - secondary->setFixedWidth(width() - 250); - - - // Show instruction text - QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText()); - QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText()); - - primary->setText(primary_str); - secondary->setVisible(secondary_str.length() > 0); - secondary->setText(secondary_str); - - // Show arrow with direction - QString type = QString::fromStdString(instruction.getManeuverType()); - QString modifier = QString::fromStdString(instruction.getManeuverModifier()); - if (!type.isEmpty()) { - QString fn = "../assets/navigation/direction_" + type; - if (!modifier.isEmpty()) { - fn += "_" + modifier; - } - fn += ICON_SUFFIX; - fn = fn.replace(' ', '_'); - - // for rhd, reflect direction and then flip - if (is_rhd) { - if (fn.contains("left")) { - fn.replace("left", "right"); - } else if (fn.contains("right")) { - fn.replace("right", "left"); - } - } - - QPixmap pix(fn); - if (is_rhd) { - pix = pix.transformed(QTransform().scale(-1, 1)); - } - icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation)); - icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - icon_01->setVisible(true); - } - - // Show lanes - bool has_lanes = false; - clearLayout(lane_layout); - for (auto const &lane: instruction.getLanes()) { - has_lanes = true; - bool active = lane.getActive(); - - // TODO: only use active direction if active - bool left = false, straight = false, right = false; - for (auto const &direction: lane.getDirections()) { - left |= direction == cereal::NavInstruction::Direction::LEFT; - right |= direction == cereal::NavInstruction::Direction::RIGHT; - straight |= direction == cereal::NavInstruction::Direction::STRAIGHT; - } - - // TODO: Make more images based on active direction and combined directions - QString fn = "../assets/navigation/direction_"; - if (left) { - fn += "turn_left"; - } else if (right) { - fn += "turn_right"; - } else if (straight) { - fn += "turn_straight"; - } - - if (!active) { - fn += "_inactive"; - } - - auto icon = new QLabel; - icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {125, 125}, Qt::IgnoreAspectRatio)); - icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - lane_layout->addWidget(icon); - } - lane_widget->setVisible(has_lanes); - - show(); - resize(sizeHint()); -} - - -void MapInstructions::hideIfNoError() { - if (!error) { - hide(); - } -} - -MapETA::MapETA(QWidget * parent) : QWidget(parent) { - QHBoxLayout *main_layout = new QHBoxLayout(this); - main_layout->setContentsMargins(40, 25, 40, 25); - - { - QHBoxLayout *layout = new QHBoxLayout; - eta = new QLabel; - eta->setAlignment(Qt::AlignCenter); - eta->setStyleSheet("font-weight:600"); - - eta_unit = new QLabel; - eta_unit->setAlignment(Qt::AlignCenter); - - layout->addWidget(eta); - layout->addWidget(eta_unit); - main_layout->addLayout(layout); - } - main_layout->addSpacing(40); - { - QHBoxLayout *layout = new QHBoxLayout; - time = new QLabel; - time->setAlignment(Qt::AlignCenter); - - time_unit = new QLabel; - time_unit->setAlignment(Qt::AlignCenter); - - layout->addWidget(time); - layout->addWidget(time_unit); - main_layout->addLayout(layout); - } - main_layout->addSpacing(40); - { - QHBoxLayout *layout = new QHBoxLayout; - distance = new QLabel; - distance->setAlignment(Qt::AlignCenter); - distance->setStyleSheet("font-weight:600"); - - distance_unit = new QLabel; - distance_unit->setAlignment(Qt::AlignCenter); - - layout->addWidget(distance); - layout->addWidget(distance_unit); - main_layout->addLayout(layout); - } - - setStyleSheet(R"( - * { - color: white; - font-family: "Inter"; - font-size: 70px; - } - )"); - - QPalette pal = palette(); - pal.setColor(QPalette::Background, QColor(0, 0, 0, 150)); - setAutoFillBackground(true); - setPalette(pal); -} - - -void MapETA::updateETA(float s, float s_typical, float d) { - if (d < MANEUVER_TRANSITION_THRESHOLD) { - hide(); - return; - } - - // ETA - auto eta_time = QDateTime::currentDateTime().addSecs(s).time(); - if (params.getBool("NavSettingTime24h")) { - eta->setText(eta_time.toString("HH:mm")); - eta_unit->setText(tr("eta")); - } else { - auto t = eta_time.toString("h:mm a").split(' '); - eta->setText(t[0]); - eta_unit->setText(t[1]); - } - - // Remaining time - if (s < 3600) { - time->setText(QString::number(int(s / 60))); - time_unit->setText(tr("min")); - } else { - int hours = int(s) / 3600; - time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0')); - time_unit->setText(tr("hr")); - } - - QString color; - if (s / s_typical > 1.5) { - color = "#DA3025"; - } else if (s / s_typical > 1.2) { - color = "#DAA725"; - } else { - color = "#25DA6E"; - } - - time->setStyleSheet(QString(R"(color: %1; font-weight:600;)").arg(color)); - time_unit->setStyleSheet(QString(R"(color: %1;)").arg(color)); - - // Distance - QString distance_str; - float num = 0; - if (uiState()->scene.is_metric) { - num = d / 1000.0; - distance_unit->setText(tr("km")); - } else { - num = d * METER_TO_MILE; - distance_unit->setText(tr("mi")); - } - - distance_str.setNum(num, 'f', num < 100 ? 1 : 0); - distance->setText(distance_str); - - show(); - adjustSize(); - repaint(); - adjustSize(); - - // Rounded corners - const int radius = 25; - const auto r = rect(); - - // Top corners rounded - QPainterPath path; - path.setFillRule(Qt::WindingFill); - path.addRoundedRect(r, radius, radius); - - // Bottom corners not rounded - path.addRect(r.marginsRemoved(QMargins(0, radius, 0, 0))); - - // Set clipping mask - QRegion mask = QRegion(path.simplified().toFillPolygon().toPolygon()); - setMask(mask); - - // Center - move(static_cast(parent())->width() / 2 - width() / 2, 1080 - height() - bdr_s*2); -} diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 0d8b93a5f4..d57f6517b5 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -4,66 +4,24 @@ #include #include -#include #include #include #include #include #include #include +#include #include #include #include #include -#include #include "cereal/messaging/messaging.h" #include "common/params.h" #include "common/util.h" #include "selfdrive/ui/ui.h" - -class MapInstructions : public QWidget { - Q_OBJECT - -private: - QLabel *distance; - QLabel *primary; - QLabel *secondary; - QLabel *icon_01; - QWidget *lane_widget; - QHBoxLayout *lane_layout; - bool error = false; - bool is_rhd = false; - -public: - MapInstructions(QWidget * parent=nullptr); - void showError(QString error); - void noError(); - void hideIfNoError(); - -public slots: - void updateDistance(float d); - void updateInstructions(cereal::NavInstruction::Reader instruction); -}; - -class MapETA : public QWidget { - Q_OBJECT - -private: - QLabel *eta; - QLabel *eta_unit; - QLabel *time; - QLabel *time_unit; - QLabel *distance; - QLabel *distance_unit; - Params params; - -public: - MapETA(QWidget * parent=nullptr); - -public slots: - void updateETA(float seconds, float seconds_typical, float distance); -}; +#include "selfdrive/ui/qt/maps/map_eta.h" +#include "selfdrive/ui/qt/maps/map_instructions.h" class MapWindow : public QOpenGLWidget { Q_OBJECT @@ -79,7 +37,6 @@ private: QMapboxGLSettings m_settings; QScopedPointer m_map; - QMapbox::AnnotationID marker_id = -1; void initLayers(); @@ -90,8 +47,7 @@ private: bool event(QEvent *event) final; bool gestureEvent(QGestureEvent *event); void pinchTriggered(QPinchGesture *gesture); - - bool m_sourceAdded = false; + void setError(const QString &err_str); bool loaded_once = false; bool allow_open = true; @@ -99,18 +55,25 @@ private: // Panning QPointF m_lastPos; int pan_counter = 0; - int zoom_counter = -1; + int zoom_counter = 0; // Position std::optional last_position; std::optional last_bearing; FirstOrderFilter velocity_filter; - bool laikad_valid = false; bool locationd_valid = false; + bool routing_problem = false; + QWidget *map_overlay; + QLabel *error; MapInstructions* map_instructions; MapETA* map_eta; + // Blue with normal nav, green when nav is input into the model + QColor getNavPathColor(bool nav_enabled) { + return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee"); + } + void clearRoute(); void updateDestinationMarker(); uint64_t route_rcv_frame = 0; @@ -122,8 +85,6 @@ public slots: void offroadTransition(bool offroad); signals: - void distanceChanged(float distance); - void instructionsChanged(cereal::NavInstruction::Reader instruction); - void ETAChanged(float seconds, float seconds_typical, float distance); + void requestVisible(bool visible); + void requestSettings(bool settings); }; - diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc new file mode 100644 index 0000000000..13e11e5597 --- /dev/null +++ b/selfdrive/ui/qt/maps/map_eta.cc @@ -0,0 +1,57 @@ +#include "selfdrive/ui/qt/maps/map_eta.h" + +#include +#include + +#include "selfdrive/ui/ui.h" + +const float MANEUVER_TRANSITION_THRESHOLD = 10; + +MapETA::MapETA(QWidget *parent) : QWidget(parent) { + setVisible(false); + setAttribute(Qt::WA_TranslucentBackground); + eta_doc.setUndoRedoEnabled(false); + eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}"); +} + +void MapETA::paintEvent(QPaintEvent *event) { + if (!eta_doc.isEmpty()) { + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + p.setPen(Qt::NoPen); + p.setBrush(QColor(0, 0, 0, 150)); + QSizeF txt_size = eta_doc.size(); + p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25); + p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2); + eta_doc.drawContents(&p); + } +} + +void MapETA::updateETA(float s, float s_typical, float d) { + // ETA + auto eta_t = QDateTime::currentDateTime().addSecs(s).time(); + auto eta = format_24h ? std::array{eta_t.toString("HH:mm"), tr("eta")} + : std::array{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")}; + + // Remaining time + auto remaining = s < 3600 ? std::array{QString::number(int(s / 60)), tr("min")} + : std::array{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")}; + QString color = "#25DA6E"; + if (s / s_typical > 1.5) + color = "#DA3025"; + else if (s / s_typical > 1.2) + color = "#DAA725"; + + // Distance + float num = uiState()->scene.is_metric ? (d / 1000.0) : (d * METER_TO_MILE); + auto distance = std::array{QString::number(num, 'f', num < 100 ? 1 : 0), + uiState()->scene.is_metric ? tr("km") : tr("mi")}; + + eta_doc.setHtml(QString(R"( + + )") + .arg(eta[0], eta[1], color, remaining[0], remaining[1], distance[0], distance[1])); + + setVisible(d >= MANEUVER_TRANSITION_THRESHOLD); + update(); +} diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h new file mode 100644 index 0000000000..6e59837de3 --- /dev/null +++ b/selfdrive/ui/qt/maps/map_eta.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include +#include + +#include "common/params.h" + +class MapETA : public QWidget { + Q_OBJECT + +public: + MapETA(QWidget * parent=nullptr); + void updateETA(float seconds, float seconds_typical, float distance); + +private: + void paintEvent(QPaintEvent *event) override; + void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); } + + bool format_24h = false; + QTextDocument eta_doc; + Params param; +}; diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc new file mode 100644 index 0000000000..865f03f6c0 --- /dev/null +++ b/selfdrive/ui/qt/maps/map_instructions.cc @@ -0,0 +1,147 @@ +#include "selfdrive/ui/qt/maps/map_instructions.h" + +#include +#include + +#include "selfdrive/ui/ui.h" + +const QString ICON_SUFFIX = ".png"; + +MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) { + is_rhd = Params().getBool("IsRhdDetected"); + QHBoxLayout *main_layout = new QHBoxLayout(this); + main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 11); + main_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); + + QWidget *right_container = new QWidget(this); + right_container->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + QVBoxLayout *layout = new QVBoxLayout(right_container); + + layout->addWidget(distance = new QLabel); + distance->setStyleSheet(R"(font-size: 90px;)"); + + layout->addWidget(primary = new QLabel); + primary->setStyleSheet(R"(font-size: 60px;)"); + primary->setWordWrap(true); + + layout->addWidget(secondary = new QLabel); + secondary->setStyleSheet(R"(font-size: 50px;)"); + secondary->setWordWrap(true); + + layout->addLayout(lane_layout = new QHBoxLayout); + main_layout->addWidget(right_container); + + setStyleSheet("color:white"); + QPalette pal = palette(); + pal.setColor(QPalette::Background, QColor(0, 0, 0, 150)); + setAutoFillBackground(true); + setPalette(pal); + + buildPixmapCache(); +} + +void MapInstructions::buildPixmapCache() { + QDir dir("../assets/navigation"); + for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) { + QPixmap pm(dir.filePath(fn)); + QString key = fn.left(fn.size() - ICON_SUFFIX.length()); + pm = pm.scaledToWidth(200, Qt::SmoothTransformation); + + // Maneuver icons + pixmap_cache[key] = pm; + // lane direction icons + if (key.contains("turn_")) { + pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation); + } + + // for rhd, reflect direction and then flip + if (key.contains("_left")) { + pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1)); + } else if (key.contains("_right")) { + pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1)); + } + } +} + +QString MapInstructions::getDistance(float d) { + d = std::max(d, 0.0f); + if (uiState()->scene.is_metric) { + return (d > 500) ? QString::number(d / 1000, 'f', 1) + tr(" km") + : QString::number(50 * qRound(d / 50)) + tr(" m"); + } else { + float feet = d * METER_TO_FOOT; + return (feet > 500) ? QString::number(d * METER_TO_MILE, 'f', 1) + tr(" mi") + : QString::number(50 * qRound(feet / 50)) + tr(" ft"); + } +} + +void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) { + setUpdatesEnabled(false); + + // Show instruction text + QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText()); + QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText()); + + primary->setText(primary_str); + secondary->setVisible(secondary_str.length() > 0); + secondary->setText(secondary_str); + distance->setText(getDistance(instruction.getManeuverDistance())); + + // Show arrow with direction + QString type = QString::fromStdString(instruction.getManeuverType()); + QString modifier = QString::fromStdString(instruction.getManeuverModifier()); + if (!type.isEmpty()) { + QString fn = "direction_" + type; + if (!modifier.isEmpty()) { + fn += "_" + modifier; + } + fn = fn.replace(' ', '_'); + bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right")); + icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]); + icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + icon_01->setVisible(true); + } + + // Hide distance after arrival + distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0); + + // Show lanes + auto lanes = instruction.getLanes(); + for (int i = 0; i < lanes.size(); ++i) { + bool active = lanes[i].getActive(); + const auto active_direction = lanes[i].getActiveDirection(); + + // TODO: Make more images based on active direction and combined directions + QString fn = "lane_direction_"; + + // active direction has precedence + if (active && active_direction != cereal::NavInstruction::Direction::NONE) { + fn += "turn_" + DIRECTIONS[active_direction]; + } else { + for (auto const &direction : lanes[i].getDirections()) { + if (direction != cereal::NavInstruction::Direction::NONE) { + fn += "turn_" + DIRECTIONS[direction]; + break; + } + } + } + + if (!active) { + fn += "_inactive"; + } + + QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel); + if (!label->parentWidget()) { + lane_layout->addWidget(label); + } + label->setPixmap(pixmap_cache[fn]); + label->setVisible(true); + } + + for (int i = lanes.size(); i < lane_labels.size(); ++i) { + lane_labels[i]->setVisible(false); + } + + setUpdatesEnabled(true); + setVisible(true); +} diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h new file mode 100644 index 0000000000..26bcb4d580 --- /dev/null +++ b/selfdrive/ui/qt/maps/map_instructions.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include +#include + +#include "cereal/gen/cpp/log.capnp.h" + +static std::map DIRECTIONS = { + {cereal::NavInstruction::Direction::NONE, "none"}, + {cereal::NavInstruction::Direction::LEFT, "left"}, + {cereal::NavInstruction::Direction::RIGHT, "right"}, + {cereal::NavInstruction::Direction::STRAIGHT, "straight"}, +}; + +class MapInstructions : public QWidget { + Q_OBJECT + +private: + QLabel *distance; + QLabel *primary; + QLabel *secondary; + QLabel *icon_01; + QHBoxLayout *lane_layout; + bool is_rhd = false; + std::vector lane_labels; + QHash pixmap_cache; + +public: + MapInstructions(QWidget * parent=nullptr); + void buildPixmapCache(); + QString getDistance(float d); + void updateInstructions(cereal::NavInstruction::Reader instruction); +}; diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc new file mode 100644 index 0000000000..f1b8f812fa --- /dev/null +++ b/selfdrive/ui/qt/maps/map_panel.cc @@ -0,0 +1,43 @@ +#include "selfdrive/ui/qt/maps/map_panel.h" + +#include +#include + +#include "selfdrive/ui/qt/maps/map.h" +#include "selfdrive/ui/qt/maps/map_settings.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/ui.h" + +MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : QFrame(parent) { + content_stack = new QStackedLayout(this); + content_stack->setContentsMargins(0, 0, 0, 0); + + auto map = new MapWindow(mapboxSettings); + QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition); + QObject::connect(device(), &Device::interactiveTimeout, [=]() { + content_stack->setCurrentIndex(0); + }); + QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) { + // when we show the map for a new route, signal HomeWindow to hide the sidebar + if (visible) { emit mapPanelRequested(); } + setVisible(visible); + }); + QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) { + content_stack->setCurrentIndex(settings ? 1 : 0); + }); + content_stack->addWidget(map); + + auto settings = new MapSettings(true, parent); + QObject::connect(settings, &MapSettings::closeSettings, [=]() { + content_stack->setCurrentIndex(0); + }); + content_stack->addWidget(settings); +} + +void MapPanel::toggleMapSettings() { + // show settings if not visible, then toggle between map and settings + int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1; + content_stack->setCurrentIndex(new_index); + emit mapPanelRequested(); + show(); +} diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h new file mode 100644 index 0000000000..43a2cc7c89 --- /dev/null +++ b/selfdrive/ui/qt/maps/map_panel.h @@ -0,0 +1,21 @@ +#pragma once + +#include +#include +#include + +class MapPanel : public QFrame { + Q_OBJECT + +public: + explicit MapPanel(const QMapboxGLSettings &settings, QWidget *parent = nullptr); + +signals: + void mapPanelRequested(); + +public slots: + void toggleMapSettings(); + +private: + QStackedLayout *content_stack; +}; diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 3205ca517d..018d0df984 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -1,144 +1,305 @@ #include "map_settings.h" +#include #include #include "common/util.h" -#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/request_repeater.h" -#include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/scrollview.h" -static QString shorten(const QString &str, int max_len) { - return str.size() > max_len ? str.left(max_len).trimmed() + "…" : str; -} +MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { + setContentsMargins(0, 0, 0, 0); + setAttribute(Qt::WA_NoMousePropagation); -MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { - stack = new QStackedWidget; + auto *frame = new QVBoxLayout(this); + frame->setContentsMargins(40, 40, 40, 0); + frame->setSpacing(0); - QWidget * main_widget = new QWidget; - QVBoxLayout *main_layout = new QVBoxLayout(main_widget); - const int icon_size = 200; - - // Home - QHBoxLayout *home_layout = new QHBoxLayout; - home_button = new QPushButton; - home_button->setIconSize(QSize(icon_size, icon_size)); - home_layout->addWidget(home_button); - - home_address = new QLabel; - home_address->setWordWrap(true); - home_layout->addSpacing(30); - home_layout->addWidget(home_address); - home_layout->addStretch(); - - // Work - QHBoxLayout *work_layout = new QHBoxLayout; - work_button = new QPushButton; - work_button->setIconSize(QSize(icon_size, icon_size)); - work_layout->addWidget(work_button); - - work_address = new QLabel; - work_address->setWordWrap(true); - work_layout->addSpacing(30); - work_layout->addWidget(work_address); - work_layout->addStretch(); - - // Home & Work layout - QHBoxLayout *home_work_layout = new QHBoxLayout; - home_work_layout->addLayout(home_layout, 1); - home_work_layout->addSpacing(50); - home_work_layout->addLayout(work_layout, 1); - - main_layout->addLayout(home_work_layout); - main_layout->addSpacing(20); - main_layout->addWidget(horizontal_line()); - main_layout->addSpacing(20); - - // Current route + auto *heading_frame = new QHBoxLayout; + heading_frame->setContentsMargins(0, 0, 0, 0); + heading_frame->setSpacing(32); { - current_widget = new QWidget(this); - QVBoxLayout *current_layout = new QVBoxLayout(current_widget); - - QLabel *title = new QLabel(tr("Current Destination")); - title->setStyleSheet("font-size: 55px"); - current_layout->addWidget(title); - - current_route = new ButtonControl("", tr("CLEAR")); - current_route->setStyleSheet("padding-left: 40px;"); - current_layout->addWidget(current_route); - QObject::connect(current_route, &ButtonControl::clicked, [=]() { - params.remove("NavDestination"); - updateCurrentRoute(); - }); - - current_layout->addSpacing(10); - current_layout->addWidget(horizontal_line()); - current_layout->addSpacing(20); - } - main_layout->addWidget(current_widget); - - // Recents - QLabel *recents_title = new QLabel(tr("Recent Destinations")); - recents_title->setStyleSheet("font-size: 55px"); - main_layout->addWidget(recents_title); - main_layout->addSpacing(20); - - recent_layout = new QVBoxLayout; - QWidget *recent_widget = new LayoutWidget(recent_layout, this); - ScrollView *recent_scroller = new ScrollView(recent_widget, this); - main_layout->addWidget(recent_scroller); - - // No prime upsell - QWidget * no_prime_widget = new QWidget; - { - QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget); - QLabel *signup_header = new QLabel(tr("Try the Navigation Beta")); - signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)"); - signup_header->setAlignment(Qt::AlignCenter); - - no_prime_layout->addWidget(signup_header); - no_prime_layout->addSpacing(50); - - QLabel *screenshot = new QLabel; - QPixmap pm = QPixmap("../assets/navigation/screenshot.png"); - screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation)); - no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter); - - QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma\nprime subscription. Sign up now: https://connect.comma.ai")); - signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)"); - signup->setAlignment(Qt::AlignCenter); - - no_prime_layout->addSpacing(20); - no_prime_layout->addWidget(signup); - no_prime_layout->addStretch(); - } - - stack->addWidget(main_widget); - stack->addWidget(no_prime_widget); - connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { - stack->setCurrentIndex(prime_type ? 0 : 1); - }); - - QVBoxLayout *wrapper = new QVBoxLayout(this); - wrapper->addWidget(stack); - - - clear(); - - if (auto dongle_id = getDongleId()) { - // Fetch favorite and recent locations - { - QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations"; - RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &MapPanel::parseResponse); + if (closeable) { + auto *close_btn = new QPushButton("←"); + close_btn->setStyleSheet(R"( + QPushButton { + color: #FFFFFF; + font-size: 100px; + padding-bottom: 8px; + border 1px grey solid; + border-radius: 70px; + background-color: #292929; + font-weight: 500; + } + QPushButton:pressed { + background-color: #3B3B3B; + } + )"); + close_btn->setFixedSize(140, 140); + QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); }); + // TODO: read map_on_left from ui state + heading_frame->addWidget(close_btn); } - // Destination set while offline + auto *heading = new QVBoxLayout; + heading->setContentsMargins(0, 0, 0, 0); + heading->setSpacing(16); { - QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next"; - RequestRepeater* repeater = new RequestRepeater(this, url, "", 10, true); - HttpRequest* deleter = new HttpRequest(this); + auto *title = new QLabel(tr("NAVIGATION"), this); + title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;"); + heading->addWidget(title); + auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this); + subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;"); + heading->addWidget(subtitle); + } + heading_frame->addLayout(heading, 1); + } + frame->addLayout(heading_frame); + frame->addSpacing(32); + + current_widget = new DestinationWidget(this); + QObject::connect(current_widget, &DestinationWidget::actionClicked, [=]() { + if (current_destination.empty()) return; + params.remove("NavDestination"); + updateCurrentRoute(); + }); + frame->addWidget(current_widget); + frame->addSpacing(32); + + QWidget *destinations_container = new QWidget(this); + destinations_layout = new QVBoxLayout(destinations_container); + destinations_layout->setContentsMargins(0, 32, 0, 32); + destinations_layout->setSpacing(20); + destinations_layout->addWidget(home_widget = new DestinationWidget(this)); + destinations_layout->addWidget(work_widget = new DestinationWidget(this)); + QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo); + QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo); + destinations_layout->addStretch(); + + ScrollView *destinations_scroller = new ScrollView(destinations_container, this); + destinations_scroller->setFrameShape(QFrame::NoFrame); + frame->addWidget(destinations_scroller); + + setStyleSheet("MapSettings { background-color: #333333; }"); + + QObject::connect(NavigationRequest::instance(), &NavigationRequest::locationsUpdated, this, &MapSettings::updateLocations); + QObject::connect(NavigationRequest::instance(), &NavigationRequest::nextDestinationUpdated, this, &MapSettings::updateCurrentRoute); + + current_locations = NavigationRequest::instance()->currentLocations(); +} + +void MapSettings::showEvent(QShowEvent *event) { + updateCurrentRoute(); +} + +void MapSettings::updateCurrentRoute() { + auto dest = QString::fromStdString(params.get("NavDestination")); + if (dest.size()) { + QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8()); + if (doc.isNull()) { + qWarning() << "JSON Parse failed on NavDestination" << dest; + return; + } + current_destination = doc.object(); + current_widget->set(current_destination, true); + } else { + current_destination = {}; + current_widget->unset("", true); + } + if (isVisible()) refresh(); +} + +void MapSettings::updateLocations(const QJsonArray &locations) { + current_locations = locations; + refresh(); +} + +void MapSettings::refresh() { + setUpdatesEnabled(false); + + auto get_w = [this](int i) { + auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget); + if (!w->parentWidget()) { + destinations_layout->insertWidget(destinations_layout->count() - 1, w); + QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo); + } + return w; + }; + + home_widget->unset(NAV_FAVORITE_LABEL_HOME); + work_widget->unset(NAV_FAVORITE_LABEL_WORK); + + int n = 0; + for (auto location : current_locations) { + DestinationWidget *w = nullptr; + auto dest = location.toObject(); + if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) { + auto label = dest["label"].toString(); + if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget; + if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget; + } + w = w ? w : get_w(n++); + w->set(dest, false); + w->setVisible(dest != current_destination); + } + for (; n < widgets.size(); ++n) widgets[n]->setVisible(false); + + setUpdatesEnabled(true); +} + +void MapSettings::navigateTo(const QJsonObject &place) { + QJsonDocument doc(place); + params.put("NavDestination", doc.toJson().toStdString()); + updateCurrentRoute(); + emit closeSettings(); +} + +DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) { + setContentsMargins(0, 0, 0, 0); + + auto *frame = new QHBoxLayout(this); + frame->setContentsMargins(32, 24, 32, 24); + frame->setSpacing(32); + + icon = new QLabel(this); + icon->setAlignment(Qt::AlignCenter); + icon->setFixedSize(96, 96); + icon->setObjectName("icon"); + frame->addWidget(icon); + + auto *inner_frame = new QVBoxLayout; + inner_frame->setContentsMargins(0, 0, 0, 0); + inner_frame->setSpacing(0); + { + title = new ElidedLabel(this); + title->setAttribute(Qt::WA_TransparentForMouseEvents); + inner_frame->addWidget(title); + + subtitle = new ElidedLabel(this); + subtitle->setAttribute(Qt::WA_TransparentForMouseEvents); + subtitle->setObjectName("subtitle"); + inner_frame->addWidget(subtitle); + } + frame->addLayout(inner_frame, 1); + + action = new QPushButton(this); + action->setFixedSize(96, 96); + action->setObjectName("action"); + action->setStyleSheet("font-size: 65px; font-weight: 600;"); + QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked); + QObject::connect(action, &QPushButton::clicked, this, &DestinationWidget::actionClicked); + frame->addWidget(action); + + setFixedHeight(164); + setStyleSheet(R"( + DestinationWidget { background-color: #202123; border-radius: 10px; } + QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; } + #icon { background-color: #3B4356; border-radius: 48px; } + #subtitle { color: #9BA0A5; } + #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; } + + /* current destination */ + [current="true"] { background-color: #E8E8E8; } + [current="true"] QLabel { color: #000000; } + [current="true"] #icon { background-color: #42906B; } + [current="true"] #subtitle { color: #333333; } + [current="true"] #action { color: #202123; } + + /* no saved destination */ + [set="false"] QLabel { color: #9BA0A5; } + [current="true"][set="false"] QLabel { color: #A0000000; } + + /* pressed */ + [current="false"]:pressed { background-color: #18191B; } + [current="true"] #action:pressed { background-color: #D6D6D6; } + )"); + QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); }); +} + +void DestinationWidget::set(const QJsonObject &destination, bool current) { + if (dest == destination) return; + + dest = destination; + setProperty("current", current); + setProperty("set", true); + + auto icon_pixmap = current ? icons().directions : icons().recent; + auto title_text = destination["place_name"].toString(); + auto subtitle_text = destination["place_details"].toString(); + + if (destination["save_type"] == NAV_TYPE_FAVORITE) { + if (destination["label"] == NAV_FAVORITE_LABEL_HOME) { + icon_pixmap = icons().home; + subtitle_text = title_text + ", " + subtitle_text; + title_text = tr("Home"); + } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) { + icon_pixmap = icons().work; + subtitle_text = title_text + ", " + subtitle_text; + title_text = tr("Work"); + } else { + icon_pixmap = icons().favorite; + } + } + + icon->setPixmap(icon_pixmap); + + title->setText(title_text); + subtitle->setText(subtitle_text); + subtitle->setVisible(true); + + // TODO: use pixmap + action->setAttribute(Qt::WA_TransparentForMouseEvents, !current); + action->setText(current ? "×" : "→"); + action->setVisible(true); + + setStyleSheet(styleSheet()); +} + +void DestinationWidget::unset(const QString &label, bool current) { + dest = {}; + setProperty("current", current); + setProperty("set", false); + + if (label.isEmpty()) { + icon->setPixmap(icons().directions); + title->setText(tr("No destination set")); + } else { + QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work"); + icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work); + title->setText(tr("No %1 location set").arg(title_text)); + } + + subtitle->setVisible(false); + action->setVisible(false); + + setStyleSheet(styleSheet()); + setVisible(true); +} + +// singleton NavigationRequest + +NavigationRequest *NavigationRequest::instance() { + static NavigationRequest *request = new NavigationRequest(qApp); + return request; +} + +NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) { + if (auto dongle_id = getDongleId()) { + { + // Fetch favorite and recent locations + QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations"; + RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true); + QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavigationRequest::parseLocationsResponse); + } + { + auto param_watcher = new ParamWatcher(this); + QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavigationRequest::nextDestinationUpdated); + + // Destination set while offline + QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next"; + HttpRequest *deleter = new HttpRequest(this); + RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true); QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) { if (success && resp != "null") { if (params.get("NavDestination").empty()) { @@ -147,157 +308,36 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { } else { qWarning() << "Got location from /next, but NavDestination already set"; } - // Send DELETE to clear destination server side deleter->sendRequest(url, HttpRequest::Method::DELETE); } + + // athena can set destination at any time + param_watcher->addParam("NavDestination"); }); } } } -void MapPanel::showEvent(QShowEvent *event) { - updateCurrentRoute(); - refresh(); -} +static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); } -void MapPanel::clear() { - home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png")); - home_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - home_address->setText(tr("No home\nlocation set")); - home_button->disconnect(); +void NavigationRequest::parseLocationsResponse(const QString &response, bool success) { + if (!success || response == prev_response) return; - work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png")); - work_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - work_address->setText(tr("No work\nlocation set")); - work_button->disconnect(); - - clearLayout(recent_layout); -} - -void MapPanel::updateCurrentRoute() { - auto dest = QString::fromStdString(params.get("NavDestination")); - QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8()); - if (dest.size() && !doc.isNull()) { - auto name = doc["place_name"].toString(); - auto details = doc["place_details"].toString(); - current_route->setTitle(shorten(name + " " + details, 42)); - } - current_widget->setVisible(dest.size() && !doc.isNull()); -} - -void MapPanel::parseResponse(const QString &response, bool success) { - if (!success) return; - - cur_destinations = response; - if (isVisible()) { - refresh(); - } -} - -void MapPanel::refresh() { - if (cur_destinations == prev_destinations) return; - - QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8()); + prev_response = response; + QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); if (doc.isNull()) { - qDebug() << "JSON Parse failed on navigation locations"; + qWarning() << "JSON Parse failed on navigation locations" << response; return; } - prev_destinations = cur_destinations; - clear(); - - bool has_recents = false; - for (auto &save_type: {"favorite", "recent"}) { - for (auto location : doc.array()) { - auto obj = location.toObject(); - - auto type = obj["save_type"].toString(); - auto label = obj["label"].toString(); - auto name = obj["place_name"].toString(); - auto details = obj["place_details"].toString(); - - if (type != save_type) continue; - - if (type == "favorite" && label == "home") { - home_address->setText(name); - home_address->setStyleSheet(R"(font-size: 50px; color: white;)"); - home_button->setIcon(QPixmap("../assets/navigation/home.png")); - QObject::connect(home_button, &QPushButton::clicked, [=]() { - navigateTo(obj); - emit closeSettings(); - }); - } else if (type == "favorite" && label == "work") { - work_address->setText(name); - work_address->setStyleSheet(R"(font-size: 50px; color: white;)"); - work_button->setIcon(QPixmap("../assets/navigation/work.png")); - QObject::connect(work_button, &QPushButton::clicked, [=]() { - navigateTo(obj); - emit closeSettings(); - }); - } else { - ClickableWidget *widget = new ClickableWidget; - QHBoxLayout *layout = new QHBoxLayout(widget); - layout->setContentsMargins(15, 14, 40, 14); - - QLabel *star = new QLabel("★"); - auto sp = star->sizePolicy(); - sp.setRetainSizeWhenHidden(true); - star->setSizePolicy(sp); - - star->setVisible(type == "favorite"); - star->setStyleSheet(R"(font-size: 60px;)"); - layout->addWidget(star); - layout->addSpacing(10); - - - QLabel *recent_label = new QLabel(shorten(name + " " + details, 45)); - recent_label->setStyleSheet(R"(font-size: 50px;)"); - - layout->addWidget(recent_label); - layout->addStretch(); - - QLabel *arrow = new QLabel("→"); - arrow->setStyleSheet(R"(font-size: 60px;)"); - layout->addWidget(arrow); - - widget->setStyleSheet(R"( - .ClickableWidget { - border-radius: 10px; - border-width: 1px; - border-style: solid; - border-color: gray; - } - QWidget { - background-color: #393939; - color: #9c9c9c; - } - )"); - - QObject::connect(widget, &ClickableWidget::clicked, [=]() { - navigateTo(obj); - emit closeSettings(); - }); - - recent_layout->addWidget(widget); - recent_layout->addSpacing(10); - has_recents = true; - } - } - - } - - if (!has_recents) { - QLabel *no_recents = new QLabel(tr("no recent destinations")); - no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)"); - recent_layout->addWidget(no_recents); - } - - recent_layout->addStretch(); - repaint(); -} - -void MapPanel::navigateTo(const QJsonObject &place) { - QJsonDocument doc(place); - params.put("NavDestination", doc.toJson().toStdString()); + // Sort: alphabetical FAVORITES, and then most recent (as returned by API). + // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top. + locations = doc.array(); + std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) { + bool has_favorite = a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE; + return has_favorite && (std::tuple(a["save_type"].toString(), a["place_name"].toString()) < + std::tuple(b["save_type"].toString(), b["place_name"].toString())); + }); + emit locationsUpdated(locations); } diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index 165673b7c1..bfffd9206d 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -1,39 +1,100 @@ #pragma once + +#include #include #include #include #include #include #include -#include -#include #include "common/params.h" +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" -class MapPanel : public QWidget { +const QString NAV_TYPE_FAVORITE = "favorite"; +const QString NAV_TYPE_RECENT = "recent"; + +const QString NAV_FAVORITE_LABEL_HOME = "home"; +const QString NAV_FAVORITE_LABEL_WORK = "work"; + +class DestinationWidget; + +class NavigationRequest : public QObject { + Q_OBJECT + +public: + static NavigationRequest *instance(); + QJsonArray currentLocations() const { return locations; }; + +signals: + void locationsUpdated(const QJsonArray &locations); + void nextDestinationUpdated(); + +private: + NavigationRequest(QObject *parent); + void parseLocationsResponse(const QString &response, bool success); + + Params params; + QString prev_response; + QJsonArray locations; +}; + +class MapSettings : public QFrame { Q_OBJECT public: - explicit MapPanel(QWidget* parent = nullptr); + explicit MapSettings(bool closeable = false, QWidget *parent = nullptr); void navigateTo(const QJsonObject &place); - void parseResponse(const QString &response, bool success); + void updateLocations(const QJsonArray &locations); void updateCurrentRoute(); - void clear(); private: void showEvent(QShowEvent *event) override; void refresh(); Params params; - QString prev_destinations, cur_destinations; - QStackedWidget *stack; - QPushButton *home_button, *work_button; - QLabel *home_address, *work_address; - QVBoxLayout *recent_layout; - QWidget *current_widget; - ButtonControl *current_route; + QJsonArray current_locations; + QJsonObject current_destination; + QVBoxLayout *destinations_layout; + DestinationWidget *current_widget; + DestinationWidget *home_widget; + DestinationWidget *work_widget; + std::vector widgets; signals: void closeSettings(); }; + +class DestinationWidget : public QPushButton { + Q_OBJECT +public: + explicit DestinationWidget(QWidget *parent = nullptr); + void set(const QJsonObject &location, bool current = false); + void unset(const QString &label, bool current = false); + +signals: + void actionClicked(); + void navigateTo(const QJsonObject &destination); + +private: + struct NavIcons { + QPixmap home, work, favorite, recent, directions; + }; + + static NavIcons icons() { + static NavIcons nav_icons { + loadPixmap("../assets/navigation/icon_home.svg", {48, 48}), + loadPixmap("../assets/navigation/icon_work.svg", {48, 48}), + loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}), + loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}), + loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}), + }; + return nav_icons; + } + +private: + QLabel *icon, *title, *subtitle; + QPushButton *action; + QJsonObject dest; +}; diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 327c7537a2..0a216766a2 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -52,7 +52,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { if (!frame_updated) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); - configFont(p, "Inter", 100, "Bold"); + p.setFont(InterFont(100, QFont::Bold)); p.drawText(geometry(), Qt::AlignCenter, tr("camera starting")); return; } diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index d69d67edeb..b147671b42 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -2,15 +2,13 @@ #include -#include #include -#include -#include #include +#include #include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" @@ -211,7 +209,7 @@ void AdvancedNetworking::toggleTethering(bool enabled) { // WifiUI functions WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) { - main_layout = new QVBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); @@ -228,8 +226,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) scanningLabel->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter); - list_layout = new QVBoxLayout; - main_layout->addLayout(list_layout); + wifi_list_widget = new ListWidget(this); + wifi_list_widget->setVisible(false); + main_layout->addWidget(wifi_list_widget); setStyleSheet(R"( QScrollBar::handle:vertical { @@ -248,6 +247,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) padding-bottom: 16px; padding-top: 16px; } + #forgetBtn:pressed { + background-color: #828282; + } #connecting { font-size: 32px; font-weight: 600; @@ -259,16 +261,11 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) background-color: black; } #ssidLabel { - font-size: 55px; - font-weight: 300; text-align: left; border: none; padding-top: 50px; padding-bottom: 50px; } - #ssidLabel[disconnected=false] { - font-weight: 500; - } #ssidLabel:disabled { color: #696969; } @@ -276,75 +273,85 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) } void WifiUI::refresh() { - // TODO: don't rebuild this every time - clearLayout(list_layout); - bool is_empty = wifi->seenNetworks.isEmpty(); scanningLabel->setVisible(is_empty); + wifi_list_widget->setVisible(!is_empty); if (is_empty) return; + setUpdatesEnabled(false); + + const bool is_tethering_enabled = wifi->isTetheringEnabled(); QList sortedNetworks = wifi->seenNetworks.values(); std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength); - // add networks - ListWidget *list = new ListWidget(this); + int n = 0; for (Network &network : sortedNetworks) { - QHBoxLayout *hlayout = new QHBoxLayout; - hlayout->setContentsMargins(44, 0, 73, 0); - hlayout->setSpacing(50); - - // Clickable SSID label - ElidedLabel *ssidLabel = new ElidedLabel(network.ssid); - ssidLabel->setObjectName("ssidLabel"); - ssidLabel->setEnabled(network.security_type != SecurityType::UNSUPPORTED); - ssidLabel->setProperty("disconnected", network.connected == ConnectedType::DISCONNECTED); - if (network.connected == ConnectedType::DISCONNECTED) { - QObject::connect(ssidLabel, &ElidedLabel::clicked, this, [=]() { emit connectToNetwork(network); }); - } - hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1); - - if (network.connected == ConnectedType::CONNECTING) { - QPushButton *connecting = new QPushButton(tr("CONNECTING...")); - connecting->setObjectName("connecting"); - hlayout->addWidget(connecting, 2, Qt::AlignLeft); - } - - // Forget button - if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) { - QPushButton *forgetBtn = new QPushButton(tr("FORGET")); - forgetBtn->setObjectName("forgetBtn"); - QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), tr("Forget"), this)) { - wifi->forgetConnection(network.ssid); - } - }); - hlayout->addWidget(forgetBtn, 0, Qt::AlignRight); - } - - // Status icon + QPixmap status_icon; if (network.connected == ConnectedType::CONNECTED) { - QLabel *connectIcon = new QLabel(); - connectIcon->setPixmap(checkmark); - hlayout->addWidget(connectIcon, 0, Qt::AlignRight); + status_icon = checkmark; } else if (network.security_type == SecurityType::UNSUPPORTED) { - QLabel *unsupportedIcon = new QLabel(); - unsupportedIcon->setPixmap(circled_slash); - hlayout->addWidget(unsupportedIcon, 0, Qt::AlignRight); + status_icon = circled_slash; } else if (network.security_type == SecurityType::WPA) { - QLabel *lockIcon = new QLabel(); - lockIcon->setPixmap(lock); - hlayout->addWidget(lockIcon, 0, Qt::AlignRight); - } else { - hlayout->addSpacing(lock.width() + hlayout->spacing()); + status_icon = lock; } + bool show_forget_btn = wifi->isKnownConnection(network.ssid) && !is_tethering_enabled; + QPixmap strength = strengths[strengthLevel(network.strength)]; - // Strength indicator - QLabel *strength = new QLabel(); - strength->setPixmap(strengths[std::clamp((int)round(network.strength / 33.), 0, 3)]); - hlayout->addWidget(strength, 0, Qt::AlignRight); - - list->addItem(hlayout); + auto item = getItem(n++); + item->setItem(network, status_icon, show_forget_btn, strength); + item->setVisible(true); } - list_layout->addWidget(list); - list_layout->addStretch(1); + for (; n < wifi_items.size(); ++n) wifi_items[n]->setVisible(false); + + setUpdatesEnabled(true); +} + +WifiItem *WifiUI::getItem(int n) { + auto item = n < wifi_items.size() ? wifi_items[n] : wifi_items.emplace_back(new WifiItem(tr("CONNECTING..."), tr("FORGET"))); + if (!item->parentWidget()) { + QObject::connect(item, &WifiItem::connectToNetwork, this, &WifiUI::connectToNetwork); + QObject::connect(item, &WifiItem::forgotNetwork, [this](const Network &n) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(n.ssid)), tr("Forget"), this)) + wifi->forgetConnection(n.ssid); + }); + wifi_list_widget->addItem(item); + } + return item; +} + +// WifiItem + +WifiItem::WifiItem(const QString &connecting_text, const QString &forget_text, QWidget *parent) : QWidget(parent) { + QHBoxLayout *hlayout = new QHBoxLayout(this); + hlayout->setContentsMargins(44, 0, 73, 0); + hlayout->setSpacing(50); + + hlayout->addWidget(ssidLabel = new ElidedLabel()); + ssidLabel->setObjectName("ssidLabel"); + ssidLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + hlayout->addWidget(connecting = new QPushButton(connecting_text), 0, Qt::AlignRight); + connecting->setObjectName("connecting"); + hlayout->addWidget(forgetBtn = new QPushButton(forget_text), 0, Qt::AlignRight); + forgetBtn->setObjectName("forgetBtn"); + hlayout->addWidget(iconLabel = new QLabel(), 0, Qt::AlignRight); + hlayout->addWidget(strengthLabel = new QLabel(), 0, Qt::AlignRight); + + QObject::connect(forgetBtn, &QPushButton::clicked, [this]() { emit forgotNetwork(network); }); + QObject::connect(ssidLabel, &ElidedLabel::clicked, [this]() { + if (network.connected == ConnectedType::DISCONNECTED) emit connectToNetwork(network); + }); +} + +void WifiItem::setItem(const Network &n, const QPixmap &status_icon, bool show_forget_btn, const QPixmap &strength_icon) { + network = n; + + ssidLabel->setText(n.ssid); + ssidLabel->setEnabled(n.security_type != SecurityType::UNSUPPORTED); + ssidLabel->setFont(InterFont(55, network.connected == ConnectedType::DISCONNECTED ? QFont::Normal : QFont::Bold)); + + connecting->setVisible(n.connected == ConnectedType::CONNECTING); + forgetBtn->setVisible(show_forget_btn); + + iconLabel->setPixmap(status_icon); + strengthLabel->setPixmap(strength_icon); } diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h index 79cbcc3493..7078bf9693 100644 --- a/selfdrive/ui/qt/offroad/networking.h +++ b/selfdrive/ui/qt/offroad/networking.h @@ -1,14 +1,29 @@ #pragma once -#include -#include -#include - #include "selfdrive/ui/qt/offroad/wifiManager.h" #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/toggle.h" +class WifiItem : public QWidget { + Q_OBJECT +public: + explicit WifiItem(const QString &connecting_text, const QString &forget_text, QWidget* parent = nullptr); + void setItem(const Network& n, const QPixmap &icon, bool show_forget_btn, const QPixmap &strength); + +signals: + void connectToNetwork(const Network &n); + void forgotNetwork(const Network &n); + +protected: + ElidedLabel* ssidLabel; + QPushButton* connecting; + QPushButton* forgetBtn; + QLabel* iconLabel; + QLabel* strengthLabel; + Network network; +}; + class WifiUI : public QWidget { Q_OBJECT @@ -16,14 +31,16 @@ public: explicit WifiUI(QWidget *parent = 0, WifiManager* wifi = 0); private: + WifiItem *getItem(int n); + WifiManager *wifi = nullptr; - QVBoxLayout *list_layout = nullptr; QLabel *scanningLabel = nullptr; - QVBoxLayout* main_layout; QPixmap lock; QPixmap checkmark; QPixmap circled_slash; QVector strengths; + ListWidget *wifi_list_widget = nullptr; + std::vector wifi_items; signals: void connectToNetwork(const Network &n); @@ -65,10 +82,8 @@ private: QStackedLayout* main_layout = nullptr; QWidget* wifiScreen = nullptr; AdvancedNetworking* an = nullptr; - WifiUI* wifiWidget; -protected: void showEvent(QShowEvent* event) override; void hideEvent(QHideEvent* event) override; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index 622dcdd352..5bf1b6fc43 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -4,6 +4,7 @@ #include #include #include +#include #include #include "common/util.h" @@ -21,38 +22,54 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) { } click_timer.restart(); - if (boundingRect[currentIndex].contains(e->x(), e->y())) { + auto contains = [this](QRect r, const QPoint &pt) { + if (image.size() != image_raw_size) { + QTransform transform; + transform.translate((width()- image.width()) / 2.0, (height()- image.height()) / 2.0); + transform.scale(image.width() / (float)image_raw_size.width(), image.height() / (float)image_raw_size.height()); + r= transform.mapRect(r); + } + return r.contains(pt); + }; + + if (contains(boundingRect[currentIndex], e->pos())) { if (currentIndex == 9) { const QRect yes = QRect(707, 804, 531, 164); - Params().putBool("RecordFront", yes.contains(e->x(), e->y())); + Params().putBool("RecordFront", contains(yes, e->pos())); } currentIndex += 1; - } else if (currentIndex == (boundingRect.size() - 2) && boundingRect.last().contains(e->x(), e->y())) { + } else if (currentIndex == (boundingRect.size() - 2) && contains(boundingRect.last(), e->pos())) { currentIndex = 0; } if (currentIndex >= (boundingRect.size() - 1)) { emit completedTraining(); } else { - image.load(img_path + "step" + QString::number(currentIndex) + ".png"); update(); } } void TrainingGuide::showEvent(QShowEvent *event) { - boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard; - currentIndex = 0; - image.load(img_path + "step0.png"); click_timer.start(); } +QImage TrainingGuide::loadImage(int id) { + QImage img(img_path + QString("step%1.png").arg(id)); + image_raw_size = img.size(); + if (image_raw_size != rect().size()) { + img = img.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation); + } + return img; +} + void TrainingGuide::paintEvent(QPaintEvent *event) { QPainter painter(this); QRect bg(0, 0, painter.device()->width(), painter.device()->height()); painter.fillRect(bg, QColor("#000000")); + image = loadImage(currentIndex); QRect rect(image.rect()); rect.moveCenter(bg.center()); painter.drawImage(rect.topLeft(), image); @@ -113,6 +130,9 @@ void TermsPage::showEvent(QShowEvent *event) { QPushButton { background-color: #465BEA; } + QPushButton:pressed { + background-color: #3049F4; + } QPushButton:disabled { background-color: #4F4F4F; } diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h index 1be1d8f397..2fdae35de0 100644 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ b/selfdrive/ui/qt/offroad/onboarding.h @@ -20,61 +20,38 @@ private: void showEvent(QShowEvent *event) override; void paintEvent(QPaintEvent *event) override; void mouseReleaseEvent(QMouseEvent* e) override; + QImage loadImage(int id); QImage image; + QSize image_raw_size; int currentIndex = 0; // Bounding boxes for each training guide step - const QRect continueBtnStandard = {1620, 0, 300, 1080}; - QVector boundingRectStandard { - QRect(112, 804, 619, 166), - continueBtnStandard, - continueBtnStandard, - QRect(1476, 565, 253, 308), - QRect(1501, 529, 184, 108), - continueBtnStandard, - QRect(1613, 665, 178, 153), - QRect(1220, 0, 420, 730), - QRect(1335, 499, 440, 147), - QRect(112, 820, 996, 148), - QRect(1412, 199, 316, 333), - continueBtnStandard, - QRect(1237, 63, 683, 1017), - continueBtnStandard, - QRect(1455, 110, 313, 860), - QRect(1253, 519, 383, 228), - continueBtnStandard, - continueBtnStandard, - QRect(630, 804, 626, 164), - QRect(108, 804, 426, 164), - }; - - const QRect continueBtnWide = {1840, 0, 320, 1080}; - QVector boundingRectWide { + const QRect continueBtn = {1840, 0, 320, 1080}; + QVector boundingRect { QRect(112, 804, 618, 164), - continueBtnWide, - continueBtnWide, + continueBtn, + continueBtn, QRect(1641, 558, 210, 313), QRect(1662, 528, 184, 108), - continueBtnWide, + continueBtn, QRect(1814, 621, 211, 170), QRect(1350, 0, 497, 755), - QRect(1553, 516, 406, 112), + QRect(1540, 386, 468, 238), QRect(112, 804, 1126, 164), QRect(1598, 199, 316, 333), - continueBtnWide, + continueBtn, QRect(1364, 90, 796, 990), - continueBtnWide, + continueBtn, QRect(1593, 114, 318, 853), QRect(1379, 511, 391, 243), - continueBtnWide, - continueBtnWide, + continueBtn, + continueBtn, QRect(630, 804, 626, 164), QRect(108, 804, 426, 164), }; const QString img_path = "../assets/training/"; - QVector boundingRect; QElapsedTimer click_timer; signals: diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index fd14ed15e2..94a673dd71 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -8,10 +8,6 @@ #include "selfdrive/ui/qt/offroad/networking.h" -#ifdef ENABLE_MAPS -#include "selfdrive/ui/qt/maps/map_settings.h" -#endif - #include "common/params.h" #include "common/watchdog.h" #include "common/util.h" @@ -27,7 +23,7 @@ #include "selfdrive/ui/qt/widgets/input.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { - // param, title, desc, icon, confirm + // param, title, desc, icon std::vector> toggle_defs{ { "OpenpilotEnabledToggle", @@ -35,12 +31,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), "../assets/offroad/icon_openpilot.png", }, - { - "ExperimentalMode", - tr("Experimental Mode"), - "", - "../assets/img_experimental_white.svg", - }, { "ExperimentalLongitudinalEnabled", tr("openpilot Longitudinal Control (Alpha)"), @@ -49,18 +39,24 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), "../assets/offroad/icon_speed_limit.png", }, + { + "ExperimentalMode", + tr("Experimental Mode"), + "", + "../assets/img_experimental_white.svg", + }, + { + "DisengageOnAccelerator", + tr("Disengage on Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), + "../assets/offroad/icon_disengage_on_accelerator.svg", + }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), "../assets/offroad/icon_warning.png", }, - { - "IsMetric", - tr("Use Metric System"), - tr("Display speed in km/h instead of mph."), - "../assets/offroad/icon_metric.png", - }, { "RecordFront", tr("Record and Upload Driver Camera"), @@ -68,10 +64,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_monitoring.png", }, { - "DisengageOnAccelerator", - tr("Disengage on Accelerator Pedal"), - tr("When enabled, pressing the accelerator pedal will disengage openpilot."), - "../assets/offroad/icon_disengage_on_accelerator.svg", + "IsMetric", + tr("Use Metric System"), + tr("Display speed in km/h instead of mph."), + "../assets/offroad/icon_metric.png", }, #ifdef ENABLE_MAPS { @@ -89,6 +85,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { #endif }; + + std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; + long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), + tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."), + "../assets/offroad/icon_speed_limit.png", + longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -97,6 +99,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { addItem(toggle); toggles[param.toStdString()] = toggle; + + // insert longitudinal personality after NDOG toggle + if (param == "DisengageOnAccelerator") { + addItem(long_personality_setting); + } } // Toggles with confirmation dialogs @@ -118,19 +125,26 @@ void TogglesPanel::showEvent(QShowEvent *event) { } void TogglesPanel::updateToggles() { - auto e2e_toggle = toggles["ExperimentalMode"]; + auto experimental_mode_toggle = toggles["ExperimentalMode"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; const QString e2e_description = QString("%1
" "

%2


" "%3
" "

%4


" - "%5") + "%5
" + "

%6


" + "%7") .arg(tr("openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:")) - .arg(tr("🌮 End-to-End Longitudinal Control 🌮")) + .arg(tr("End-to-End Longitudinal Control" )) .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " - "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.")) + "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.")) + .arg(tr("Navigate on openpilot")) + .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. " + "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. " + "These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.")) .arg(tr("New Driving Visualization")) - .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.")); + .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. " + "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.")); const bool is_release = params.getBool("IsReleaseBranch"); auto cp_bytes = params.get("CarParamsPersistent"); @@ -143,16 +157,15 @@ void TogglesPanel::updateToggles() { params.remove("ExperimentalLongitudinalEnabled"); } op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release); - - const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable(); - const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled"); - if (op_long || exp_long_enabled) { + if (hasLongitudinalControl(CP)) { // normal description and toggle - e2e_toggle->setEnabled(true); - e2e_toggle->setDescription(e2e_description); + experimental_mode_toggle->setEnabled(true); + experimental_mode_toggle->setDescription(e2e_description); + long_personality_setting->setEnabled(true); } else { // no long for now - e2e_toggle->setEnabled(false); + experimental_mode_toggle->setEnabled(false); + long_personality_setting->setEnabled(false); params.remove("ExperimentalMode"); const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."); @@ -161,17 +174,17 @@ void TogglesPanel::updateToggles() { tr("openpilot longitudinal control may come in a future update."); if (CP.getExperimentalLongitudinalAvailable()) { if (is_release) { - long_desc = unavailable + " " + tr("An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); + long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); } else { - long_desc = tr("Enable experimental longitudinal control to allow Experimental mode."); + long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."); } } - e2e_toggle->setDescription("" + long_desc + "

" + e2e_description); + experimental_mode_toggle->setDescription("" + long_desc + "

" + e2e_description); } - e2e_toggle->refresh(); + experimental_mode_toggle->refresh(); } else { - e2e_toggle->setDescription(e2e_description); + experimental_mode_toggle->setDescription(e2e_description); op_long_toggle->setVisible(false); } } @@ -223,7 +236,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this); if (!selection.isEmpty()) { // put language setting, exit Qt UI, and trigger fast restart - Params().put("LanguageSetting", langs[selection].toStdString()); + params.put("LanguageSetting", langs[selection].toStdString()); qApp->exit(18); watchdog_kick(0); } @@ -267,13 +280,13 @@ void DevicePanel::updateCalibDescription() { QString desc = tr("openpilot requires the device to be mounted within 4° left or right and " "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."); - std::string calib_bytes = Params().get("CalibrationParams"); + std::string calib_bytes = params.get("CalibrationParams"); if (!calib_bytes.empty()) { try { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size())); auto calib = cmsg.getRoot().getLiveCalibration(); - if (calib.getCalStatus() != 0) { + if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); desc += tr(" Your device is pointed %1° %2 and %3° %4.") @@ -292,7 +305,7 @@ void DevicePanel::reboot() { if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { - Params().putBool("DoReboot", true); + params.putBool("DoReboot", true); } } } else { @@ -305,7 +318,7 @@ void DevicePanel::poweroff() { if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { - Params().putBool("DoShutdown", true); + params.putBool("DoShutdown", true); } } } else { @@ -343,7 +356,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton { font-size: 140px; padding-bottom: 20px; - font-weight: bold; border 1px grey solid; border-radius: 100px; background-color: #292929; @@ -373,28 +385,18 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { {tr("Software"), new SoftwarePanel(this)}, }; -#ifdef ENABLE_MAPS - auto map_panel = new MapPanel(this); - panels.push_back({tr("Navigation"), map_panel}); - QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); -#endif - - const int padding = panels.size() > 3 ? 25 : 35; - nav_btns = new QButtonGroup(this); for (auto &[name, panel] : panels) { QPushButton *btn = new QPushButton(name); btn->setCheckable(true); btn->setChecked(nav_btns->buttons().size() == 0); - btn->setStyleSheet(QString(R"( + btn->setStyleSheet(R"( QPushButton { color: grey; border: none; background: none; font-size: 65px; font-weight: 500; - padding-top: %1px; - padding-bottom: %1px; } QPushButton:checked { color: white; @@ -402,8 +404,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton:pressed { color: #ADADAD; } - )").arg(padding)); - + )"); + btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); nav_btns->addButton(btn); sidebar_layout->addWidget(btn, 0, Qt::AlignRight); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index c63be4e138..edba5be800 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -1,7 +1,6 @@ #pragma once #include -#include #include #include #include @@ -9,6 +8,7 @@ #include +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" // ********** settings window + top-level panels ********** @@ -64,6 +64,7 @@ public slots: private: Params params; std::map toggles; + ButtonParamControl *long_personality_setting; void updateToggles(); }; @@ -87,5 +88,5 @@ private: ButtonControl *targetBranchBtn; Params params; - QFileSystemWatcher *fs_watch; + ParamWatcher *fs_watch; }; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 6db6a6cdfe..15c022db9a 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -83,8 +83,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { }); addItem(uninstallBtn); - fs_watch = new QFileSystemWatcher(this); - QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { + fs_watch = new ParamWatcher(this); + QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { updateLabels(); }); @@ -105,10 +105,10 @@ void SoftwarePanel::showEvent(QShowEvent *event) { void SoftwarePanel::updateLabels() { // add these back in case the files got removed - fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); - fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); - fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdaterState"))); - fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateAvailable"))); + fs_watch->addParam("LastUpdateTime"); + fs_watch->addParam("UpdateFailedCount"); + fs_watch->addParam("UpdaterState"); + fs_watch->addParam("UpdateAvailable"); if (!isVisible()) { return; @@ -126,19 +126,19 @@ void SoftwarePanel::updateLabels() { downloadBtn->setValue(updater_state); } else { if (failed) { - downloadBtn->setText("CHECK"); - downloadBtn->setValue("failed to check for update"); + downloadBtn->setText(tr("CHECK")); + downloadBtn->setValue(tr("failed to check for update")); } else if (params.getBool("UpdaterFetchAvailable")) { - downloadBtn->setText("DOWNLOAD"); - downloadBtn->setValue("update available"); + downloadBtn->setText(tr("DOWNLOAD")); + downloadBtn->setValue(tr("update available")); } else { - QString lastUpdate = "never"; + QString lastUpdate = tr("never"); auto tm = params.get("LastUpdateTime"); if (!tm.empty()) { lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); } - downloadBtn->setText("CHECK"); - downloadBtn->setValue("up to date, last checked " + lastUpdate); + downloadBtn->setText(tr("CHECK")); + downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate)); } downloadBtn->setEnabled(true); } diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index fde8645586..e233139708 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -8,11 +8,8 @@ #include "selfdrive/ui/qt/util.h" bool compare_by_strength(const Network &a, const Network &b) { - if (a.connected == ConnectedType::CONNECTED) return true; - if (b.connected == ConnectedType::CONNECTED) return false; - if (a.connected == ConnectedType::CONNECTING) return true; - if (b.connected == ConnectedType::CONNECTING) return false; - return a.strength > b.strength; + return std::tuple(a.connected, strengthLevel(a.strength), b.ssid) > + std::tuple(b.connected, strengthLevel(b.strength), a.ssid); } template @@ -415,7 +412,7 @@ void WifiManager::addTetheringConnection() { } void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) { - int prime_type = uiState()->prime_type; + int prime_type = uiState()->primeType(); int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE); if (!ipv4_forward) { diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h index 01f9cd6b65..244a3cec4a 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/offroad/wifiManager.h @@ -33,6 +33,7 @@ struct Network { SecurityType security_type; }; bool compare_by_strength(const Network &a, const Network &b); +inline int strengthLevel(unsigned int strength) { return std::clamp((int)round(strength / 33.), 0, 3); } class WifiManager : public QObject { Q_OBJECT @@ -71,9 +72,7 @@ private: QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI); uint getAdapterType(const QDBusObjectPath &path); - bool isWirelessAdapter(const QDBusObjectPath &path); QString getIp4Address(); - void connect(const QByteArray &ssid, const QString &username, const QString &password, SecurityType security_type); void deactivateConnectionBySsid(const QString &ssid); void deactivateConnection(const QDBusObjectPath &path); QVector getActiveConnections(); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 009798a569..7c070d2adf 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -3,17 +3,29 @@ #include #include +#include #include "common/timing.h" #include "selfdrive/ui/qt/util.h" #ifdef ENABLE_MAPS -#include "selfdrive/ui/qt/maps/map.h" #include "selfdrive/ui/qt/maps/map_helpers.h" +#include "selfdrive/ui/qt/maps/map_panel.h" #endif +static void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity) { + p.setRenderHint(QPainter::Antialiasing); + p.setOpacity(1.0); // bg dictates opacity of ellipse + p.setPen(Qt::NoPen); + p.setBrush(bg); + p.drawEllipse(center, btn_size / 2, btn_size / 2); + p.setOpacity(opacity); + p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img); + p.setOpacity(1.0); +} + OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setMargin(bdr_s); + main_layout->setMargin(UI_BORDER_SIZE); QStackedLayout *stacked_layout = new QStackedLayout; stacked_layout->setStackingMode(QStackedLayout::StackAll); main_layout->addLayout(stacked_layout); @@ -51,16 +63,13 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { } void OnroadWindow::updateState(const UIState &s) { + if (!s.scene.started) { + return; + } + QColor bgColor = bg_colors[s.status]; Alert alert = Alert::get(*(s.sm), s.scene.started_frame); - if (s.sm->updated("controlsState") || !alert.equal({})) { - if (alert.type == "controlsUnresponsive") { - bgColor = bg_colors[STATUS_ALERT]; - } else if (alert.type == "controlsUnresponsivePermanent") { - bgColor = bg_colors[STATUS_DISENGAGED]; - } - alerts->updateAlert(alert, bgColor); - } + alerts->updateAlert(alert); if (s.scene.map_on_left) { split->setDirection(QBoxLayout::LeftToRight); @@ -78,10 +87,14 @@ void OnroadWindow::updateState(const UIState &s) { } void OnroadWindow::mousePressEvent(QMouseEvent* e) { +#ifdef ENABLE_MAPS if (map != nullptr) { + // Switch between map and sidebar when using navigate on openpilot bool sidebarVisible = geometry().x() > 0; - map->setVisible(!sidebarVisible && !map->isVisible()); + bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible; + map->setVisible(show_map && !map->isVisible()); } +#endif // propagation event to parent(HomeWindow) QWidget::mousePressEvent(e); } @@ -89,22 +102,24 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { void OnroadWindow::offroadTransition(bool offroad) { #ifdef ENABLE_MAPS if (!offroad) { - if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) { - MapWindow * m = new MapWindow(get_mapbox_settings()); + if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) { + auto m = new MapPanel(get_mapbox_settings()); map = m; - QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition); + QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested); + QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings); + nvg->map_settings_btn->setEnabled(true); - m->setFixedWidth(topWidget(this)->width() / 2); + m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE); split->insertWidget(0, m); - // Make map visible after adding to split - m->offroadTransition(offroad); + // hidden by default, made visible when navRoute is published + m->setVisible(false); } } #endif - alerts->updateAlert({}, bg); + alerts->updateAlert({}); } void OnroadWindow::paintEvent(QPaintEvent *event) { @@ -115,10 +130,9 @@ void OnroadWindow::paintEvent(QPaintEvent *event) { // ***** onroad widgets ***** // OnroadAlerts -void OnroadAlerts::updateAlert(const Alert &a, const QColor &color) { - if (!alert.equal(a) || color != bg) { +void OnroadAlerts::updateAlert(const Alert &a) { + if (!alert.equal(a)) { alert = a; - bg = color; update(); } } @@ -127,22 +141,28 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { if (alert.size == cereal::ControlsState::AlertSize::NONE) { return; } - static std::map alert_sizes = { + static std::map alert_heights = { {cereal::ControlsState::AlertSize::SMALL, 271}, {cereal::ControlsState::AlertSize::MID, 420}, {cereal::ControlsState::AlertSize::FULL, height()}, }; - int h = alert_sizes[alert.size]; - QRect r = QRect(0, height() - h, width(), h); + int h = alert_heights[alert.size]; + + int margin = 40; + int radius = 30; + if (alert.size == cereal::ControlsState::AlertSize::FULL) { + margin = 0; + radius = 0; + } + QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2); QPainter p(this); // draw background + gradient p.setPen(Qt::NoPen); p.setCompositionMode(QPainter::CompositionMode_SourceOver); - - p.setBrush(QBrush(bg)); - p.drawRect(r); + p.setBrush(QBrush(alert_colors[alert.status])); + p.drawRoundedRect(r, radius, radius); QLinearGradient g(0, r.y(), 0, r.bottom()); g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05)); @@ -150,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { p.setCompositionMode(QPainter::CompositionMode_DestinationOver); p.setBrush(QBrush(g)); - p.fillRect(r, g); + p.drawRoundedRect(r, radius, radius); p.setCompositionMode(QPainter::CompositionMode_SourceOver); // text @@ -158,79 +178,87 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { p.setPen(QColor(0xff, 0xff, 0xff)); p.setRenderHint(QPainter::TextAntialiasing); if (alert.size == cereal::ControlsState::AlertSize::SMALL) { - configFont(p, "Inter", 74, "SemiBold"); + p.setFont(InterFont(74, QFont::DemiBold)); p.drawText(r, Qt::AlignCenter, alert.text1); } else if (alert.size == cereal::ControlsState::AlertSize::MID) { - configFont(p, "Inter", 88, "Bold"); + p.setFont(InterFont(88, QFont::Bold)); p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1); - configFont(p, "Inter", 66, "Regular"); + p.setFont(InterFont(66)); p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2); } else if (alert.size == cereal::ControlsState::AlertSize::FULL) { bool l = alert.text1.length() > 15; - configFont(p, "Inter", l ? 132 : 177, "Bold"); + p.setFont(InterFont(l ? 132 : 177, QFont::Bold)); p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1); - configFont(p, "Inter", 88, "Regular"); + p.setFont(InterFont(88)); p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2); } } - -ExperimentalButton::ExperimentalButton(QWidget *parent) : QPushButton(parent) { - setVisible(false); +// ExperimentalButton +ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) { setFixedSize(btn_size, btn_size); - setCheckable(true); params = Params(); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size}); + QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode); +} - QObject::connect(this, &QPushButton::toggled, [=](bool checked) { - params.putBool("ExperimentalMode", checked); - }); +void ExperimentalButton::changeMode() { + const auto cp = (*uiState()->sm)["carParams"].getCarParams(); + bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed"); + if (can_change) { + params.putBool("ExperimentalMode", !experimental_mode); + } } void ExperimentalButton::updateState(const UIState &s) { - const SubMaster &sm = *(s.sm); - - // button is "visible" if engageable or enabled - const auto cs = sm["controlsState"].getControlsState(); - setVisible(cs.getEngageable() || cs.getEnabled()); - - // button is "checked" if experimental mode is enabled - setChecked(sm["controlsState"].getControlsState().getExperimentalMode()); - - // disable button when experimental mode is not available, or has not been confirmed for the first time - const auto cp = sm["carParams"].getCarParams(); - const bool experimental_mode_available = cp.getExperimentalLongitudinalAvailable() ? params.getBool("ExperimentalLongitudinalEnabled") : cp.getOpenpilotLongitudinalControl(); - setEnabled(params.getBool("ExperimentalModeConfirmed") && experimental_mode_available); + const auto cs = (*s.sm)["controlsState"].getControlsState(); + bool eng = cs.getEngageable() || cs.getEnabled(); + if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) { + engageable = eng; + experimental_mode = cs.getExperimentalMode(); + update(); + } } void ExperimentalButton::paintEvent(QPaintEvent *event) { QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - - QPoint center(btn_size / 2, btn_size / 2); - QPixmap img = isChecked() ? experimental_img : engage_img; - - p.setOpacity(1.0); - p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 166)); - p.drawEllipse(center, btn_size / 2, btn_size / 2); - p.setOpacity(isDown() ? 0.8 : 1.0); - p.drawPixmap((btn_size - img_size) / 2, (btn_size - img_size) / 2, img); + QPixmap img = experimental_mode ? experimental_img : engage_img; + drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0); } +// MapSettingsButton +MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) { + setFixedSize(btn_size, btn_size); + settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size}); + + // hidden by default, made visible if map is created (has prime or mapbox token) + setVisible(false); + setEnabled(false); +} + +void MapSettingsButton::paintEvent(QPaintEvent *event) { + QPainter p(this); + drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0); +} + + +// Window that shows camera view and variety of info drawn on top AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setMargin(bdr_s); + main_layout = new QVBoxLayout(this); + main_layout->setMargin(UI_BORDER_SIZE); main_layout->setSpacing(0); experimental_btn = new ExperimentalButton(this); main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight); + map_settings_btn = new MapSettingsButton(this); + main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight); + dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5}); } @@ -242,6 +270,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); const auto cs = sm["controlsState"].getControlsState(); + const auto car_state = sm["carState"].getCarState(); + const auto nav_instruction = sm["navInstruction"].getNavInstruction(); // Handle older routes where vCruiseCluster is not set float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); @@ -253,17 +283,17 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { // Handle older routes where vEgoCluster is not set float v_ego; - if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) { - v_ego = sm["carState"].getCarState().getVEgo(); + if (car_state.getVEgoCluster() == 0.0 && !v_ego_cluster_seen) { + v_ego = car_state.getVEgo(); } else { - v_ego = sm["carState"].getCarState().getVEgoCluster(); + v_ego = car_state.getVEgoCluster(); v_ego_cluster_seen = true; } float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; - auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); - float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0; + auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); + float speed_limit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); setProperty("speedLimit", speed_limit); @@ -275,194 +305,132 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("speed", cur_speed); setProperty("setSpeed", set_speed); setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); - setProperty("hideDM", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); + setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); setProperty("status", s.status); // update engageability/experimental mode button experimental_btn->updateState(s); - // update DM icons at 2Hz - if (sm.frame % (UI_FREQ / 2) == 0) { - setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); - setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); - } - + // update DM icon + auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); + setProperty("dmActive", dm_state.getIsActiveMode()); + setProperty("rightHandDM", dm_state.getIsRHD()); // DM icon transition - dm_fade_state = fmax(0.0, fmin(1.0, dm_fade_state+0.2*(0.5-(float)(dmActive)))); + dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); + + // hide map settings button for alerts and flip for right hand DM + if (map_settings_btn->isEnabled()) { + map_settings_btn->setVisible(!hideBottomIcons); + main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); + } } void AnnotatedCameraWidget::drawHud(QPainter &p) { p.save(); // Header gradient - QLinearGradient bg(0, header_h - (header_h / 2.5), 0, header_h); + QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT); bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45)); bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); - p.fillRect(0, 0, width(), header_h, bg); + p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg); QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–"; QString speedStr = QString::number(std::nearbyint(speed)); QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; // Draw outer box + border to contain set speed and speed limit - int default_rect_width = 172; - int rect_width = default_rect_width; - if (is_metric || has_eu_speed_limit) rect_width = 200; - if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223; + const int sign_margin = 12; + const int us_sign_height = 186; + const int eu_sign_size = 176; - int rect_height = 204; - if (has_us_speed_limit) rect_height = 402; - else if (has_eu_speed_limit) rect_height = 392; + const QSize default_size = {172, 204}; + QSize set_speed_size = default_size; + if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200; + if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223; + + if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin; + else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin; int top_radius = 32; int bottom_radius = has_eu_speed_limit ? 100 : 32; - QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height); + QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); p.setPen(QPen(whiteColor(75), 6)); p.setBrush(blackColor(166)); drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius); // Draw MAX + QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff); + QColor set_speed_color = whiteColor(); if (is_cruise_set) { if (status == STATUS_DISENGAGED) { - p.setPen(whiteColor()); + max_color = whiteColor(); } else if (status == STATUS_OVERRIDE) { - p.setPen(QColor(0x91, 0x9b, 0x95, 0xff)); + max_color = QColor(0x91, 0x9b, 0x95, 0xff); } else if (speedLimit > 0) { - p.setPen(interpColor( - setSpeed, - {speedLimit + 5, speedLimit + 15, speedLimit + 25}, - {QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)} - )); - } else { - p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff)); + auto interp_color = [=](QColor c1, QColor c2, QColor c3) { + return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1; + }; + max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf)); + set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00)); } } else { - p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff)); + max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); + set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); } - configFont(p, "Inter", 40, "SemiBold"); - QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX")); - max_rect.moveCenter({set_speed_rect.center().x(), 0}); - max_rect.moveTop(set_speed_rect.top() + 27); - p.drawText(max_rect, Qt::AlignCenter, tr("MAX")); - - // Draw set speed - if (is_cruise_set) { - if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) { - p.setPen(interpColor( - setSpeed, - {speedLimit + 5, speedLimit + 15, speedLimit + 25}, - {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)} - )); - } else { - p.setPen(whiteColor()); - } - } else { - p.setPen(QColor(0x72, 0x72, 0x72, 0xff)); - } - configFont(p, "Inter", 90, "Bold"); - QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr); - speed_rect.moveCenter({set_speed_rect.center().x(), 0}); - speed_rect.moveTop(set_speed_rect.top() + 77); - p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr); - - + p.setFont(InterFont(40, QFont::DemiBold)); + p.setPen(max_color); + p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); + p.setFont(InterFont(90, QFont::Bold)); + p.setPen(set_speed_color); + p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); + const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin); // US/Canada (MUTCD style) sign if (has_us_speed_limit) { - const int border_width = 6; - const int sign_width = rect_width - 24; - const int sign_height = 186; - - // White outer square - QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height); p.setPen(Qt::NoPen); p.setBrush(whiteColor()); - p.drawRoundedRect(sign_rect_outer, 24, 24); + p.drawRoundedRect(sign_rect, 24, 24); + p.setPen(QPen(blackColor(), 6)); + p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16); - // Smaller white square with black border - QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width); - p.setPen(QPen(blackColor(), border_width)); - p.setBrush(whiteColor()); - p.drawRoundedRect(sign_rect, 16, 16); - - // "SPEED" - configFont(p, "Inter", 28, "SemiBold"); - QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED")); - text_speed_rect.moveCenter({sign_rect.center().x(), 0}); - text_speed_rect.moveTop(sign_rect_outer.top() + 22); - p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED")); - - // "LIMIT" - QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT")); - text_limit_rect.moveCenter({sign_rect.center().x(), 0}); - text_limit_rect.moveTop(sign_rect_outer.top() + 51); - p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT")); - - // Speed limit value - configFont(p, "Inter", 70, "Bold"); - QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); - speed_limit_rect.moveCenter({sign_rect.center().x(), 0}); - speed_limit_rect.moveTop(sign_rect_outer.top() + 85); - p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr); + p.setFont(InterFont(28, QFont::DemiBold)); + p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED")); + p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); + p.setFont(InterFont(70, QFont::Bold)); + p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); } // EU (Vienna style) sign if (has_eu_speed_limit) { - int outer_radius = 176 / 2; - int inner_radius_1 = outer_radius - 6; // White outer border - int inner_radius_2 = inner_radius_1 - 20; // Red circle - - // Draw white circle with red border - QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius); p.setPen(Qt::NoPen); p.setBrush(whiteColor()); - p.drawEllipse(center, outer_radius, outer_radius); - p.setBrush(QColor(255, 0, 0, 255)); - p.drawEllipse(center, inner_radius_1, inner_radius_1); - p.setBrush(whiteColor()); - p.drawEllipse(center, inner_radius_2, inner_radius_2); + p.drawEllipse(sign_rect); + p.setPen(QPen(Qt::red, 20)); + p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16)); - // Speed limit value - int font_size = (speedLimitStr.size() >= 3) ? 60 : 70; - configFont(p, "Inter", font_size, "Bold"); - QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); - speed_limit_rect.moveCenter(center); + p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); p.setPen(blackColor()); - p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr); + p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr); } // current speed - configFont(p, "Inter", 176, "Bold"); + p.setFont(InterFont(176, QFont::Bold)); drawText(p, rect().center().x(), 210, speedStr); - configFont(p, "Inter", 66, "Regular"); + p.setFont(InterFont(66)); drawText(p, rect().center().x(), 290, speedUnit, 200); p.restore(); } - -// Window that shows camera view and variety of -// info drawn on top - void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { - QRect real_rect = getTextRect(p, 0, text); + QRect real_rect = p.fontMetrics().boundingRect(text); real_rect.moveCenter({x, y - real_rect.height() / 2}); p.setPen(QColor(0xff, 0xff, 0xff, alpha)); p.drawText(real_rect.x(), real_rect.bottom(), text); } -void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { - p.setOpacity(1.0); // bg dictates opacity of ellipse - p.setPen(Qt::NoPen); - p.setBrush(bg); - p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); - p.setOpacity(opacity); - p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img); -} - - void AnnotatedCameraWidget::initializeGL() { CameraWidget::initializeGL(); qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION)); @@ -511,24 +479,34 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { } // paint path - QLinearGradient bg(0, height(), 0, height() / 4); - float start_hue, end_hue; + QLinearGradient bg(0, height(), 0, 0); if (sm["controlsState"].getControlsState().getExperimentalMode()) { - const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration(); - float acceleration_future = 0; - if (acceleration.getZ().size() > 16) { - acceleration_future = acceleration.getX()[16]; // 2.5 seconds + // The first half of track_vertices are the points for the right side of the path + // and the indices match the positions of accel from uiPlan + const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel(); + const int max_len = std::min(scene.track_vertices.length() / 2, acceleration.size()); + + for (int i = 0; i < max_len; ++i) { + // Some points are out of frame + if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue; + + // Flip so 0 is bottom of frame + float lin_grad_point = (height() - scene.track_vertices[i].y()) / height(); + + // speed up: 120, slow down: 0 + float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); + // FIXME: painter.drawPolygon can be slow if hue is not rounded + path_hue = int(path_hue * 100 + 0.5) / 100; + + float saturation = fmin(fabs(acceleration[i] * 1.5), 1); + float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey + float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade + bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); + + // Skip a point, unless next is last + i += (i + 2) < max_len ? 1 : 0; } - start_hue = 60; - // speed up: 120, slow down: 0 - end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0); - // FIXME: painter.drawPolygon can be slow if hue is not rounded - end_hue = int(end_hue * 100 + 0.5) / 100; - - bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); - bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); } else { bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); @@ -547,16 +525,11 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) painter.save(); // base icon - int x = rightHandDM ? rect().right() - (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2); - int y = rect().bottom() - footer_h / 2; + int offset = UI_BORDER_SIZE + btn_size / 2; + int x = rightHandDM ? width() - offset : offset; + int y = height() - offset; float opacity = dmActive ? 0.65 : 0.2; - drawIcon(painter, x, y, dm_img, blackColor(0), opacity); - - // circle background - painter.setOpacity(1.0); - painter.setPen(Qt::NoPen); - painter.setBrush(blackColor(70)); - painter.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); + drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity); // face QPointF face_kpts_draw[std::size(default_face_kpts_3d)]; @@ -679,9 +652,9 @@ void AnnotatedCameraWidget::paintGL() { if (s->worldObjectsVisible()) { if (sm.rcv_frame("modelV2") > s->scene.started_frame) { - update_model(s, sm["modelV2"].getModelV2(), sm["uiPlan"].getUiPlan()); + update_model(s, model, sm["uiPlan"].getUiPlan()); if (sm.rcv_frame("radarState") > s->scene.started_frame) { - update_leads(s, radar_state, sm["modelV2"].getModelV2().getPosition()); + update_leads(s, radar_state, model.getPosition()); } } @@ -700,7 +673,7 @@ void AnnotatedCameraWidget::paintGL() { } // DMoji - if (!hideDM && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) { + if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) { update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM); drawDriverState(painter, s); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 73c2a37892..778322ed08 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -19,7 +19,7 @@ class OnroadAlerts : public QWidget { public: OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}; - void updateAlert(const Alert &a, const QColor &color); + void updateAlert(const Alert &a); protected: void paintEvent(QPaintEvent*) override; @@ -38,10 +38,26 @@ public: private: void paintEvent(QPaintEvent *event) override; + void changeMode(); Params params; QPixmap engage_img; QPixmap experimental_img; + bool experimental_mode; + bool engageable; +}; + + +class MapSettingsButton : public QPushButton { + Q_OBJECT + +public: + explicit MapSettingsButton(QWidget *parent = 0); + +private: + void paintEvent(QPaintEvent *event) override; + + QPixmap settings_img; }; // container window for the NVG UI @@ -57,7 +73,7 @@ class AnnotatedCameraWidget : public CameraWidget { Q_PROPERTY(bool is_metric MEMBER is_metric); Q_PROPERTY(bool dmActive MEMBER dmActive); - Q_PROPERTY(bool hideDM MEMBER hideDM); + Q_PROPERTY(bool hideBottomIcons MEMBER hideBottomIcons); Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); Q_PROPERTY(int status MEMBER status); @@ -65,10 +81,12 @@ public: explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); void updateState(const UIState &s); + MapSettingsButton *map_settings_btn; + private: - void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity); void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); + QVBoxLayout *main_layout; ExperimentalButton *experimental_btn; QPixmap dm_img; float speed; @@ -78,7 +96,7 @@ private: bool is_cruise_set = false; bool is_metric = false; bool dmActive = false; - bool hideDM = false; + bool hideBottomIcons = false; bool rightHandDM = false; float dm_fade_state = 1.0; bool has_us_speed_limit = false; @@ -114,6 +132,10 @@ class OnroadWindow : public QWidget { public: OnroadWindow(QWidget* parent = 0); bool isMapVisible() const { return map && map->isVisible(); } + void showMapPanel(bool show) { if (map) map->setVisible(show); } + +signals: + void mapPanelRequested(); private: void paintEvent(QPaintEvent *event); diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc index d630b560bb..f71cea04e9 100644 --- a/selfdrive/ui/qt/qt_window.cc +++ b/selfdrive/ui/qt/qt_window.cc @@ -1,15 +1,15 @@ #include "selfdrive/ui/qt/qt_window.h" void setMainWindow(QWidget *w) { + const float scale = util::getenv("SCALE", 1.0f); const QSize sz = QGuiApplication::primaryScreen()->size(); - if (Hardware::PC() && sz.width() <= 1920 && sz.height() <= 1080 && getenv("SCALE") == nullptr) { + + if (Hardware::PC() && scale == 1.0 && !(sz - DEVICE_SCREEN_SIZE).isValid()) { w->setMinimumSize(QSize(640, 480)); // allow resize smaller than fullscreen - w->setMaximumSize(QSize(2160, 1080)); + w->setMaximumSize(DEVICE_SCREEN_SIZE); w->resize(sz); } else { - const float scale = util::getenv("SCALE", 1.0f); - const bool wide = (sz.width() >= WIDE_WIDTH) ^ (getenv("INVERT_WIDTH") != NULL); - w->setFixedSize(QSize(wide ? WIDE_WIDTH : 1920, 1080) * scale); + w->setFixedSize(DEVICE_SCREEN_SIZE * scale); } w->show(); @@ -19,6 +19,10 @@ void setMainWindow(QWidget *w) { wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270); wl_surface_commit(s); w->showFullScreen(); + + // ensure we have a valid eglDisplay, otherwise the ui will silently fail + void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle()); + assert(egl != nullptr); #endif } diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h index 02d127e7ff..6f16e00957 100644 --- a/selfdrive/ui/qt/qt_window.h +++ b/selfdrive/ui/qt/qt_window.h @@ -15,7 +15,6 @@ #include "system/hardware/hw.h" const QString ASSET_PATH = ":/"; - -const int WIDE_WIDTH = 2160; +const QSize DEVICE_SCREEN_SIZE = {2160, 1080}; void setMainWindow(QWidget *w); diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc index fa37c015f7..7aa731898c 100644 --- a/selfdrive/ui/qt/request_repeater.cc +++ b/selfdrive/ui/qt/request_repeater.cc @@ -5,7 +5,7 @@ RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, con timer = new QTimer(this); timer->setTimerType(Qt::VeryCoarseTimer); QObject::connect(timer, &QTimer::timeout, [=]() { - if ((!uiState()->scene.started || while_onroad) && uiState()->awake && !active()) { + if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) { sendRequest(requestURL); } }); diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index ccf9bf8053..7999dd640b 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -79,7 +79,14 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { #endif confirmBtn = new QPushButton(tr("Confirm")); - confirmBtn->setStyleSheet("background-color: #465BEA;"); + confirmBtn->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); @@ -111,6 +118,9 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { border-radius: 10px; background-color: #333333; } + QPushButton:pressed { + background-color: #444444; + } )"); } diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index fd7148c534..ae5f26c77e 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -46,7 +46,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid QPushButton *install = new QPushButton(tr("Install")); install->setObjectName("navBtn"); - install->setStyleSheet("background-color: #465BEA;"); + install->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); hlayout->addWidget(install); } @@ -124,6 +131,9 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid border-radius: 10px; background-color: #333333; } + QPushButton#navBtn:pressed { + background-color: #444444; + } QProgressBar { border: none; background-color: #292929; diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 212f195625..e952940056 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -20,16 +20,8 @@ void Sidebar::drawMetric(QPainter &p, const QPair &label, QCol p.drawRoundedRect(rect, 20, 20); p.setPen(QColor(0xff, 0xff, 0xff)); - configFont(p, "Inter", 35, "SemiBold"); - - QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first); - label_rect.setWidth(218); - label_rect.moveLeft(rect.left() + 22); - label_rect.moveTop(rect.top() + 19); - p.drawText(label_rect, Qt::AlignCenter, label.first); - - label_rect.moveTop(rect.top() + 65); - p.drawText(label_rect, Qt::AlignCenter, label.second); + p.setFont(InterFont(35, QFont::DemiBold)); + p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second); } Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) { @@ -92,7 +84,9 @@ void Sidebar::updateState(const UIState &s) { if (last_ping == 0) { connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; + connectStatus = nanos_since_boot() - last_ping < 80e9 + ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} + : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); @@ -137,7 +131,7 @@ void Sidebar::paintEvent(QPaintEvent *event) { x += 37; } - configFont(p, "Inter", 35, "Regular"); + p.setFont(InterFont(35)); p.setPen(QColor(0xff, 0xff, 0xff)); const QRect r = QRect(50, 247, 100, 50); p.drawText(r, Qt::AlignCenter, net_type); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 2e222f5956..3804aacd78 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -11,7 +12,6 @@ #include #include -#include "common/params.h" #include "common/swaglog.h" #include "system/hardware/hw.h" @@ -51,25 +51,6 @@ QMap getSupportedLanguages() { return map; } -void configFont(QPainter &p, const QString &family, int size, const QString &style) { - QFont f(family); - f.setPixelSize(size); - f.setStyleName(style); - p.setFont(f); -} - -void clearLayout(QLayout* layout) { - while (QLayoutItem* item = layout->takeAt(0)) { - if (QWidget* widget = item->widget()) { - widget->deleteLater(); - } - if (QLayout* childLayout = item->layout()) { - clearLayout(childLayout); - } - delete item; - } -} - QString timeAgo(const QDateTime &date) { int diff = date.secsTo(QDateTime::currentDateTimeUtc()); @@ -102,6 +83,7 @@ void setQtSurfaceFormat() { fmt.setRenderableType(QSurfaceFormat::OpenGLES); #endif fmt.setSamples(16); + fmt.setStencilBufferSize(1); QSurfaceFormat::setDefaultFormat(fmt); } @@ -161,12 +143,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo } } -QRect getTextRect(QPainter &p, int flags, const QString &text) { - QFontMetrics fm(p.font()); - QRect init_rect = fm.boundingRect(text); - return fm.boundingRect(init_rect, flags, text); -} - void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){ qreal w_2 = rect.width() / 2; qreal h_2 = rect.height() / 2; @@ -255,3 +231,35 @@ QPixmap bootstrapPixmap(const QString &id) { } return pixmap; } + +bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) { + // Using the experimental longitudinal toggle, returns whether longitudinal control + // will be active without needing a restart of openpilot + return car_params.getExperimentalLongitudinalAvailable() + ? Params().getBool("ExperimentalLongitudinalEnabled") + : car_params.getOpenpilotLongitudinalControl(); +} + +// ParamWatcher + +ParamWatcher::ParamWatcher(QObject *parent) : QObject(parent) { + watcher = new QFileSystemWatcher(this); + QObject::connect(watcher, &QFileSystemWatcher::fileChanged, this, &ParamWatcher::fileChanged); +} + +void ParamWatcher::fileChanged(const QString &path) { + auto param_name = QFileInfo(path).fileName(); + auto param_value = QString::fromStdString(params.get(param_name.toStdString())); + + auto it = params_hash.find(param_name); + bool content_changed = (it == params_hash.end()) || (it.value() != param_value); + params_hash[param_name] = param_value; + // emit signal when the content changes. + if (content_changed) { + emit paramChanged(param_name, param_value); + } +} + +void ParamWatcher::addParam(const QString ¶m_name) { + watcher->addPath(QString::fromStdString(params.getParamPath(param_name.toStdString()))); +} diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 5b66ec9fa4..2b1200a861 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -3,20 +3,22 @@ #include #include -#include +#include #include #include #include #include +#include "cereal/gen/cpp/car.capnp.h" +#include "common/params.h" + QString getVersion(); QString getBrand(); QString getUserAgent(); std::optional getDongleId(); QMap getSupportedLanguages(); -void configFont(QPainter &p, const QString &family, int size, const QString &style); -void clearLayout(QLayout* layout); void setQtSurfaceFormat(); +void sigTermHandler(int s); QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); void initApp(int argc, char *argv[], bool disable_hidpi = true); @@ -24,6 +26,31 @@ QWidget* topWidget (QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); QPixmap bootstrapPixmap(const QString &id); -QRect getTextRect(QPainter &p, int flags, const QString &text); void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom); QColor interpColor(float xv, std::vector xp, std::vector fp); +bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params); + +struct InterFont : public QFont { + InterFont(int pixel_size, QFont::Weight weight = QFont::Normal) : QFont("Inter") { + setPixelSize(pixel_size); + setWeight(weight); + } +}; + +class ParamWatcher : public QObject { + Q_OBJECT + +public: + ParamWatcher(QObject *parent); + void addParam(const QString ¶m_name); + +signals: + void paramChanged(const QString ¶m_name, const QString ¶m_value); + +private: + void fileChanged(const QString &path); + + QFileSystemWatcher *watcher; + QHash params_hash; + Params params; +}; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 016129c348..4da5b7b18e 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -209,10 +209,10 @@ void CameraWidget::updateFrameMat() { // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? if (active_stream_type == VISION_STREAM_WIDE_ROAD) { - intrinsic_matrix = ecam_intrinsic_matrix; + intrinsic_matrix = ECAM_INTRINSIC_MATRIX; zoom = 2.0; } else { - intrinsic_matrix = fcam_intrinsic_matrix; + intrinsic_matrix = FCAM_INTRINSIC_MATRIX; zoom = 1.1; } const vec3 inf = {{1000., 0., 0.}}; diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 8a140e5290..67568ea55c 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -83,7 +83,7 @@ protected: float y_offset = 0; float zoom = 1.0; mat3 calibration = DEFAULT_CALIBRATION; - mat3 intrinsic_matrix = fcam_intrinsic_matrix; + mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; std::recursive_mutex frame_lock; std::deque> frames; diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 456cf748f4..e440bc6441 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -3,20 +3,6 @@ #include #include -QFrame *horizontal_line(QWidget *parent) { - QFrame *line = new QFrame(parent); - line->setFrameShape(QFrame::StyledPanel); - line->setStyleSheet(R"( - margin-left: 40px; - margin-right: 40px; - border-width: 1px; - border-bottom-style: solid; - border-color: gray; - )"); - line->setFixedHeight(2); - return line; -} - AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setMargin(0); @@ -127,19 +113,3 @@ void ElidedLabel::paintEvent(QPaintEvent *event) { opt.initFrom(this); style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole()); } - -ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { } - -void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) { - if (rect().contains(event->pos())) { - emit clicked(); - } -} - -// Fix stylesheets -void ClickableWidget::paintEvent(QPaintEvent *) { - QStyleOption opt; - opt.init(this); - QPainter p(this); - style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this); -} diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 770b9b92dd..fac66de9ed 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -10,8 +11,6 @@ #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/toggle.h" -QFrame *horizontal_line(QWidget *parent = nullptr); - class ElidedLabel : public QLabel { Q_OBJECT @@ -60,7 +59,7 @@ public: public slots: void showDescription() { description->setVisible(true); - }; + } signals: void showDescriptionEvent(); @@ -106,7 +105,7 @@ signals: void clicked(); public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); }; + void setEnabled(bool enabled) { btn.setEnabled(enabled); } private: QPushButton btn; @@ -163,7 +162,7 @@ public: void setConfirmation(bool _confirm, bool _store_confirm) { confirm = _confirm; store_confirm = _store_confirm; - }; + } void setActiveIcon(const QString &icon) { active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); @@ -175,11 +174,11 @@ public: toggle.togglePosition(); setIcon(state); } - }; + } void showEvent(QShowEvent *event) override { refresh(); - }; + } private: void setIcon(bool state) { @@ -188,7 +187,7 @@ private: } else if (!icon_pixmap.isNull()) { icon_label->setPixmap(icon_pixmap); } - }; + } std::string key; Params params; @@ -197,6 +196,65 @@ private: bool store_confirm = false; }; +class ButtonParamControl : public AbstractControl { + Q_OBJECT +public: + ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const std::vector &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) { + const QString style = R"( + QPushButton { + border-radius: 50px; + font-size: 40px; + font-weight: 500; + height:100px; + padding: 0 25 0 25; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:checked:enabled { + background-color: #33Ab4C; + } + QPushButton:disabled { + color: #33E4E4E4; + } + )"; + key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + + button_group = new QButtonGroup(this); + button_group->setExclusive(true); + for (int i = 0; i < button_texts.size(); i++) { + QPushButton *button = new QPushButton(button_texts[i], this); + button->setCheckable(true); + button->setChecked(i == value); + button->setStyleSheet(style); + button->setMinimumWidth(minimum_button_width); + hlayout->addWidget(button); + button_group->addButton(button, i); + } + + QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) { + if (checked) { + params.put(key, std::to_string(id)); + } + }); + } + + void setEnabled(bool enable) { + for (auto btn : button_group->buttons()) { + btn->setEnabled(enable); + } + } + +private: + std::string key; + Params params; + QButtonGroup *button_group; +}; + class ListWidget : public QWidget { Q_OBJECT public: @@ -236,19 +294,5 @@ class LayoutWidget : public QWidget { public: LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { setLayout(l); - }; -}; - -class ClickableWidget : public QWidget { - Q_OBJECT - -public: - ClickableWidget(QWidget *parent = nullptr); - -protected: - void mouseReleaseEvent(QMouseEvent *event) override; - void paintEvent(QPaintEvent *) override; - -signals: - void clicked(); + } }; diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 2026a70478..49fbdff222 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -71,10 +71,15 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s QPushButton* cancel_btn = new QPushButton(tr("Cancel")); cancel_btn->setFixedSize(386, 125); cancel_btn->setStyleSheet(R"( - font-size: 48px; - border-radius: 10px; - color: #E4E4E4; - background-color: #444444; + QPushButton { + font-size: 48px; + border-radius: 10px; + color: #E4E4E4; + background-color: #333333; + } + QPushButton:pressed { + background-color: #444444; + } )"); header_layout->addWidget(cancel_btn, 0, Qt::AlignRight); QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject); diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 1c59686535..162d27db02 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -59,7 +59,14 @@ KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vectorsetAutoRepeat(true); } else if (p == ENTER_KEY) { - btn->setStyleSheet("background-color: #465BEA;"); + btn->setStyleSheet(R"( + QPushButton { + background-color: #465BEA; + } + QPushButton:pressed { + background-color: #444444; + } + )"); } btn->setFixedHeight(135 + key_spacing_vertical); btn_group->addButton(btn); diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index ceb823fb2b..cdfa86c8eb 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -92,7 +92,11 @@ int OffroadAlert::refresh() { std::string bytes = params.get(key); if (bytes.size()) { auto doc_par = QJsonDocument::fromJson(bytes.c_str()); - text = doc_par["text"].toString(); + text = tr(doc_par["text"].toString().toUtf8().data()); + auto extra = doc_par["extra"].toString(); + if (!extra.isEmpty()) { + text = text.arg(extra); + } } label->setText(text); label->setVisible(!text.isEmpty()); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index da2f4e60d1..782b7cb5ce 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -14,6 +14,7 @@ #include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" +#include "selfdrive/ui/qt/widgets/wifi.h" using qrcodegen::QrCode; @@ -25,10 +26,12 @@ PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) { void PairingQRWidget::showEvent(QShowEvent *event) { refresh(); timer->start(5 * 60 * 1000); + device()->setOffroadBrightness(100); } void PairingQRWidget::hideEvent(QHideEvent *event) { timer->stop(); + device()->setOffroadBrightness(BACKLIGHT_OFFROAD); } void PairingQRWidget::refresh() { @@ -114,76 +117,33 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { } -PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { - mainLayout = new QVBoxLayout(this); - mainLayout->setMargin(0); +PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) { + QVBoxLayout *mainLayout = new QVBoxLayout(this); + mainLayout->setContentsMargins(0, 0, 0, 0); mainLayout->setSpacing(30); // subscribed prime layout QWidget *primeWidget = new QWidget; primeWidget->setObjectName("primeWidget"); QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget); - primeLayout->setMargin(0); - primeWidget->setContentsMargins(60, 50, 60, 50); + primeLayout->setContentsMargins(56, 40, 56, 40); + primeLayout->setSpacing(20); - QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED")); + QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); - primeLayout->addWidget(subscribed, 0, Qt::AlignTop); + primeLayout->addWidget(subscribed); - primeLayout->addSpacing(60); - - QLabel* commaPrime = new QLabel(tr("comma prime")); + QLabel *commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); - primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); - - primeLayout->addSpacing(20); - - QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); - connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); - primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); + primeLayout->addWidget(commaPrime); mainLayout->addWidget(primeWidget); - - // comma points layout - QWidget *pointsWidget = new QWidget; - pointsWidget->setObjectName("primeWidget"); - QVBoxLayout *pointsLayout = new QVBoxLayout(pointsWidget); - pointsLayout->setMargin(0); - pointsWidget->setContentsMargins(60, 50, 60, 50); - - QLabel* commaPoints = new QLabel(tr("COMMA POINTS")); - commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); - pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); - - points = new QLabel("0"); - points->setStyleSheet("font-size: 91px; font-weight: bold;"); - pointsLayout->addWidget(points, 0, Qt::AlignTop); - - mainLayout->addWidget(pointsWidget); - mainLayout->addStretch(); - - // set up API requests - if (auto dongleId = getDongleId()) { - QString url = CommaApi::BASE_URL + "/v1/devices/" + *dongleId + "/owner"; - RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_Owner", 6); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeUserWidget::replyFinished); - } } -void PrimeUserWidget::replyFinished(const QString &response) { - QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); - if (doc.isNull()) { - qDebug() << "JSON Parse failed on getting points"; - return; - } - - QJsonObject json = doc.object(); - points->setText(QString::number(json["points"].toInt())); -} PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(80, 90, 80, 60); main_layout->setSpacing(0); @@ -193,7 +153,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(50); QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai")); - description->setStyleSheet("font-size: 60px; font-weight: light; color: white;"); + description->setStyleSheet("font-size: 56px; font-weight: light; color: white;"); description->setWordWrap(true); main_layout->addWidget(description, 0, Qt::AlignTop); @@ -204,7 +164,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->addWidget(features, 0, Qt::AlignBottom); main_layout->addSpacing(30); - QVector bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")}; + QVector bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")}; for (auto &b: bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); @@ -227,33 +187,31 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { // Unpaired, registration prompt layout - QWidget* finishRegistration = new QWidget; + QFrame* finishRegistration = new QFrame; finishRegistration->setObjectName("primeWidget"); QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration); - finishRegistationLayout->setContentsMargins(30, 75, 30, 45); - finishRegistationLayout->setSpacing(0); + finishRegistationLayout->setSpacing(38); + finishRegistationLayout->setContentsMargins(64, 48, 64, 48); QLabel* registrationTitle = new QLabel(tr("Finish Setup")); - registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;"); + registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;"); finishRegistationLayout->addWidget(registrationTitle); - finishRegistationLayout->addSpacing(30); - QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); - registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;"); + registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); QPushButton* pair = new QPushButton(tr("Pair device")); - pair->setFixedHeight(220); pair->setStyleSheet(R"( QPushButton { font-size: 55px; - font-weight: 400; + font-weight: 500; border-radius: 10px; background-color: #465BEA; + padding: 64px; } QPushButton:pressed { background-color: #3049F4; @@ -271,15 +229,24 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { outer_layout->setContentsMargins(0, 0, 0, 0); outer_layout->addWidget(mainLayout); - primeAd = new PrimeAdWidget; - mainLayout->addWidget(primeAd); + QWidget *content = new QWidget; + QVBoxLayout *content_layout = new QVBoxLayout(content); + content_layout->setContentsMargins(0, 0, 0, 0); + content_layout->setSpacing(30); primeUser = new PrimeUserWidget; - mainLayout->addWidget(primeUser); + content_layout->addWidget(primeUser); - mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd); + WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget; + QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings); + content_layout->addWidget(wifi_prompt); + content_layout->addStretch(); + + mainLayout->addWidget(content); + + primeUser->setVisible(uiState()->primeType()); + mainLayout->setCurrentIndex(1); - setFixedWidth(750); setStyleSheet(R"( #primeWidget { border-radius: 10px; @@ -312,17 +279,14 @@ void SetupWidget::replyFinished(const QString &response, bool success) { QJsonObject json = doc.object(); int prime_type = json["prime_type"].toInt(); - uiState()->prime_type = prime_type; + uiState()->setPrimeType(prime_type); if (!json["is_paired"].toBool()) { mainLayout->setCurrentIndex(0); } else { popup->reject(); - if (prime_type) { - mainLayout->setCurrentWidget(primeUser); - } else { - mainLayout->setCurrentWidget(primeAd); - } + primeUser->setVisible(prime_type); + mainLayout->setCurrentIndex(1); } } diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index 0a1d93250d..b41bab1695 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -15,6 +15,7 @@ enum PrimeType { MAGENTA_NEW = 4, }; + // pairing QR code class PairingQRWidget : public QWidget { Q_OBJECT @@ -34,6 +35,7 @@ private slots: void refresh(); }; + // pairing popup widget class PairingPopup : public QDialogBase { Q_OBJECT @@ -42,18 +44,13 @@ public: explicit PairingPopup(QWidget* parent); }; + // widget for paired users with prime -class PrimeUserWidget : public QWidget { +class PrimeUserWidget : public QFrame { Q_OBJECT + public: explicit PrimeUserWidget(QWidget* parent = 0); - -private: - QVBoxLayout* mainLayout; - QLabel* points; - -private slots: - void replyFinished(const QString &response); }; @@ -64,6 +61,7 @@ public: explicit PrimeAdWidget(QWidget* parent = 0); }; + // container widget class SetupWidget : public QFrame { Q_OBJECT @@ -71,10 +69,12 @@ class SetupWidget : public QFrame { public: explicit SetupWidget(QWidget* parent = 0); +signals: + void openSettings(int index = 0, const QString ¶m = ""); + private: PairingPopup *popup; QStackedWidget *mainLayout; - PrimeAdWidget *primeAd; PrimeUserWidget *primeUser; private slots: diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc new file mode 100644 index 0000000000..ed5825ab77 --- /dev/null +++ b/selfdrive/ui/qt/widgets/wifi.cc @@ -0,0 +1,103 @@ +#include "selfdrive/ui/qt/widgets/wifi.h" + +#include +#include +#include +#include + +WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { + stack = new QStackedLayout(this); + + // Setup Wi-Fi + QFrame *setup = new QFrame; + QVBoxLayout *setup_layout = new QVBoxLayout(setup); + setup_layout->setContentsMargins(56, 40, 56, 40); + setup_layout->setSpacing(20); + { + QHBoxLayout *title_layout = new QHBoxLayout; + title_layout->setSpacing(32); + { + QLabel *icon = new QLabel; + QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg"); + icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + + QLabel *title = new QLabel(tr("Setup Wi-Fi")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title_layout->addWidget(title); + title_layout->addStretch(); + } + setup_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot")); + desc->setStyleSheet("font-size: 40px; font-weight: 400;"); + desc->setWordWrap(true); + setup_layout->addWidget(desc); + + QPushButton *settings_btn = new QPushButton(tr("Open Settings")); + connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); }); + settings_btn->setStyleSheet(R"( + QPushButton { + font-size: 48px; + font-weight: 500; + border-radius: 10px; + background-color: #465BEA; + padding: 32px; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); + setup_layout->addWidget(settings_btn); + } + stack->addWidget(setup); + + // Uploading data + QWidget *uploading = new QWidget; + QVBoxLayout *uploading_layout = new QVBoxLayout(uploading); + uploading_layout->setContentsMargins(64, 56, 64, 56); + uploading_layout->setSpacing(36); + { + QHBoxLayout *title_layout = new QHBoxLayout; + { + QLabel *title = new QLabel(tr("Ready to upload")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title->setWordWrap(true); + title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); + title_layout->addWidget(title); + title_layout->addStretch(); + + QLabel *icon = new QLabel; + QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg"); + icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + } + uploading_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Training data will be pulled periodically while your device is on Wi-Fi")); + desc->setStyleSheet("font-size: 48px; font-weight: 400;"); + desc->setWordWrap(true); + uploading_layout->addWidget(desc); + } + stack->addWidget(uploading); + + setStyleSheet(R"( + WiFiPromptWidget { + background-color: #333333; + border-radius: 10px; + } + )"); + + QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState); +} + +void WiFiPromptWidget::updateState(const UIState &s) { + if (!isVisible()) return; + + auto &sm = *(s.sm); + + auto network_type = sm["deviceState"].getDeviceState().getNetworkType(); + auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI || + network_type == cereal::DeviceState::NetworkType::ETHERNET; + stack->setCurrentIndex(uploading ? 1 : 0); +} diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h new file mode 100644 index 0000000000..60c865f2b8 --- /dev/null +++ b/selfdrive/ui/qt/widgets/wifi.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include +#include + +#include "selfdrive/ui/ui.h" + +class WiFiPromptWidget : public QFrame { + Q_OBJECT + +public: + explicit WiFiPromptWidget(QWidget* parent = 0); + +signals: + void openSettings(int index = 0, const QString ¶m = ""); + +public slots: + void updateState(const UIState &s); + +protected: + QStackedLayout *stack; +}; diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 198b1edbf6..74fd05ed7b 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -38,7 +38,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { closeSettings(); } }); - QObject::connect(&device, &Device::interactiveTimout, [=]() { + QObject::connect(device(), &Device::interactiveTimeout, [=]() { if (main_layout->currentWidget() == settingsWindow) { closeSettings(); } @@ -75,15 +75,28 @@ void MainWindow::closeSettings() { if (uiState()->scene.started) { homeWindow->showSidebar(false); + // Map is always shown when using navigate on openpilot + if (uiState()->scene.navigate_on_openpilot) { + homeWindow->showMapPanel(true); + } } } bool MainWindow::eventFilter(QObject *obj, QEvent *event) { - const static QSet evts({QEvent::MouseButtonPress, QEvent::MouseMove, - QEvent::TouchBegin, QEvent::TouchUpdate, QEvent::TouchEnd}); - - if (evts.contains(event->type())) { - device.resetInteractiveTimout(); + bool ignore = false; + switch (event->type()) { + case QEvent::TouchBegin: + case QEvent::TouchUpdate: + case QEvent::TouchEnd: + case QEvent::MouseButtonPress: + case QEvent::MouseMove: { + // ignore events when device is awakened by resetInteractiveTimeout + ignore = !device()->isAwake(); + device()->resetInteractiveTimeout(); + break; + } + default: + break; } - return false; + return ignore; } diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h index 71fc466c20..05b61e1f76 100644 --- a/selfdrive/ui/qt/window.h +++ b/selfdrive/ui/qt/window.h @@ -18,8 +18,6 @@ private: void openSettings(int index = 0, const QString ¶m = ""); void closeSettings(); - Device device; - QStackedLayout *main_layout; HomeWindow *homeWindow; SettingsWindow *settingsWindow; diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc index 64088deff8..c6c7434ca4 100644 --- a/selfdrive/ui/soundd/main.cc +++ b/selfdrive/ui/soundd/main.cc @@ -5,17 +5,13 @@ #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/soundd/sound.h" -void sigHandler(int s) { - qApp->quit(); -} - int main(int argc, char **argv) { qInstallMessageHandler(swagLogMessageHandler); setpriority(PRIO_PROCESS, 0, -20); QApplication a(argc, argv); - std::signal(SIGINT, sigHandler); - std::signal(SIGTERM, sigHandler); + std::signal(SIGINT, sigTermHandler); + std::signal(SIGTERM, sigTermHandler); Sound sound; return a.exec(); diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 49c28373c5..8d5b2b96b0 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -12,7 +12,7 @@ // TODO: detect when we can't play sounds // TODO: detect when we can't display the UI -Sound::Sound(QObject *parent) : sm({"controlsState", "deviceState", "microphone"}) { +Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); for (auto &[alert, fn, loops] : sound_list) { @@ -30,22 +30,8 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "deviceState", "microphone" }; void Sound::update() { - const bool started_prev = sm["deviceState"].getDeviceState().getStarted(); sm.update(0); - const bool started = sm["deviceState"].getDeviceState().getStarted(); - if (started && !started_prev) { - started_frame = sm.frame; - } - - // no sounds while offroad - // also no sounds if nothing is alive in case thermald crashes while offroad - const bool crashed = (sm.frame - std::max(sm.rcv_frame("deviceState"), sm.rcv_frame("controlsState"))) > 10*UI_FREQ; - if (!started || crashed) { - setAlert({}); - return; - } - // scale volume using ambient noise level if (sm.updated("microphone")) { float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 60.f, 0.f, 1.f); @@ -53,7 +39,7 @@ void Sound::update() { Hardware::set_volume(volume); } - setAlert(Alert::get(sm, started_frame)); + setAlert(Alert::get(sm, 0)); } void Sound::setAlert(const Alert &alert) { diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 7e009d28ad..da9814c543 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -27,8 +27,7 @@ protected: void update(); void setAlert(const Alert &alert); + SubMaster sm; Alert current_alert = {}; QMap> sounds; - SubMaster sm; - uint64_t started_frame; }; diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 26335744f3..94ba9a3a97 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -2,3 +2,4 @@ test playsound test_sound test_translations +ui_snapshot diff --git a/selfdrive/ui/tests/test_sound_stability.py b/selfdrive/ui/tests/test_sound_stability.py deleted file mode 100755 index f0d51ec960..0000000000 --- a/selfdrive/ui/tests/test_sound_stability.py +++ /dev/null @@ -1,49 +0,0 @@ -#!/usr/bin/env python3 -import os -import random -import subprocess -import time -from pathlib import Path -from common.basedir import BASEDIR - -os.environ["LD_LIBRARY_PATH"] = "" - -# pull this from the provisioning tests -play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound") -waste = os.path.join(BASEDIR, "scripts/waste") -sound_path = Path(os.path.join(BASEDIR, "selfdrive/assets/sounds")) - -def sound_test(): - - # max volume - vol = 15 - sound_files = [p.absolute() for p in sound_path.iterdir() if str(p).endswith(".wav")] - - # start waste - p = subprocess.Popen([waste], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL) - - start_time = time.monotonic() - frame = 0 - while True: - # start a few processes - procs = [] - for _ in range(random.randint(5, 20)): - sound = random.choice(sound_files) - p = subprocess.Popen([play_sound, str(sound), str(vol)], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL) - procs.append(p) - time.sleep(random.uniform(0, 0.75)) - - # and kill them - time.sleep(random.uniform(0, 5)) - for p in procs: - p.terminate() - - # write stats - stats = f"running time {time.monotonic() - start_time}s, cycle {frame}" - with open("/tmp/sound_stats.txt", "a") as f: - f.write(stats) - print(stats) - frame +=1 - -if __name__ == "__main__": - sound_test() diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 26d6c39349..5e52eabe3a 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -88,7 +88,7 @@ class TestTranslations(unittest.TestCase): continue self.assertNotIn(None, numerusform, "Ensure all plural translation forms are completed.") - self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]), + self.assertTrue(all(re.search("%[0-9]+", t) is None for t in numerusform), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) def test_no_locations(self): diff --git a/selfdrive/ui/tests/ui_snapshot.cc b/selfdrive/ui/tests/ui_snapshot.cc new file mode 100644 index 0000000000..14e0fab835 --- /dev/null +++ b/selfdrive/ui/tests/ui_snapshot.cc @@ -0,0 +1,66 @@ +#include "selfdrive/ui/tests/ui_snapshot.h" + +#include +#include +#include +#include +#include + +#include "selfdrive/ui/qt/home.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/qt/window.h" +#include "selfdrive/ui/ui.h" + +void saveWidgetAsImage(QWidget *widget, const QString &fileName) { + QImage image(widget->size(), QImage::Format_ARGB32); + QPainter painter(&image); + widget->render(&painter); + image.save(fileName); +} + +int main(int argc, char *argv[]) { + initApp(argc, argv); + + QApplication app(argc, argv); + + QCommandLineParser parser; + parser.setApplicationDescription("Take a snapshot of the UI."); + parser.addHelpOption(); + parser.addOption(QCommandLineOption(QStringList() << "o" + << "output", + "Output image file path. The file's suffix is used to " + "determine the format. Supports PNG and JPEG formats. " + "Defaults to \"snapshot.png\".", + "file", "snapshot.png")); + parser.process(app); + + const QString output = parser.value("output"); + if (output.isEmpty()) { + qCritical() << "No output file specified"; + return 1; + } + + auto current = QDir::current(); + + // change working directory to find assets + if (!QDir::setCurrent(QCoreApplication::applicationDirPath() + QDir::separator() + "..")) { + qCritical() << "Failed to set current directory"; + return 1; + } + + MainWindow w; + w.setFixedSize(2160, 1080); + w.show(); + app.installEventFilter(&w); + + // restore working directory + QDir::setCurrent(current.absolutePath()); + + // wait for the UI to update + QObject::connect(uiState(), &UIState::uiUpdate, [&](const UIState &s) { + saveWidgetAsImage(&w, output); + app.quit(); + }); + + return app.exec(); +} diff --git a/selfdrive/ui/tests/ui_snapshot.h b/selfdrive/ui/tests/ui_snapshot.h new file mode 100644 index 0000000000..b4699f6af5 --- /dev/null +++ b/selfdrive/ui/tests/ui_snapshot.h @@ -0,0 +1,5 @@ +#pragma once + +#include + +void saveWidgetAsImage(QWidget *widget, const QString &fileName); diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index 91a6c3ca2f..4f11fe3388 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -31,11 +31,22 @@ openpilot provides a few tools to help contributors manage their translations an ```shell scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui ``` +5. Read [Checking the UI](#checking-the-ui) to double-check your translations fit in the UI. ### Improving an Existing Language Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot. +### Checking the UI +Different languages use varying space to convey the same message, so it's a good idea to double-check that your translations do not overlap and fit into each widget. Start the UI (step 4. above) and view each page, making adjustments to translations as needed. + +#### To view offroad alerts: + +With the UI started, you can view the offroad alerts with: +```shell +selfdrive/ui/tests/cycle_offroad_alerts.py +``` + ### Updating the UI Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above). diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index 575584dd50..08cf0743d4 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -54,7 +54,8 @@ if __name__ == "__main__": badge_svg.extend([f'', content_svg, ""]) - badge_svg.insert(0, f'') + badge_svg.insert(0, f'') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 86d3e62d87..6207b5f50a 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,6 +1,7 @@ { "English": "main_en", "Deutsch": "main_de", + "Français": "main_fr", "Português": "main_pt-BR", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 2e4e833e07..74b60f4b74 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -116,6 +116,33 @@ Ablehnen, deinstallieren %1 + + DestinationWidget + + Home + + + + Work + + + + No destination set + + + + No %1 location set + + + + home + + + + work + + + DevicePanel @@ -356,42 +383,14 @@ - MapPanel + MapSettings - Current Destination - Aktuelles Ziel + NAVIGATION + - CLEAR - LÖSCHEN - - - Recent Destinations - Letzte Ziele - - - Try the Navigation Beta - Beta Navigation ausprobieren - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - Erhalte echtzeit Wegführung und mehr mit dem comma prime -Abonnement. Melde dich jetzt an: https://connect.comma.ai - - - No home -location set - Keine Heimadresse gesetzt - - - No work -location set - Keine Arbeitsadresse gesetzt - - - no recent destinations - Keine kürzlich gewählten Ziele + Manage at connect.comma.ai + @@ -404,6 +403,10 @@ location set Waiting for GPS Warten auf GPS + + Waiting for route + + MultiOptionDialog @@ -435,6 +438,62 @@ location set Falsches Passwort + + OffroadAlert + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + + + + Unable to download updates +%1 + + + + Invalid date and time settings, system won't start. Connect to internet to set time. + + + + Taking camera snapshots. System won't start until finished. + + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + + + + NVMe drive not mounted. + + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + + + OffroadHome @@ -499,12 +558,16 @@ location set Fernzugriff - 1 year of storage - 1 Jahr Speicherplatz + 24/7 LTE connectivity + - Developer perks - Entwickler Vorteile + Turn-by-turn navigation + + + + 1 year of drive storage + @@ -517,14 +580,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA PUNKTE - QObject @@ -628,10 +683,6 @@ This may take up to a minute. Software Software - - Navigation - Navigation - Setup @@ -866,6 +917,26 @@ This may take up to a minute. Uninstall Deinstallieren + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1000,10 +1071,6 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: Openpilot fährt standardmäßig im <b>entspannten Modus</b>. Der Experimentelle Modus aktiviert<b>Alpha-level Funktionen</b>, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden: - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 Ende-zu-Ende Tempomat 🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten. @@ -1012,10 +1079,6 @@ This may take up to a minute. New Driving Visualization Neue Fahrvisualisierung - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt. - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. @@ -1024,14 +1087,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Enable experimental longitudinal control to allow Experimental mode. - Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. - openpilot Longitudinal Control (Alpha) @@ -1044,6 +1099,50 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Navigate on openpilot + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + + + + End-to-End Longitudinal Control + + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + + Updater @@ -1080,6 +1179,29 @@ This may take up to a minute. Aktualisierung fehlgeschlagen + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Ready to upload + + + + Training data will be pulled periodically while your device is on Wi-Fi + + + WifiUI diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts new file mode 100644 index 0000000000..369502b589 --- /dev/null +++ b/selfdrive/ui/translations/main_fr.ts @@ -0,0 +1,1226 @@ + + + + + AbstractAlert + + Close + Fermer + + + Snooze Update + Reporter la mise à jour + + + Reboot and Update + Redémarrer et mettre à jour + + + + AdvancedNetworking + + Back + Retour + + + Enable Tethering + Activer le partage de connexion + + + Tethering Password + Mot de passe du partage de connexion + + + EDIT + MODIFIER + + + Enter new tethering password + Entrez le nouveau mot de passe du partage de connexion + + + IP Address + Adresse IP + + + Enable Roaming + Activer l'itinérance + + + APN Setting + Paramètre APN + + + Enter APN + Entrer le nom du point d'accès + + + leave blank for automatic configuration + laisser vide pour une configuration automatique + + + Cellular Metered + Connexion cellulaire limitée + + + Prevent large data uploads when on a metered connection + Éviter les transferts de données importants sur une connexion limitée + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mi/h + + + MAX + MAX + + + SPEED + VITESSE + + + LIMIT + LIMITE + + + + ConfirmationDialog + + Ok + Ok + + + Cancel + Annuler + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + Vous devez accepter les conditions générales pour utiliser openpilot. + + + Back + Retour + + + Decline, uninstall %1 + Refuser, désinstaller %1 + + + + DestinationWidget + + Home + Domicile + + + Work + Travail + + + No destination set + Aucune destination définie + + + home + domicile + + + work + travail + + + No %1 location set + Aucun lieu %1 défini + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + N/A + + + Serial + N° de série + + + Driver Camera + Caméra conducteur + + + PREVIEW + APERÇU + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Aperçu de la caméra orientée vers le conducteur pour assurer une bonne visibilité de la surveillance du conducteur. (véhicule doit être éteint) + + + Reset Calibration + Réinitialiser la calibration + + + RESET + RÉINITIALISER + + + Are you sure you want to reset calibration? + Êtes-vous sûr de vouloir réinitialiser la calibration ? + + + Reset + Réinitialiser + + + Review Training Guide + Revoir le guide de formation + + + REVIEW + REVOIR + + + Review the rules, features, and limitations of openpilot + Revoir les règles, fonctionnalités et limitations d'openpilot + + + Are you sure you want to review the training guide? + Êtes-vous sûr de vouloir revoir le guide de formation ? + + + Review + Revoir + + + Regulatory + Réglementaire + + + VIEW + VOIR + + + Change Language + Changer de langue + + + CHANGE + CHANGER + + + Select a language + Choisir une langue + + + Reboot + Redémarrer + + + Power Off + Éteindre + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 8° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + + + Your device is pointed %1° %2 and %3° %4. + Votre appareil est orienté %1° %2 et %3° %4. + + + down + bas + + + up + haut + + + left + gauche + + + right + droite + + + Are you sure you want to reboot? + Êtes-vous sûr de vouloir redémarrer ? + + + Disengage to Reboot + Désengager pour redémarrer + + + Are you sure you want to power off? + Êtes-vous sûr de vouloir éteindre ? + + + Disengage to Power Off + Désengager pour éteindre + + + + DriveStats + + Drives + Trajets + + + Hours + Heures + + + ALL TIME + DEPUIS TOUJOURS + + + PAST WEEK + CETTE SEMAINE + + + KM + KM + + + Miles + Miles + + + + DriverViewScene + + camera starting + démarrage de la caméra + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + MODE EXPÉRIMENTAL ACTIVÉ + + + CHILL MODE ON + MODE DÉTENTE ACTIVÉ + + + + InputDialog + + Cancel + Annuler + + + Need at least %n character(s)! + + Besoin d'au moins %n caractère ! + Besoin d'au moins %n caractères ! + + + + + Installer + + Installing... + Installation... + + + + MapETA + + eta + eta + + + min + min + + + hr + h + + + km + km + + + mi + mi + + + + MapInstructions + + km + km + + + m + m + + + mi + mi + + + ft + ft + + + + MapSettings + + NAVIGATION + NAVIGATION + + + Manage at connect.comma.ai + Gérer sur connect.comma.ai + + + + MapWindow + + Map Loading + Chargement de la carte + + + Waiting for GPS + En attente du GPS + + + Waiting for route + En attente d'un trajet + + + + MultiOptionDialog + + Select + Sélectionner + + + Cancel + Annuler + + + + Networking + + Advanced + Avancé + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + + + Wrong password + Mot de passe incorrect + + + + OffroadAlert + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + Température de l'appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l'appareil : %1 + + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, openpilot ne s'engagera pas dans %1 + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + Connectez l'appareil à internet pour vérifier les mises à jour. openpilot ne démarrera pas automatiquement tant qu'il ne se connecte pas à internet pour vérifier les mises à jour. + + + Unable to download updates +%1 + Impossible de télécharger les mises à jour +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + Paramètres de date et d'heure invalides, le système ne démarrera pas. Connectez l'appareil à Internet pour régler l'heure. + + + Taking camera snapshots. System won't start until finished. + Capture de clichés photo. Le système ne démarrera pas tant qu'il n'est pas terminé. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Une mise à jour du système d'exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu'elle sera prête à être installée. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + L'appareil n'a pas réussi à s'enregistrer. Il ne se connectera pas aux serveurs de comma.ai, n'enverra rien et ne recevra aucune assistance de comma.ai. S'il s'agit d'un appareil officiel, visitez https://comma.ai/support. + + + NVMe drive not mounted. + Le disque NVMe n'est pas monté. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + Disque NVMe non supporté détecté. L'appareil peut consommer beaucoup plus d'énergie et surchauffer en raison du NVMe non supporté. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot n'a pas pu identifier votre voiture. Votre voiture n'est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d'aide ? Rejoignez discord.comma.ai. + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + openpilot n'a pas pu identifier votre voiture. Vérifiez l'intégrité des câbles et assurez-vous que toutes les connexions sont correctes, en particulier l'alimentation du comma est totalement insérée dans le port OBD-II du véhicule. Besoin d'aide ? Rejoignez discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot a détecté un changement dans la position de montage de l'appareil. Assurez-vous que l'appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise. + + + + OffroadHome + + UPDATE + MISE À JOUR + + + ALERTS + ALERTES + + + ALERT + ALERTE + + + + PairingPopup + + Pair your device to your comma account + Associez votre appareil à votre compte comma + + + Go to https://connect.comma.ai on your phone + Allez sur https://connect.comma.ai sur votre téléphone + + + Click "add new device" and scan the QR code on the right + Cliquez sur "ajouter un nouvel appareil" et scannez le code QR à droite + + + Bookmark connect.comma.ai to your home screen to use it like an app + Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application + + + + ParamControl + + Enable + Activer + + + Cancel + Annuler + + + + PrimeAdWidget + + Upgrade Now + Mettre à niveau maintenant + + + Become a comma prime member at connect.comma.ai + Devenez membre comma prime sur connect.comma.ai + + + PRIME FEATURES: + FONCTIONNALITÉS PRIME : + + + Remote access + Accès à distance + + + 24/7 LTE connectivity + Connexion LTE 24/7 + + + 1 year of drive storage + 1 an de stockage de trajets + + + Turn-by-turn navigation + Navigation étape par étape + + + + PrimeUserWidget + + ✓ SUBSCRIBED + ✓ ABONNÉ + + + comma prime + comma prime + + + + QObject + + Reboot + Redémarrer + + + Exit + Quitter + + + dashcam + dashcam + + + openpilot + openpilot + + + %n minute(s) ago + + il y a %n minute + il y a %n minutes + + + + %n hour(s) ago + + il y a %n heure + il y a %n heures + + + + %n day(s) ago + + il y a %n jour + il y a %n jours + + + + + Reset + + Reset failed. Reboot to try again. + Réinitialisation échouée. Redémarrez pour réessayer. + + + Resetting device... +This may take up to a minute. + Réinitialisation de l'appareil... +Cela peut prendre jusqu'à une minute. + + + Are you sure you want to reset your device? + Êtes-vous sûr de vouloir réinitialiser votre appareil ? + + + System Reset + Réinitialisation du système + + + Press confirm to erase all content and settings. Press cancel to resume boot. + Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage. + + + Cancel + Annuler + + + Reboot + Redémarrer + + + Confirm + Confirmer + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil. + + + + SettingsWindow + + × + × + + + Device + Appareil + + + Network + Réseau + + + Toggles + Options + + + Software + Logiciel + + + + Setup + + Something went wrong. Reboot the device. + Un problème est survenu. Redémarrez l'appareil. + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Assurez-vous que l'URL saisie est valide et que la connexion internet de l'appareil est bonne. + + + No custom software found at this URL. + Aucun logiciel personnalisé trouvé à cette URL. + + + WARNING: Low Voltage + ATTENTION : Tension faible + + + Power your device in a car with a harness or proceed at your own risk. + Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls. + + + Power off + Éteindre + + + Continue + Continuer + + + Getting Started + Commencer + + + Before we get on the road, let’s finish installation and cover some details. + Avant de prendre la route, terminons l'installation et passons en revue quelques détails. + + + Connect to Wi-Fi + Se connecter au Wi-Fi + + + Back + Retour + + + Enter URL + Entrer l'URL + + + for Custom Software + pour logiciel personnalisé + + + Continue without Wi-Fi + Continuer sans Wi-Fi + + + Waiting for internet + En attente d'internet + + + Downloading... + Téléchargement... + + + Download Failed + Échec du téléchargement + + + Reboot device + Redémarrer l'appareil + + + Start over + Recommencer + + + + SetupWidget + + Finish Setup + Terminer l'installation + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l'offre comma prime. + + + Pair device + Associer l'appareil + + + + Sidebar + + CONNECT + CONNECTER + + + OFFLINE + HORS LIGNE + + + ONLINE + EN LIGNE + + + ERROR + ERREUR + + + TEMP + TEMP + + + HIGH + HAUT + + + GOOD + BON + + + OK + OK + + + VEHICLE + VÉHICULE + + + NO + NON + + + PANDA + PANDA + + + GPS + GPS + + + SEARCH + RECHERCHE + + + -- + -- + + + Wi-Fi + Wi-Fi + + + ETH + ETH + + + 2G + 2G + + + 3G + 3G + + + LTE + LTE + + + 5G + 5G + + + + SoftwarePanel + + Updates are only downloaded while the car is off. + Les mises à jour sont téléchargées uniquement lorsque la voiture est éteinte. + + + Current Version + Version actuelle + + + Download + Télécharger + + + CHECK + VÉRIFIER + + + Install Update + Installer la mise à jour + + + INSTALL + INSTALLER + + + Target Branch + Branche cible + + + SELECT + SÉLECTIONNER + + + Select a branch + Sélectionner une branche + + + Uninstall %1 + Désinstaller %1 + + + UNINSTALL + DÉSINSTALLER + + + Are you sure you want to uninstall? + Êtes-vous sûr de vouloir désinstaller ? + + + Uninstall + Désinstaller + + + failed to check for update + échec de la vérification de la mise à jour + + + DOWNLOAD + TÉLÉCHARGER + + + update available + mise à jour disponible + + + never + jamais + + + up to date, last checked %1 + à jour, dernière vérification %1 + + + + SshControl + + SSH Keys + Clés SSH + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + Attention : Ceci accorde l'accès SSH à toutes les clés publiques de vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que le vôtre. Un employé de comma ne vous demandera JAMAIS d'ajouter son nom d'utilisateur GitHub. + + + ADD + AJOUTER + + + Enter your GitHub username + Entrez votre nom d'utilisateur GitHub + + + LOADING + CHARGEMENT + + + REMOVE + SUPPRIMER + + + Username '%1' has no keys on GitHub + L'utilisateur '%1' n'a pas de clés sur GitHub + + + Request timed out + Délai de la demande dépassé + + + Username '%1' doesn't exist on GitHub + L'utilisateur '%1' n'existe pas sur GitHub + + + + SshToggle + + Enable SSH + Activer SSH + + + + TermsPage + + Terms & Conditions + Termes & Conditions + + + Decline + Refuser + + + Scroll to accept + Faire défiler pour accepter + + + Agree + Accepter + + + + TogglesPanel + + Enable openpilot + Activer openpilot + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Utilisez le système openpilot pour le régulateur de vitesse adaptatif et l'assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte. + + + openpilot Longitudinal Control (Alpha) + Contrôle longitudinal openpilot (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d'urgence automatique (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d'openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d'activer le mode expérimental lors de l'activation du contrôle longitudinal openpilot alpha. + + + Experimental Mode + Mode expérimental + + + Disengage on Accelerator Pedal + Désengager avec la pédale d'accélérateur + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Lorsqu'il est activé, appuyer sur la pédale d'accélérateur désengagera openpilot. + + + Enable Lane Departure Warnings + Activer les avertissements de sortie de voie + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + Recevez des alertes pour revenir dans la voie lorsque votre véhicule dérive au-delà d'une ligne de voie détectée sans clignotant activé en roulant à plus de 31 mph (50 km/h). + + + Record and Upload Driver Camera + Enregistrer et télécharger la caméra conducteur + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Publiez les données de la caméra orientée vers le conducteur et aidez à améliorer l'algorithme de surveillance du conducteur. + + + Use Metric System + Utiliser le système métrique + + + Display speed in km/h instead of mph. + Afficher la vitesse en km/h au lieu de mph. + + + Show ETA in 24h Format + Afficher l'heure d'arrivée en format 24h + + + Use 24h format instead of am/pm + Utiliser le format 24h plutôt que am/pm + + + Show Map on Left Side of UI + Afficher la carte à gauche de l'interface + + + Show map on left side when in split screen view. + Afficher la carte à gauche en mode écran scindé. + + + Aggressive + Aggressif + + + Standard + Standard + + + Relaxed + Détendu + + + Driving Personality + Personnalité de conduite + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + Le mode standard est recommandé. En mode agressif, openpilot suivra de plus près les voitures de tête et sera plus agressif avec l'accélérateur et le frein. En mode détendu, openpilot restera plus éloigné des voitures de tête. + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + Par défaut, openpilot conduit en <b>mode détente</b>. Le mode expérimental permet d'activer des <b>fonctionnalités alpha</b> qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous : + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + Laissez le modèle de conduite contrôler l'accélérateur et les freins. openpilot conduira comme il pense qu'un humain le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir. + + + New Driving Visualization + Nouvelle visualisation de la conduite + + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d'origine est utilisé pour le contrôle longitudinal. + + + openpilot longitudinal control may come in a future update. + Le contrôle longitudinal openpilot pourrait être disponible dans une future mise à jour. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées. + + + End-to-End Longitudinal Control + Contrôle longitudinal de bout en bout + + + Navigate on openpilot + Navigation avec openpilot + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + Lorsque la navigation dispose d'une destination, openpilot entrera les informations de la carte dans le modèle. Cela fournit un contexte utile pour le modèle et permet à openpilot de se diriger à gauche ou à droite de manière appropriée aux bifurcations/sorties. Le comportement relatif au changement de voie reste inchangé et doit toujours être activé par le conducteur. Il s'agit d'une fonctionnalité alpha ; il faut s'attendre à des erreurs, en particulier aux abords des sorties et des bifurcations. Ces erreurs peuvent inclure des franchissements involontaires de passages piétons, des prises de sortie tardives, la conduite vers des zones de séparation de type zebras, etc. + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s'affichera également dans le coin supérieur droit. Lorsqu'une destination de navigation est définie et que le modèle de conduite l'utilise comme entrée, la trajectoire de conduite sur la carte deviendra verte. + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + Activer le contrôle longitudinal d'openpilot (en alpha) pour autoriser le mode expérimental. + + + + Updater + + Update Required + Mise à jour requise + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + Une mise à jour du système d'exploitation est requise. Connectez votre appareil au Wi-Fi pour une mise à jour plus rapide. La taille du téléchargement est d'environ 1 Go. + + + Connect to Wi-Fi + Se connecter au Wi-Fi + + + Install + Installer + + + Back + Retour + + + Loading... + Chargement... + + + Reboot + Redémarrer + + + Update failed + Échec de la mise à jour + + + + WiFiPromptWidget + + Setup Wi-Fi + Configurer le Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Connectez-vous au Wi-Fi pour publier les données de conduite et aider à améliorer openpilot + + + Open Settings + Ouvrir les paramètres + + + Ready to upload + Prêt à uploader + + + Training data will be pulled periodically while your device is on Wi-Fi + Les données d'entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi + + + + WifiUI + + Scanning for networks... + Recherche de réseaux... + + + CONNECTING... + CONNEXION... + + + FORGET + OUBLIER + + + Forget Wi-Fi Network "%1"? + Oublier le réseau Wi-Fi "%1" ? + + + Forget + Oublier + + + diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 06435d3b41..ef9eb93e80 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -116,6 +116,33 @@ 拒否して %1 をｱﾝｲﾝｽﾄｰﾙ + + DestinationWidget + + Home + + + + Work + + + + No destination set + + + + No %1 location set + + + + home + + + + work + + + DevicePanel @@ -355,44 +382,14 @@ - MapPanel + MapSettings - Current Destination - 現在の目的地 + NAVIGATION + - CLEAR - 削除 - - - Recent Destinations - 最近の目的地 - - - Try the Navigation Beta - β版ﾅﾋﾞｹﾞｰｼｮﾝを試す - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - より詳細な案内情報を得ることができます。 -詳しくはこちら：https://connect.comma.ai - - - No home -location set - 自宅の住所はまだ -設定されていません - - - No work -location set - 職場の住所はまだ -設定されていません - - - no recent destinations - 最近の目的地履歴がありません + Manage at connect.comma.ai + @@ -405,6 +402,10 @@ location set Waiting for GPS GPS信号を探しています + + Waiting for route + + MultiOptionDialog @@ -436,6 +437,62 @@ location set ﾊﾟｽﾜｰﾄﾞが間違っています + + OffroadAlert + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + + + + Unable to download updates +%1 + + + + Invalid date and time settings, system won't start. Connect to internet to set time. + + + + Taking camera snapshots. System won't start until finished. + + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + + + + NVMe drive not mounted. + + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + + + OffroadHome @@ -500,12 +557,16 @@ location set リモートアクセス - 1 year of storage - 一年間の保存期間 + 24/7 LTE connectivity + - Developer perks - 開発者向け特典 + Turn-by-turn navigation + + + + 1 year of drive storage + @@ -518,14 +579,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -626,10 +679,6 @@ This may take up to a minute. Software ｿﾌﾄｳｪｱ - - Navigation - ﾅﾋﾞｹﾞｰｼｮﾝ - Setup @@ -862,6 +911,26 @@ This may take up to a minute. Uninstall アンインストール + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -994,10 +1063,6 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。 - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 エンドツーエンドアクセル制御 🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. openpilotにアクセルとブレーキを任せます。openpilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。openpilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、openpilotの運転ミスに常に備えて注意してください。 @@ -1006,10 +1071,6 @@ This may take up to a minute. New Driving Visualization 新しい運転画面 - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - 新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。 - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. この車のACCがアクセル制御を行うため実験モードを利用することができません。 @@ -1018,14 +1079,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Enable experimental longitudinal control to allow Experimental mode. - 実験段階のopenpilotによるアクセル制御を有効にしてください。 - openpilot Longitudinal Control (Alpha) @@ -1038,6 +1091,50 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Navigate on openpilot + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + + + + End-to-End Longitudinal Control + + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + + Updater @@ -1074,6 +1171,29 @@ This may take up to a minute. 更新失敗 + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Ready to upload + + + + Training data will be pulled periodically while your device is on Wi-Fi + + + WifiUI diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b55a56a061..b2473a3fb9 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -64,7 +64,7 @@ Prevent large data uploads when on a metered connection - 데이터 요금제 연결 시 대용량 데이터 업로드 방지 + 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 @@ -116,6 +116,33 @@ 거절, %1 제거 + + DestinationWidget + + Home + 집 + + + Work + 회사 + + + No destination set + 목적지가 설정되지 않았습니다 + + + No %1 location set + %1 위치가 설정되지 않았습니다 + + + home + 집 + + + work + 회사 + + DevicePanel @@ -140,7 +167,7 @@ Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) + 운전자 모니터링이 잘 되는지 확인하기 위해 카메라를 향한 운전자를 미리 봅니다. (차량연결은 해제되어있어야 합니다) Reset Calibration @@ -200,11 +227,11 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot은 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다. + openpilot 장치는 좌우측 4° 이내, 위쪽 5° 아래쪽 8° 이내로 장착되어야 합니다. openpilot은 지속적으로 보정되며 재설정은 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. - 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다. + 사용자의 장치는 %1° %2 및 %3° %4 의 위치에 장착되어 있습니다. down @@ -355,44 +382,14 @@ - MapPanel + MapSettings - Current Destination - 현재 목적지 + NAVIGATION + 내비게이션 - CLEAR - 삭제 - - - Recent Destinations - 최근 목적지 - - - Try the Navigation Beta - 네비게이션(베타)를 사용해보세요 - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - 자세한 경로안내를 원하시면 comma prime을 구독하세요. -등록：https://connect.comma.ai - - - No home -location set - 집 -설정되지않음 - - - No work -location set - 회사 -설정되지않음 - - - no recent destinations - 최근 목적지 없음 + Manage at connect.comma.ai + connect.comma.ai에서 관리됩니다 @@ -403,7 +400,11 @@ location set Waiting for GPS - GPS 수신중 입니다 + GPS 수신중 + + + Waiting for route + 경로를 기다리는중 @@ -429,13 +430,70 @@ location set for "%1" - "%1"에 접속하려면 인증이 필요합니다 + "%1"에 접속하려면 비밀번호가 필요합니다 Wrong password 비밀번호가 틀렸습니다 + + OffroadAlert + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 openpilot이 활성화되지 않습니다. + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + 업데이트를 확인하려면 인터넷에 연결하세요. openpilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다. + + + Unable to download updates +%1 + 업데이트를 다운로드할수 없습니다 +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + 날짜 및 시간 설정이 잘못되어 시스템이 시작되지 않습니다. 날짜와 시간을 동기화하려면 인터넷에 연결하세요. + + + Taking camera snapshots. System won't start until finished. + 카메라 스냅샷 찍기가 완료될 때까지 시스템이 시작되지 않습니다. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + 백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치준비가 완료되면 업데이트하라는 메시지가 표시됩니다. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + 장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인경우 https://comma.ai/support 에 방문하여 문의하세요. + + + NVMe drive not mounted. + NVMe 드라이브가 마운트되지 않았습니다. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + 지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브로 인해 장치가 훨씬 더 많은 전력을 소비하고 과열될 수 있습니다. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + opepilot이 차량을 식별할수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + openpilot이 차량을 식별할수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 완전히 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot 장치의 장착 위치 변경을 감지했습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + 장치 온도가 너무 높습니다. 시작하기 전에 장치온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1 + + OffroadHome @@ -455,7 +513,7 @@ location set PairingPopup Pair your device to your comma account - 장치를 콤마 계정과 페어링합니다 + 장치를 comma 계정과 페어링합니다 Go to https://connect.comma.ai on your phone @@ -467,7 +525,7 @@ location set Bookmark connect.comma.ai to your home screen to use it like an app - connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오 + connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요. @@ -485,11 +543,11 @@ location set PrimeAdWidget Upgrade Now - 지금 업그레이드 + 지금 업그레이드 하세요 Become a comma prime member at connect.comma.ai - connect.comma.ai 접속 comma prime 가입 + connect.comma.ai에 접속하여 comma prime 회원이 되세요 PRIME FEATURES: @@ -500,12 +558,16 @@ location set 원격 접속 - 1 year of storage - 1년간 저장 + 24/7 LTE connectivity + 항상 LTE 연결 - Developer perks - 개발자 혜택 + Turn-by-turn navigation + 내비게이션 경로안내 + + + 1 year of drive storage + 1년간 저장 @@ -518,14 +580,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -592,7 +646,7 @@ location set Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 장치를 초기화하려면 확인을 누르세요. + 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 내용을 지우고 장치를 초기화하려면 확인을 누르세요. Press confirm to erase all content and settings. Press cancel to resume boot. @@ -601,7 +655,7 @@ location set Resetting device... This may take up to a minute. - 장치 초기화 중... + 장치를 초기화하는 중... 최대 1분이 소요될 수 있습니다. @@ -627,10 +681,6 @@ This may take up to a minute. Software 소프트웨어 - - Navigation - 네비게이션 - Setup @@ -672,7 +722,7 @@ This may take up to a minute. Waiting for internet - 네트워크 접속을 기다립니다 + 인터넷 대기중 Enter URL @@ -680,7 +730,7 @@ This may take up to a minute. for Custom Software - for Custom Software + 커스텀 소프트웨어 Downloading... @@ -692,7 +742,7 @@ This may take up to a minute. Ensure the entered URL is valid, and the device’s internet connection is good. - 입력된 URL이 유효하고 장치의 네트워크 연결이 잘 되어 있는지 확인하세요. + 입력된 URL이 유효하고 장치의 인터넷 연결이 양호한지 확인하세요. Reboot device @@ -719,7 +769,7 @@ This may take up to a minute. Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다. + 장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 제안을 요청하세요. Pair device @@ -786,11 +836,11 @@ This may take up to a minute. Wi-Fi - Wi-Fi + wifi ETH - 이더넷 + LAN 2G @@ -863,6 +913,26 @@ This may take up to a minute. Uninstall 제거 + + failed to check for update + 업데이트 확인 실패 + + + up to date, last checked %1 + 최신 상태 입니다, %1에 마지막으로 확인 + + + DOWNLOAD + 다운로드 + + + update available + 업데이트 가능 + + + never + 업데이트 안함 + SshControl @@ -892,7 +962,7 @@ This may take up to a minute. Username '%1' has no keys on GitHub - '%1'의 키가 GitHub에 없습니다 + 사용자 '%1'의 키가 GitHub에 없습니다 Request timed out @@ -900,7 +970,7 @@ This may take up to a minute. Username '%1' doesn't exist on GitHub - '%1'은 GitHub에 없습니다 + 사용자 '%1'는 GitHub에 없습니다 @@ -922,7 +992,7 @@ This may take up to a minute. Scroll to accept - 허용하려면 아래로 스크롤하세요 + 동의하려면 아래로 스크롤하세요 Agree @@ -945,7 +1015,7 @@ This may take up to a minute. Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다. + 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등이 켜지지 않은 상태에서 차량이 감지된 차선을 벗어나면 차선이탈 경고를 합니다. Use Metric System @@ -969,7 +1039,7 @@ This may take up to a minute. When enabled, pressing the accelerator pedal will disengage openpilot. - 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. + 활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다. Show ETA in 24h Format @@ -995,10 +1065,6 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다 - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 E2E 롱컨트롤 🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다. @@ -1007,25 +1073,13 @@ This may take up to a minute. New Driving Visualization 새로운 주행 시각화 - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - 주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드의 로고도 우측상단에 표시됩니다. - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. 차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다. openpilot longitudinal control may come in a future update. - 오픈파일럿 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다. - - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 오픈파일럿 롱컨트롤의 실험 버전은 실험적 모드와 함께 릴리즈 되지 않은 브랜치에서 테스트할 수 있습니다. - - - Enable experimental longitudinal control to allow Experimental mode. - 실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요. + openpilot 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다. openpilot Longitudinal Control (Alpha) @@ -1037,7 +1091,51 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다. + 이 차량은 openpilot 롱컨트롤 대신 차량의 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다. + + + Aggressive + 공격적 + + + Standard + 표준 + + + Relaxed + 편안한 + + + Driving Personality + 주행 모드 + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + 표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + openpilot 롱컨트롤 알파 버전은 비 릴리스 분기에서 실험적 모드와 함께 테스트할 수 있습니다. + + + Navigate on openpilot + Navigate on openpilot (NOO) + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + openpilot E2E 롱컨트롤 (알파) 토글을 활성화하여 실험적 모드를 허용합니다. + + + End-to-End Longitudinal Control + E2E 롱컨트롤 + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + @@ -1075,6 +1173,29 @@ This may take up to a minute. 업데이트 실패 + + WiFiPromptWidget + + Setup Wi-Fi + wifi 설정 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + wifi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요. + + + Open Settings + 설정 열기 + + + Ready to upload + 업로드 준비완료 + + + Training data will be pulled periodically while your device is on Wi-Fi + 기기가 wifi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다. + + WifiUI @@ -1091,7 +1212,7 @@ This may take up to a minute. Forget Wi-Fi Network "%1"? - wifi 네트워크 저장안함 "%1"? + "%1"를 저장하지 않겠습니까? Forget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 34fbc8abf0..d102fb39ca 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -116,6 +116,33 @@ Rejeitar, desintalar %1 + + DestinationWidget + + Home + Casa + + + Work + Trabalho + + + No destination set + Nenhum destino definido + + + No %1 location set + Endereço de %1 não definido + + + home + casa + + + work + trabalho + + DevicePanel @@ -285,11 +312,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - MODO EXPERIMENTAL ATIVADO + MODO EXPERIMENTAL ON CHILL MODE ON - MODO CHILL ATIVADO + MODO CHILL ON @@ -356,44 +383,14 @@ - MapPanel + MapSettings - Current Destination - Destino Atual + NAVIGATION + NAVEGAÇÃO - CLEAR - LIMPAR - - - Recent Destinations - Destinos Recentes - - - Try the Navigation Beta - Experimente a Navegação Beta - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - Obtenha instruções passo a passo exibidas e muito mais com -uma assinatura prime. Inscreva-se agora: https://connect.comma.ai - - - No home -location set - Sem local -residência definido - - - No work -location set - Sem local de -trabalho definido - - - no recent destinations - sem destinos recentes + Manage at connect.comma.ai + Gerencie em connect.comma.ai @@ -404,7 +401,11 @@ trabalho definido Waiting for GPS - Esperando por GPS + Aguardando GPS + + + Waiting for route + Aguardando rota @@ -437,6 +438,63 @@ trabalho definido Senha incorreta + + OffroadAlert + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o openpilot. + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + Conecte-se à internet para verificar se há atualizações. O openpilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações. + + + Unable to download updates +%1 + Não é possível baixar atualizações +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + Configurações de data e hora inválidas, o sistema não será iniciado. Conecte-se à internet para definir o horário. + + + Taking camera snapshots. System won't start until finished. + Tirando fotos da câmera. O sistema não será iniciado até terminar. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + Falha ao registrar o dispositivo. Ele não se conectará ou fará upload para os servidores comma.ai e não receberá suporte da comma.ai. Se este for um dispositivo oficial, visite https://comma.ai/support. + + + NVMe drive not mounted. + Unidade NVMe não montada. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + Unidade NVMe não suportada detectada. O dispositivo pode consumir significativamente mais energia e superaquecimento devido ao NVMe não suportado. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai. + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + O openpilot não conseguiu identificar o seu carro. Verifique a integridade dos cabos e certifique-se de que todas as conexões estejam seguras, especialmente se o comma power está totalmente inserido na porta OBD-II do veículo. Precisa de ajuda? Junte-se discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa. + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1 + + OffroadHome @@ -498,15 +556,19 @@ trabalho definido Remote access - Acesso remoto + Acesso remoto (proxy comma) - 1 year of storage - 1 ano na nuvem + 24/7 LTE connectivity + Conectividade LTE (só nos EUA) - Developer perks - Benefícios para devs + Turn-by-turn navigation + Navegação passo a passo + + + 1 year of drive storage + 1 ano de dados em nuvem @@ -519,14 +581,6 @@ trabalho definido comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - PONTOS COMMA - QObject @@ -631,10 +685,6 @@ Isso pode levar até um minuto. Software Software - - Navigation - Navegação - Setup @@ -867,6 +917,26 @@ Isso pode levar até um minuto. Uninstall Desinstalar + + failed to check for update + falha ao verificar por atualizações + + + up to date, last checked %1 + atualizado, última verificação %1 + + + DOWNLOAD + BAIXAR + + + update available + atualização disponível + + + never + nunca + SshControl @@ -997,51 +1067,79 @@ Isso pode levar até um minuto. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: - openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: - - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 Controle Longitudinal de Ponta a Ponta 🌮 + openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-embrionário</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade alfa; erros devem ser esperados. + Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados. New Driving Visualization Nova Visualização de Condução - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito. - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal. openpilot longitudinal control may come in a future update. - O controle longitudinal openpilot pode vir em uma atualização futura. - - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Uma versão experimental do controle longitudinal openpilot pode ser testada, juntamente com o modo Experimental, em branches de desenvolvimento. - - - Enable experimental longitudinal control to allow Experimental mode. - Ative o controle longitudinal experimental para permitir o modo Experimental. + O controle longitudinal openpilot poderá vir em uma atualização futura. openpilot Longitudinal Control (Alpha) - Controle Longitudinal openpilot (Alpha) + Controle Longitudinal openpilot (Embrionário) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - AVISO: o controle longitudinal openpilot está em alfa para este carro e desativará a Frenagem Automática de Emergência (AEB). + AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB). On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot. + Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot. + + + Aggressive + Disputa + + + Standard + Neutro + + + Relaxed + Calmo + + + Driving Personality + Temperamento de Direção + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção. + + + Navigate on openpilot + Navegação no openpilot + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental. + + + End-to-End Longitudinal Control + Controle Longitudinal de Ponta a Ponta + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso fornece contexto útil para o modelo e permite que o openpilot mantenha a esquerda ou a direita apropriadamente em bifurcações/saídas. O comportamento de mudança de faixa permanece inalterado e ainda é ativado somente pelo motorista. Este é um recurso de qualidade embrionária; erros devem ser esperados, principalmente em torno de saídas e bifurcações. Esses erros podem incluir travessias não intencionais na faixa de rodagem, saída tardia, condução em direção a barreiras divisórias nas áreas de marcas de canalização, etc. + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada o caminho de condução no mapa fica verde. @@ -1079,6 +1177,29 @@ Isso pode levar até um minuto. Falha na atualização + + WiFiPromptWidget + + Setup Wi-Fi + Configurar Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Conecte se ao Wi-Fi para realizar upload de dados de condução e ajudar a melhorar o openpilot + + + Open Settings + Abrir Configurações + + + Ready to upload + Pronto para upload + + + Training data will be pulled periodically while your device is on Wi-Fi + Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi + + WifiUI diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 45f91f1cdb..843356c402 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -116,6 +116,33 @@ ปฏิเสธ และถอนการติดตั้ง %1 + + DestinationWidget + + Home + บ้าน + + + Work + ที่ทำงาน + + + No destination set + ยังไม่ได้เลือกจุดหมาย + + + home + บ้าน + + + work + ที่ทำงาน + + + No %1 location set + ยังไม่ได้เลือกตำแหน่ง%1 + + DevicePanel @@ -355,44 +382,14 @@ - MapPanel + MapSettings - Current Destination - ปลายทางปัจจุบัน + NAVIGATION + การนำทาง - CLEAR - ล้างข้อมูล - - - Recent Destinations - ปลายทางล่าสุด - - - Try the Navigation Beta - ลองใช้ระบบนำทาง (เบต้า) - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ -comma prime สมัครเลย: https://connect.comma.ai - - - No home -location set - ยังไม่ได้กำหนด -ตำแหน่งของบ้าน - - - No work -location set - ยังไม่ได้กำหนด -ตำแหน่งของที่ทำงาน - - - no recent destinations - ไม่พบปลายทางล่าสุด + Manage at connect.comma.ai + จัดการได้ที่ connect.comma.ai @@ -405,6 +402,10 @@ location set Waiting for GPS กำลังรอสัญญาณ GPS + + Waiting for route + กำลังรอเส้นทาง + MultiOptionDialog @@ -436,6 +437,63 @@ location set รหัสผ่านผิด + + OffroadAlert + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + อุณหภูมิของอุปกรณ์สูงเกินไป ระบบกำลังทำความเย็นก่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1 + + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต openpilot จะไม่ทำงานในอีก %1 + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท openpilot จะไม่เริ่มทำงานอัตโนมัติจนกว่าจะได้เชื่อมต่อกับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท + + + Unable to download updates +%1 + ไม่สามารถดาวน์โหลดอัพเดทได้ +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + วันที่และเวลาไม่ถูกต้อง ระบบจะไม่เริ่มทำงาน เชื่อต่ออินเตอร์เน็ตเพื่อตั้งเวลา + + + Taking camera snapshots. System won't start until finished. + กล้องกำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจนกว่าจะเสร็จ + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + ไม่สามารถลงทะเบียนอุปกรณ์ได้ อุปกรณ์จะไม่สามารถเชื่อมต่อหรืออัปโหลดไปยังเซิร์ฟเวอร์ของ comma.ai ได้และจะไม่ได้รับการสนับสนุนจาก comma.ai ถ้านี่คืออุปกรณ์อย่างเป็นทางการ กรุณาติดต่อ https://comma.ai/support + + + NVMe drive not mounted. + ไม่ได้ติดตั้งไดร์ฟ NVMe + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + ตรวจพบไดร์ฟ NVMe ที่ไม่รองรับ อุปกรณ์อาจใช้พลังงานมากขึ้นและร้อนเกินไปเนื่องจากไดร์ฟ NVMe ที่ไม่รองรับ + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + openpilot ไม่สามารถระบุรถยนต์ของคุณได้ กรุณาตรวจสอบสายเคเบิ้ลและจุดเชื่อมต่อทั้งหมดว่าแน่นหนา โดยเฉพาะ comma power ว่าได้ดันเข้าไปยังพอร์ต OBD II ของรถยนต์จนสุด หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา + + OffroadHome @@ -500,12 +558,16 @@ location set การเข้าถึงระยะไกล - 1 year of storage - จัดเก็บข้อมูลนาน 1 ปี + 24/7 LTE connectivity + การเชื่อมต่อ LTE แบบ 24/7 - Developer perks - สิทธิพิเศษสำหรับนักพัฒนา + 1 year of drive storage + จัดเก็บข้อมูลการขับขี่นาน 1 ปี + + + Turn-by-turn navigation + การนำทางแบบเลี้ยวต่อเลี้ยว @@ -518,14 +580,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - คะแนน COMMA - QObject @@ -627,10 +681,6 @@ This may take up to a minute. Software ซอฟต์แวร์ - - Navigation - การนำทาง - Setup @@ -863,6 +913,26 @@ This may take up to a minute. Uninstall ถอนการติดตั้ง + + failed to check for update + ไม่สามารถตรวจสอบอัปเดตได้ + + + DOWNLOAD + ดาวน์โหลด + + + update available + มีอัปเดตใหม่ + + + never + ไม่เคย + + + up to date, last checked %1 + ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1 + SshControl @@ -987,30 +1057,14 @@ This may take up to a minute. Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - - Experimental openpilot Longitudinal Control - ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot - Experimental Mode โหมดทดลอง - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นพัฒนา และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในขั้นพัฒนา - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: โดยปกติ openpilot จะขับใน<b>โหมดชิล</b> เปิดโหมดทดลองเพื่อใช้<b>ความสามารถในขั้นพัฒนา</b> ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้: - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 ควบคุมเร่ง/เบรคแบบ End-to-End 🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. ให้ openpilot ควบคุมการเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึงการหยุดที่ไฟแดง และป้ายหยุดรถ เนื่องจาก openpilot จะกำหนดความเร็วในการขับด้วยตัวเอง การตั้งความเร็วจะเป็นเพียงการกำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเกิดข้อผิดพลาดขึ้นได้ @@ -1019,10 +1073,6 @@ This may take up to a minute. New Driving Visualization การแสดงภาพการขับขี่แบบใหม่ - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่ @@ -1032,12 +1082,60 @@ This may take up to a minute. ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - เวอร์ชันทดลองของระบบควบคุมการเร่ง/เบรคโดย openpilot สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา + openpilot Longitudinal Control (Alpha) + ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) - Enable experimental longitudinal control to allow Experimental mode. - เปิดระบบควบคุมการเร่ง/เบรคขั้นพัฒนาโดย openpilot เพื่อเปิดใช้งานโหมดทดลอง + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha + + + Aggressive + ดุดัน + + + Standard + มาตรฐาน + + + Relaxed + ผ่อนคลาย + + + Driving Personality + บุคลิกการขับขี่ + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน openpilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจากรถคันหน้ามากขึ้น + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา + + + End-to-End Longitudinal Control + ควบคุมเร่ง/เบรคแบบ End-to-End + + + Navigate on openpilot + การนำทางบน openpilot + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + เมื่อการนำทางมีจุดหมายปลายทาง openpilot จะป้อนข้อมูลแผนที่เข้าไปยังโมเดล ซึ่งจะเป็นบริบทที่มีประโยชน์สำหรับโมเดลและจะทำให้ openpilot สามารถรักษาเลนซ้ายหรือขวาได้อย่างเหมาะสมบริเวณทางแยกหรือทางออก พฤติกรรมการเปลี่ยนเลนยังคงเหมือนเดิมและยังคงต้องถูกเริ่มโดยคนขับ ความสามารถนี้ยังอยู่ในระดับ alpha ซึ่งอาจะเกิดความผิดพลาดได้โดยเฉพาะบริเวณทางแยกหรือทางออก ความผิดพลาดที่อาจเกิดขึ้นได้อาจรวมถึงการข้ามเส้นแบ่งเลนโดยไม่ตั้งใจ, การเข้าช่องทางออกช้ากว่าปกติ, การขับเข้าหาแบริเออร์ในเขตปลอดภัย, ฯลฯ + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย เมื่อเป้าหมายการนำทางถูกเลือกและโมเดลการขับขี่กำลังใช้เป็นอินพุต เส้นทางการขับขี่บนแผนที่จะเปลี่ยนเป็นสีเขียว + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง @@ -1075,6 +1173,29 @@ This may take up to a minute. การอัปเดตล้มเหลว + + WiFiPromptWidget + + Setup Wi-Fi + ตั้งค่า Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + เชื่อมต่อกับ Wi-Fi เพื่ออัปโหลดข้อมูลการขับขี่และช่วยปรับปรุง openpilot + + + Open Settings + เปิดการตั้งค่า + + + Ready to upload + พร้อมจะอัปโหลด + + + Training data will be pulled periodically while your device is on Wi-Fi + ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 7cacc72f1c..17c768eb79 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -116,6 +116,33 @@ 拒绝并卸载%1 + + DestinationWidget + + Home + 住家 + + + Work + 工作 + + + No destination set + 尚未设置目的地 + + + No %1 location set + 尚未设置 %1 的位置 + + + home + 住家 + + + work + 工作 + + DevicePanel @@ -164,7 +191,7 @@ Review the rules, features, and limitations of openpilot - 查看openpilot的使用规则，以及其功能和限制。 + 查看 openpilot 的使用规则，以及其功能和限制 Are you sure you want to review the training guide? @@ -316,7 +343,7 @@ MapETA eta - 埃塔 + 抵达 min @@ -355,42 +382,14 @@ - MapPanel + MapSettings - Current Destination - 当前目的地 + NAVIGATION + 导航 - CLEAR - 清空 - - - Recent Destinations - 最近目的地 - - - Try the Navigation Beta - 试用导航测试版 - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - 订阅comma prime以获取导航。 -立即注册：https://connect.comma.ai - - - No home -location set - 家：未设定 - - - No work -location set - 工作：未设定 - - - no recent destinations - 无最近目的地 + Manage at connect.comma.ai + 请在 connect.comma.ai 上管理 @@ -403,6 +402,10 @@ location set Waiting for GPS 等待 GPS + + Waiting for route + 等待路线 + MultiOptionDialog @@ -434,6 +437,63 @@ location set 密码错误 + + OffroadAlert + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + 请立即连接网络检查更新。如果不连接网络，openpilot 将在 %1 后便无法使用 + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + 请连接至互联网以检查更新。在连接至互联网并完成更新检查之前，openpilot 将不会自动启动。 + + + Unable to download updates +%1 + 无法下载更新 +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + 日期和时间设置无效，系统无法启动。请连接至互联网以设置时间。 + + + Taking camera snapshots. System won't start until finished. + 正在使用相机拍摄中。在完成之前，系统将无法启动。 + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + 一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。 + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + 设备注册失败。它将无法连接或上传至 comma.ai 服务器，并且无法获得 comma.ai 的支持。如果这是一个官方设备，请访问 https://comma.ai/support。 + + + NVMe drive not mounted. + NVMe固态硬盘未被挂载。 + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + 检测到不支持的 NVMe 固态硬盘。您的设备因为使用了不支持的 NVMe 固态硬盘可能会消耗更多电力并更易过热。 + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。 + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 discord.comma.ai。 + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。 + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + 设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1 + + OffroadHome @@ -498,12 +558,16 @@ location set 远程访问 - 1 year of storage - 1年数据存储 + 24/7 LTE connectivity + 全天候 LTE 連線 - Developer perks - 开发者福利 + Turn-by-turn navigation + 领航功能 + + + 1 year of drive storage + 一年的行驶记录储存空间 @@ -516,14 +580,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS点数 - QObject @@ -590,16 +646,17 @@ location set Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - + 无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。 Press confirm to erase all content and settings. Press cancel to resume boot. - + 按下确认以删除所有内容及设置。按下取消来继续开机。 Resetting device... This may take up to a minute. - + 设备重置中… +这可能需要一分钟的时间。 @@ -624,10 +681,6 @@ This may take up to a minute. Software 软件 - - Navigation - 导航 - Setup @@ -701,11 +754,11 @@ This may take up to a minute. No custom software found at this URL. - + 在此网址找不到自定义软件。 Something went wrong. Reboot the device. - + 发生了一些错误。请重新启动您的设备。 @@ -860,6 +913,26 @@ This may take up to a minute. Uninstall 卸载 + + failed to check for update + 检查更新失败 + + + up to date, last checked %1 + 已经是最新版本，上次检查时间为 %1 + + + DOWNLOAD + 下载 + + + update available + 有可用的更新 + + + never + 从未更新 + SshControl @@ -992,10 +1065,6 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot 默认 <b>轻松模式</b>驾驶车辆。试验模式启用一些轻松模式之外的 <b>试验性功能</b>。试验性功能包括： - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 端到端（End-to-End） 纵向控制 🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. 允许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。 @@ -1004,37 +1073,69 @@ This may take up to a minute. New Driving Visualization 新驾驶视角 - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - 当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。 - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. 由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。 openpilot longitudinal control may come in a future update. - - - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Enable experimental longitudinal control to allow Experimental mode. - 启用试验性的纵向控制，以便允许使用试验模式。 + openpilot纵向控制可能会在未来的更新中提供。 openpilot Longitudinal Control (Alpha) - + openpilot纵向控制（Alpha 版） WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - + 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - + 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 + + + Aggressive + 积极 + + + Standard + 标准 + + + Relaxed + 舒适 + + + Driving Personality + 驾驶风格 + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + 推荐使用标准模式。在积极模式中，openpilot 会更靠近前车并在加速和刹车方面更积极。在舒适模式中，openpilot 会与前车保持较远的距离。 + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + 在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。 + + + Navigate on openpilot + Navigate on openpilot + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + 启用 openpilot 纵向控制（alpha）开关以允许实验模式。 + + + End-to-End Longitudinal Control + 端到端纵向控制 + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + 当导航有目的地时，openpilot 将输入地图信息到模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向安全地带等。 + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + 行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。 @@ -1072,6 +1173,29 @@ This may take up to a minute. 更新失败 + + WiFiPromptWidget + + Setup Wi-Fi + 设置 Wi-Fi 连接 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + 请连接至 Wi-Fi 上传驾驶数据以协助改进openpilot + + + Open Settings + 打开设置 + + + Ready to upload + 准备好上传 + + + Training data will be pulled periodically while your device is on Wi-Fi + 训练数据将定期通过 Wi-Fi 上载 + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e559ca88a6..83ab5d8aa3 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -116,6 +116,33 @@ 拒絕並解除安裝 %1 + + DestinationWidget + + Home + 住家 + + + Work + 工作 + + + No destination set + 尚未設定目的地 + + + No %1 location set + 尚未設定 %1 的位置 + + + home + 住家 + + + work + 工作 + + DevicePanel @@ -355,44 +382,14 @@ - MapPanel + MapSettings - Current Destination - 當前目的地 + NAVIGATION + 導航 - CLEAR - 清除 - - - Recent Destinations - 最近目的地 - - - Try the Navigation Beta - 試用導航功能 - - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - 成為 comma 高級會員來使用導航功能 -立即註冊：https://connect.comma.ai - - - No home -location set - 未設定 -住家位置 - - - No work -location set - 未設定 -工作位置 - - - no recent destinations - 沒有最近的導航記錄 + Manage at connect.comma.ai + 請在 connect.comma.ai 上管理 @@ -405,6 +402,10 @@ location set Waiting for GPS 等待 GPS + + Waiting for route + 等待路線 + MultiOptionDialog @@ -436,6 +437,63 @@ location set 密碼錯誤 + + OffroadAlert + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + 請立即連接網路檢查更新。如果不連接網路，openpilot 將在 %1 後便無法使用 + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + 請連接至網際網路以檢查更新。在連接至網際網路並完成更新檢查之前，openpilot 將不會自動啟動。 + + + Unable to download updates +%1 + 無法下載更新 +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + 日期和時間設定無效，系統無法啟動。請連接至網際網路以設定時間。 + + + Taking camera snapshots. System won't start until finished. + 正在使用相機拍攝中。在完成之前，系統將無法啟動。 + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + 一個給您設備的操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + 設備註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方設備，請訪問 https://comma.ai/support 。 + + + NVMe drive not mounted. + NVMe 固態硬碟未被掛載。 + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + 檢測到不支援的 NVMe 固態硬碟。您的設備因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。 + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的固件版本。需要幫助嗎？請加入 discord.comma.ai 。 + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 接口。需要幫助嗎？請加入 discord.comma.ai 。 + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + 設備溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 + + OffroadHome @@ -500,12 +558,16 @@ location set 遠程訪問 - 1 year of storage - 一年的雲端行車記錄 + 24/7 LTE connectivity + 24/7 LTE 連線 - Developer perks - 開發者福利 + Turn-by-turn navigation + 導航功能 + + + 1 year of drive storage + 一年的行駛記錄儲存空間 @@ -518,14 +580,6 @@ location set comma prime comma 高級會員 - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA 積分 - QObject @@ -592,16 +646,17 @@ location set Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - 無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定 + 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。 Press confirm to erase all content and settings. Press cancel to resume boot. - 按下確認以刪除所有內容及設定 按下取消來繼續開機 + 按下確認以刪除所有內容及設定。按下取消來繼續開機。 Resetting device... This may take up to a minute. - 設備重置中 此過程可能需要幾分鐘 + 設備重置中… +這可能需要一分鐘的時間。 @@ -626,10 +681,6 @@ This may take up to a minute. Software 軟體 - - Navigation - 導航 - Setup @@ -703,11 +754,11 @@ This may take up to a minute. No custom software found at this URL. - 無法在此URL找到定制的軟體 + 在此網址找不到自訂軟體。 Something went wrong. Reboot the device. - 發生了一些錯誤 請重新啟動您的設備 + 發生了一些錯誤。請重新啟動您的設備。 @@ -862,6 +913,26 @@ This may take up to a minute. Uninstall 解除安裝 + + failed to check for update + 檢查更新失敗 + + + up to date, last checked %1 + 已經是最新版本，上次檢查時間為 %1 + + + DOWNLOAD + 下載 + + + update available + 有可用的更新 + + + never + 從未更新 + SshControl @@ -994,10 +1065,6 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot 預設以 <b>輕鬆模式</b> 駕駛。 實驗模式啟用了尚未準備好進入輕鬆模式的 <b>alpha 級功能</b>。實驗功能如下： - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮端到端縱向控制🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. 讓駕駛模型來控制油門及煞車。openpilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。 @@ -1006,37 +1073,69 @@ This may take up to a minute. New Driving Visualization 新的駕駛視覺介面 - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - 低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。 - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. 因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。 openpilot longitudinal control may come in a future update. - 未來可能會推出openpilot縱向控制 - - - An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 - - - Enable experimental longitudinal control to allow Experimental mode. - 啟用實驗性縱向控制以使用實驗模式。 + openpilot 縱向控制可能會在未來的更新中提供。 openpilot Longitudinal Control (Alpha) - + openpilot 縱向控制 (Alpha 版) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - + 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - + 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + + + Aggressive + 積極 + + + Standard + 標準 + + + Relaxed + 舒適 + + + Driving Personality + 駕駛風格 + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + 推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。 + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。 + + + Navigate on openpilot + Navigate on openpilot + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + 啟用 openpilot 縱向控制（alpha）切換以允許實驗模式。 + + + End-to-End Longitudinal Control + 端到端縱向控制 + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + 当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。 + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + 行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。 @@ -1074,6 +1173,29 @@ This may take up to a minute. 更新失敗 + + WiFiPromptWidget + + Setup Wi-Fi + 設置 Wi-Fi 連接 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + 請連接至 Wi-Fi 傳駕駛數據以協助改進 openpilot + + + Open Settings + 開啟設置 + + + Ready to upload + 準備好上傳 + + + Training data will be pulled periodically while your device is on Wi-Fi + 訓練數據將定期經過 Wi-Fi 上傳 + + WifiUI diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 50ffc84f4f..95be0e3ed9 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -14,7 +14,6 @@ #define BACKLIGHT_DT 0.05 #define BACKLIGHT_TS 10.00 -#define BACKLIGHT_OFFROAD 50 // Projects a point in car to space to the corresponding point in full frame // image space. @@ -24,7 +23,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, const vec3 pt = (vec3){{in_x, in_y, in_z}}; const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt); - const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); + const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep); // Project. QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); @@ -79,7 +78,7 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, *pvd = left_points + right_points; } -void update_model(UIState *s, +void update_model(UIState *s, const cereal::ModelDataV2::Reader &model, const cereal::UiPlan::Reader &plan) { UIScene &scene = s->scene; @@ -159,8 +158,9 @@ static void update_state(UIState *s) { UIScene &scene = s->scene; if (sm.updated("liveCalibration")) { - auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); - auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler(); + auto live_calib = sm["liveCalibration"].getLiveCalibration(); + auto rpy_list = live_calib.getRpyCalib(); + auto wfde_list = live_calib.getWideFromDeviceEuler(); Eigen::Vector3d rpy; Eigen::Vector3d wfde; if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2]; @@ -179,7 +179,7 @@ static void update_state(UIState *s) { scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); } } - scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; + scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; scene.calibration_wide_valid = wfde_list.size() == 3; } if (sm.updated("pandaStates")) { @@ -201,8 +201,9 @@ static void update_state(UIState *s) { scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); } if (sm.updated("wideRoadCameraState")) { - float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; - scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); + auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); + float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; + scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; } @@ -216,13 +217,8 @@ void ui_update_params(UIState *s) { void UIState::updateStatus() { if (scene.started && sm->updated("controlsState")) { auto controls_state = (*sm)["controlsState"].getControlsState(); - auto alert_status = controls_state.getAlertStatus(); auto state = controls_state.getState(); - if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) { - status = STATUS_WARNING; - } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) { - status = STATUS_ALERT; - } else if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) { + if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) { status = STATUS_OVERRIDE; } else { status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; @@ -238,13 +234,6 @@ void UIState::updateStatus() { started_prev = scene.started; emit offroadTransition(!scene.started); } - - // Handle prime type change - if (prime_type != prime_type_prev) { - prime_type_prev = prime_type; - emit primeTypeChanged(prime_type); - Params().put("PrimeType", std::to_string(prime_type)); - } } UIState::UIState(QObject *parent) : QObject(parent) { @@ -275,9 +264,17 @@ void UIState::update() { emit uiUpdate(*this); } +void UIState::setPrimeType(int type) { + if (type != prime_type) { + prime_type = type; + Params().put("PrimeType", std::to_string(prime_type)); + emit primeTypeChanged(prime_type); + } +} + Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) { setAwake(true); - resetInteractiveTimout(); + resetInteractiveTimeout(); QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update); } @@ -285,9 +282,6 @@ Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT void Device::update(const UIState &s) { updateBrightness(s); updateWakefulness(s); - - // TODO: remove from UIState and use signals - uiState()->awake = awake; } void Device::setAwake(bool on) { @@ -299,12 +293,12 @@ void Device::setAwake(bool on) { } } -void Device::resetInteractiveTimout() { +void Device::resetInteractiveTimeout() { interactive_timeout = (ignition_on ? 10 : 30) * UI_FREQ; } void Device::updateBrightness(const UIState &s) { - float clipped_brightness = BACKLIGHT_OFFROAD; + float clipped_brightness = offroad_brightness; if (s.scene.started) { clipped_brightness = s.scene.light_sensor; @@ -337,9 +331,9 @@ void Device::updateWakefulness(const UIState &s) { ignition_on = s.scene.ignition; if (ignition_just_turned_off) { - resetInteractiveTimout(); + resetInteractiveTimeout(); } else if (interactive_timeout > 0 && --interactive_timeout == 0) { - emit interactiveTimout(); + emit interactiveTimeout(); } setAwake(s.scene.ignition || interactive_timeout > 0); @@ -349,3 +343,8 @@ UIState *uiState() { static UIState ui_state; return &ui_state; } + +Device *device() { + static Device _device; + return &_device; +} diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 4c4bd462e7..572065d961 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -16,11 +16,11 @@ #include "common/params.h" #include "common/timing.h" -const int bdr_s = 30; -const int header_h = 420; -const int footer_h = 280; +const int UI_BORDER_SIZE = 30; +const int UI_HEADER_HEIGHT = 420; const int UI_FREQ = 20; // Hz +const int BACKLIGHT_OFFROAD = 50; typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; @@ -40,6 +40,7 @@ struct Alert { QString text2; QString type; cereal::ControlsState::AlertSize size; + cereal::ControlsState::AlertStatus status; AudibleAlert sound; bool equal(const Alert &a2) { @@ -48,34 +49,43 @@ struct Alert { static Alert get(const SubMaster &sm, uint64_t started_frame) { const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); - if (sm.updated("controlsState")) { - return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), - cs.getAlertType().cStr(), cs.getAlertSize(), - cs.getAlertSound()}; - } else if ((sm.frame - started_frame) > 5 * UI_FREQ) { + const uint64_t controls_frame = sm.rcv_frame("controlsState"); + + Alert alert = {}; + if (controls_frame >= started_frame) { // Don't get old alert. + alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), + cs.getAlertType().cStr(), cs.getAlertSize(), + cs.getAlertStatus(), + cs.getAlertSound()}; + } + + if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) { const int CONTROLS_TIMEOUT = 5; const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9; // Handle controls timeout - if (sm.rcv_frame("controlsState") < started_frame) { + if (controls_frame < started_frame) { // car is started, but controlsState hasn't been seen at all - return {"openpilot Unavailable", "Waiting for controls to start", - "controlsWaiting", cereal::ControlsState::AlertSize::MID, - AudibleAlert::NONE}; + alert = {"openpilot Unavailable", "Waiting for controls to start", + "controlsWaiting", cereal::ControlsState::AlertSize::MID, + cereal::ControlsState::AlertStatus::NORMAL, + AudibleAlert::NONE}; } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { // car is started, but controls is lagging or died if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { - return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", - "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, - AudibleAlert::WARNING_IMMEDIATE}; + alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", + "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, + cereal::ControlsState::AlertStatus::CRITICAL, + AudibleAlert::WARNING_IMMEDIATE}; } else { - return {"Controls Unresponsive", "Reboot Device", - "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID, - AudibleAlert::NONE}; + alert = {"Controls Unresponsive", "Reboot Device", + "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID, + cereal::ControlsState::AlertStatus::NORMAL, + AudibleAlert::NONE}; } } } - return {}; + return alert; } }; @@ -83,16 +93,18 @@ typedef enum UIStatus { STATUS_DISENGAGED, STATUS_OVERRIDE, STATUS_ENGAGED, - STATUS_WARNING, - STATUS_ALERT, } UIStatus; const QColor bg_colors [] = { [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), - [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1), - [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1), +}; + +static std::map alert_colors = { + {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)}, + {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)}, + {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)}, }; typedef struct UIScene { @@ -120,6 +132,8 @@ typedef struct UIScene { float driver_pose_coss[3]; vec3 face_kpts_draw[std::size(default_face_kpts_3d)]; + bool navigate_on_openpilot = false; + float light_sensor; bool started, ignition, is_metric, map_on_left, longitudinal_control; uint64_t started_frame; @@ -133,10 +147,13 @@ public: void updateStatus(); inline bool worldObjectsVisible() const { return sm->rcv_frame("liveCalibration") > scene.started_frame; - }; + } inline bool engaged() const { return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); - }; + } + + void setPrimeType(int type); + inline int primeType() const { return prime_type; } int fb_w = 0, fb_h = 0; @@ -145,8 +162,6 @@ public: UIStatus status; UIScene scene = {}; - bool awake; - int prime_type; QString language; QTransform car_space_transform; @@ -162,7 +177,7 @@ private slots: private: QTimer *timer; bool started_prev = false; - int prime_type_prev = -1; + int prime_type = -1; }; UIState *uiState(); @@ -173,29 +188,36 @@ class Device : public QObject { public: Device(QObject *parent = 0); + bool isAwake() { return awake; } + void setOffroadBrightness(int brightness) { + offroad_brightness = std::clamp(brightness, 0, 100); + } private: bool awake = false; int interactive_timeout = 0; bool ignition_on = false; + + int offroad_brightness = BACKLIGHT_OFFROAD; int last_brightness = 0; FirstOrderFilter brightness_filter; QFuture brightness_future; void updateBrightness(const UIState &s); void updateWakefulness(const UIState &s); - bool motionTriggered(const UIState &s); void setAwake(bool on); signals: void displayPowerChanged(bool on); - void interactiveTimout(); + void interactiveTimeout(); public slots: - void resetInteractiveTimout(); + void resetInteractiveTimeout(); void update(const UIState &s); }; +Device *device(); + void ui_update_params(UIState *s); int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); void update_model(UIState *s, diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 5964eb49dc..e8460c4274 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -8,9 +8,23 @@ from common.basedir import BASEDIR UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") +TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") +def generate_translations_include(): + # offroad alerts + # TODO translate events from selfdrive/controls/lib/events.py + content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n" + with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: + for alert in json.load(f).values(): + content += f'QT_TRANSLATE_NOOP("OffroadAlert", R"({alert["text"]})");\n' + + with open(TRANSLATIONS_INCLUDE_FILE, "w") as f: + f.write(content) + def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): + generate_translations_include() + if plural_only is None: plural_only = [] @@ -32,7 +46,8 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)") + parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], + help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() update_translations(args.vanish, args.plural_only) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 2cb7d1c13b..5761f4ec61 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -16,6 +16,7 @@ from markdown_it import MarkdownIt from common.basedir import BASEDIR from common.params import Params +from common.time import system_time_valid from system.hardware import AGNOS, HARDWARE from system.swaglog import cloudlog from selfdrive.controls.lib.alertmanager import set_offroad_alert @@ -256,14 +257,14 @@ class Updater: def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: return run(["git", "rev-parse", "HEAD"], path).rstrip() - def set_params(self, failed_count: int, exception: Optional[str]) -> None: + def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: self.params.put("UpdateFailedCount", str(failed_count)) self.params.put_bool("UpdaterFetchAvailable", self.update_available) self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) last_update = datetime.datetime.utcnow() - if failed_count == 0: + if update_success: t = last_update.isoformat() self.params.put("LastUpdateTime", t.encode('utf8')) else: @@ -317,11 +318,12 @@ class Updater: else: extra_text = exception set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) - elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1: - set_offroad_alert("Offroad_ConnectivityNeeded", True) - elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: - remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) - set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") + elif failed_count > 0: + if dt.days > DAYS_NO_CONNECTIVITY_MAX: + set_offroad_alert("Offroad_ConnectivityNeeded", True) + elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: + remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) + set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") def check_for_update(self) -> None: cloudlog.info("checking for updates") @@ -417,7 +419,7 @@ def main() -> None: params.put("InstallDate", t.encode('utf8')) updater = Updater() - update_failed_count = 0 # TODO: Load from param? + update_failed_count = 0 # TODO: Load from param? # no fetch on the first time wait_helper = WaitTimeHelper() @@ -437,7 +439,12 @@ def main() -> None: init_overlay() # ensure we have some params written soon after startup - updater.set_params(update_failed_count, exception) + updater.set_params(False, update_failed_count, exception) + + if not system_time_valid(): + wait_helper.sleep(60) + continue + update_failed_count += 1 # check for update @@ -466,7 +473,8 @@ def main() -> None: try: params.put("UpdaterState", "idle") - updater.set_params(update_failed_count, exception) + update_successful = (update_failed_count == 0) + updater.set_params(update_successful, update_failed_count, exception) except Exception: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 9ef5d89a4e..1b2594bc80 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -82,8 +82,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, rgb_width = ci->frame_width; rgb_height = ci->frame_height; - yuv_transform = get_model_yuv_transform(); - int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width); int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height); assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width)); @@ -151,7 +149,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setFrameId(frame_data.frame_id); framed.setTimestampEof(frame_data.timestamp_eof); framed.setTimestampSof(frame_data.timestamp_sof); - framed.setFrameLength(frame_data.frame_length); framed.setIntegLines(frame_data.integ_lines); framed.setGain(frame_data.gain); framed.setHighConversionGain(frame_data.high_conversion_gain); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 07d1291a2a..3e56f5690d 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -53,7 +53,6 @@ typedef struct CameraInfo { typedef struct FrameMetadata { uint32_t frame_id; - unsigned int frame_length; // Timestamps uint64_t timestamp_sof; // only set on tici @@ -91,8 +90,6 @@ public: std::unique_ptr camera_bufs_metadata; int rgb_width, rgb_height, rgb_stride; - mat3 yuv_transform; - CameraBuf() = default; ~CameraBuf(); void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index e8b8bdc77a..6f4a134438 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -143,7 +143,7 @@ void CameraState::sensors_start() { void CameraState::sensors_poke(int request_id) { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet); - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 0; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -156,15 +156,13 @@ void CameraState::sensors_poke(int request_id) { enabled = false; return; } - - mm.free(pkt); } void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { // LOGD("sensors_i2c: %d", len); uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 1; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -174,7 +172,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); buf_desc[0].type = CAM_CMD_BUF_I2C; - struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto i2c_random_wr = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); i2c_random_wr->header.count = len; i2c_random_wr->header.op_code = 1; i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; @@ -188,9 +186,6 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op enabled = false; return; } - - mm.free(i2c_random_wr); - mm.free(pkt); } static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { @@ -204,7 +199,7 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { int CameraState::sensors_init() { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 2; pkt->kmd_cmd_buf_index = -1; pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; @@ -213,8 +208,8 @@ int CameraState::sensors_init() { buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); buf_desc[0].type = CAM_CMD_BUF_LEGACY; - struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - auto probe = (struct cam_cmd_probe *)(i2c_info + 1); + auto i2c_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); probe->camera_id = camera_num; switch (camera_num) { @@ -255,11 +250,11 @@ int CameraState::sensors_init() { //buf_desc[1].size = buf_desc[1].length = 148; buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].type = CAM_CMD_BUF_I2C; - struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memset(power_settings, 0, buf_desc[1].size); + auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memset(power_settings.get(), 0, buf_desc[1].size); // power on - struct cam_cmd_power *power = power_settings; + struct cam_cmd_power *power = power_settings.get(); power->count = 4; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->power_settings[0].power_seq_type = 3; // clock?? @@ -315,11 +310,6 @@ int CameraState::sensors_init() { int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); LOGD("probing the sensor: %d", ret); - - mm.free(i2c_info); - mm.free(power_settings); - mm.free(pkt); - return ret; } @@ -329,7 +319,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (io_mem_handle != 0) { size += sizeof(struct cam_buf_io_cfg); } - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 2; pkt->kmd_cmd_buf_index = 0; // YUV has kmd_cmd_buf_offset = 1780 @@ -424,8 +414,8 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; - uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memcpy(buf2, &tmp, sizeof(tmp)); + auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memcpy(buf2.get(), &tmp, sizeof(tmp)); if (io_mem_handle != 0) { io_cfg[0].mem_handle[0] = io_mem_handle; @@ -459,9 +449,6 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (ret != 0) { LOGE("isp config failed"); } - - mm.free(buf2); - mm.free(pkt); } void CameraState::enqueue_buffer(int i, bool dp) { @@ -496,7 +483,7 @@ void CameraState::enqueue_buffer(int i, bool dp) { strcpy(sync_create.name, "NodeOutputPortFence"); ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); if (ret != 0) { - LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj) + LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); } sync_objs[i] = sync_create.sync_obj; @@ -746,7 +733,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 1; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -755,7 +742,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); buf_desc[0].type = CAM_CMD_BUF_GENERIC; - struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto csiphy_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); csiphy_info->lane_mask = 0x1f; csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane @@ -767,9 +754,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); assert(ret_ == 0); - - mm.free(csiphy_info); - mm.free(pkt); } // link devices @@ -1179,19 +1163,14 @@ void CameraState::set_camera_exposure(float grey_frac) { uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; - uint32_t min_gain = ox03c10_analog_gains_reg[0]; - uint32_t spd_gain = 0xF00; struct i2c_random_wr_payload exp_reg_array[] = { {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, - {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF}, + {0x35c2, vs_time&0xFF}, {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF}, - {0x3548, spd_gain>>8}, {0x3549, spd_gain&0xFF}, - {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } @@ -1247,10 +1226,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { framed.setImage(get_raw_frame_image(b)); } LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); - if (c == &s->road_cam) { - framed.setTransform(b->yuv_transform.v); - LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera"); - } if (c->camera_id == CAMERA_ID_AR0231) { ar0231_process_registers(s, c, framed); diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc index 6d139590e4..5e8640e99a 100644 --- a/system/camerad/cameras/camera_util.cc +++ b/system/camerad/cameras/camera_util.cc @@ -98,7 +98,7 @@ void release_fd(int video0_fd, uint32_t handle) { release(video0_fd, handle); } -void *MemoryManager::alloc(int size, uint32_t *handle) { +void *MemoryManager::alloc_buf(int size, uint32_t *handle) { lock.lock(); void *ptr; if (!cached_allocations[size].empty()) { diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h index e408f6c0e2..b36f404c0f 100644 --- a/system/camerad/cameras/camera_util.h +++ b/system/camerad/cameras/camera_util.h @@ -1,6 +1,8 @@ #pragma once + #include #include +#include #include #include #include @@ -18,10 +20,17 @@ void release(int video0_fd, uint32_t handle); class MemoryManager { public: void init(int _video0_fd) { video0_fd = _video0_fd; } - void *alloc(int len, uint32_t *handle); - void free(void *ptr); ~MemoryManager(); + + template + auto alloc(int len, uint32_t *handle) { + return std::unique_ptr>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); }); + } + private: + void *alloc_buf(int len, uint32_t *handle); + void free(void *ptr); + std::mutex lock; std::map handle_lookup; std::map size_lookup; diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 4db4bfd4d8..9170c5183a 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -752,6 +752,12 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x5486, 0x08}, {0x5487, 0xDE}, {0x5686, 0x08}, {0x5687, 0xDE}, {0x5886, 0x08}, {0x5887, 0xDE}, + + // fixed gains + {0x3588, 0x01}, {0x3589, 0x00}, + {0x35c8, 0x01}, {0x35c9, 0x00}, + {0x3548, 0x0F}, {0x3549, 0x00}, + {0x35c1, 0x00}, }; struct i2c_random_wr_payload init_array_ar0231[] = { diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 48dfc9e02d..447062fb2e 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -43,10 +43,10 @@ def yuv_to_rgb(y, u, v): return rgb.astype(np.uint8) -def extract_image(buf, w, h, stride, uv_offset): - y = np.array(buf[:uv_offset], dtype=np.uint8).reshape((-1, stride))[:h, :w] - u = np.array(buf[uv_offset::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2] - v = np.array(buf[uv_offset+1::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2] +def extract_image(buf): + y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width] + u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] + v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2] return yuv_to_rgb(y, u, v) @@ -67,10 +67,10 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"): rear, front = None, None if frame is not None: c = vipc_clients[frame] - rear = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset) + rear = extract_image(c.recv()) if front_frame is not None: c = vipc_clients[front_frame] - front = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset) + front = extract_image(c.recv()) return rear, front diff --git a/system/camerad/test/frame_test.py b/system/camerad/test/frame_test.py deleted file mode 100755 index 39198e19da..0000000000 --- a/system/camerad/test/frame_test.py +++ /dev/null @@ -1,37 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import cereal.messaging as messaging -from PIL import ImageFont, ImageDraw, Image - -font = ImageFont.truetype("arial", size=72) -def get_frame(idx): - img = np.zeros((874, 1164, 3), np.uint8) - img[100:400, 100:100+(idx % 10) * 100] = 255 - - # big number - im2 = Image.new("RGB", (200, 200)) - draw = ImageDraw.Draw(im2) - draw.text((10, 100), "%02d" % idx, font=font) - img[400:600, 400:600] = np.array(im2.getdata()).reshape((200, 200, 3)) - return img.tostring() - -if __name__ == "__main__": - from common.realtime import Ratekeeper - rk = Ratekeeper(20) - - pm = messaging.PubMaster(['roadCameraState']) - frm = [get_frame(x) for x in range(30)] - idx = 0 - while 1: - print("send %d" % idx) - dat = messaging.new_message('roadCameraState') - dat.valid = True - dat.frame = { - "frameId": idx, - "image": frm[idx % len(frm)], - } - pm.send('roadCameraState', dat) - - idx += 1 - rk.keep_time() - #time.sleep(1.0) diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index 201b205c4f..8f65744da3 100755 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -3,7 +3,7 @@ import time import unittest import numpy as np -from selfdrive.test.helpers import with_processes +from selfdrive.test.helpers import with_processes, phone_only from system.camerad.snapshot.snapshot import get_snapshots TEST_TIME = 45 @@ -18,7 +18,9 @@ class TestCamerad(unittest.TestCase): ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8) return ret - def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])): + def _is_exposure_okay(self, i, med_mean=None): + if med_mean is None: + med_mean = np.array([[0.2,0.4],[0.2,0.6]]) h, w = i.shape[:2] i = i[h//10:9*h//10,w//10:9*w//10] med_ex, mean_ex = med_mean @@ -28,6 +30,7 @@ class TestCamerad(unittest.TestCase): print([i_median, i_mean]) return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1] + @phone_only @with_processes(['camerad']) def test_camera_operation(self): passed = 0 diff --git a/system/hardware/base.h b/system/hardware/base.h index 6cfc1d8743..5460099723 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -18,6 +18,10 @@ public: static std::string get_serial() { return "cccccc"; } + static std::map get_init_logs() { + return {}; + } + static void reboot() {} static void poweroff() {} static void set_brightness(int percent) {} diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 5599e79186..3b0583a10b 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -19,7 +19,7 @@ inline std::string log_root() { return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata"; } inline std::string params() { - return Hardware::PC() ? util::getenv("HOME") + "/.comma/params" : "/data/params"; + return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params"; } inline std::string rsa_file() { return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa"; diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7876b1af1f..90933e8fef 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,19 +1,19 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a.img.xz", - "hash": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", - "hash_raw": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", - "size": 14780416, + "url": "https://commadist.azureedge.net/agnosupdate/boot-8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279.img.xz", + "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279", + "hash_raw": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279", + "size": 15636480, "sparse": false, "full_check": true, "has_ab": true }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82.img.xz", - "hash": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82", - "hash_raw": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82", + "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz", + "hash": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d", + "hash_raw": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d", "size": 274432, "sparse": false, "full_check": true, @@ -21,29 +21,49 @@ }, { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35.img.xz", - "hash": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35", - "hash_raw": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35", - "size": 3670016, + "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz", + "hash": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa", + "hash_raw": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa", + "size": 3282672, "sparse": false, "full_check": true, "has_ab": true }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad.img.xz", - "hash": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad", - "hash_raw": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad", - "size": 364544, + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz", + "hash": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf", + "hash_raw": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf", + "size": 98124, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "devcfg", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz", + "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262", + "hash_raw": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262", + "size": 40336, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "aop", + "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz", + "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222", + "hash_raw": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222", + "size": 184364, "sparse": false, "full_check": true, "has_ab": true }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e.img.xz", - "hash": "48209ce7e8cc2fff4ec024f0cd82fc2e3e097b5c0629be2b292acf64e6701449", - "hash_raw": "9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e", + "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz", + "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0", + "hash_raw": "e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 979bc757f6..5b656a40fa 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -124,12 +124,13 @@ class Amplifier: def set_configs(self, configs: List[AmpConfig]) -> bool: # retry in case panda is using the amp - for _ in range(10): + tries = 15 + for i in range(15): try: self._set_configs(configs) return True except OSError: - print("Failed to set amp config, retrying...") + print(f"Failed to set amp config, {tries - i - 1} retries left") time.sleep(0.02) return False diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 5f6fb2dc50..580dc83eec 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -16,8 +16,16 @@ public: static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); }; - static std::string get_name() { return "tici"; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; }; + + static std::string get_name() { + std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model"); + return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici"; + }; + + static cereal::InitData::DeviceType get_device_type() { + return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI; + }; + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; @@ -65,6 +73,32 @@ public: std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); } + + static std::map get_init_logs() { + std::map ret = { + {"/BUILD", util::read_file("/BUILD")}, + {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")}, + }; + + std::string bs = util::check_output("abctl --boot_slot"); + ret["boot slot"] = bs.substr(0, bs.find_first_of("\n")); + + std::string temp = util::read_file("/dev/disk/by-partlabel/ssd"); + temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1); + ret["boot temp"] = temp; + + // TODO: log something from system and boot + for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) { + for (std::string slot : {"a", "b"}) { + std::string partition = part + "_" + slot; + std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition); + ret[partition] = hash.substr(0, hash.find_first_of(" ")); + } + } + + return ret; + } + static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }; static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }; }; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index ee1d5f5279..6932ea08b6 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -4,11 +4,11 @@ import os import subprocess import time from enum import IntEnum -from functools import cached_property +from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from common.gpio import gpio_set, gpio_init, get_irq_for_action +from common.gpio import gpio_set, gpio_init, get_irqs_for_action from system.hardware.base import HardwareBase, ThermalConfig from system.hardware.tici import iwlist from system.hardware.tici.pins import GPIO @@ -61,17 +61,38 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14 def sudo_write(val, path): - os.system(f"sudo su -c 'echo {val} > {path}'") + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + os.system(f"sudo chmod a+w {path}") + try: + with open(path, 'w') as f: + f.write(str(val)) + except PermissionError: + # fallback for debugfs files + os.system(f"sudo su -c 'echo {val} > {path}'") def affine_irq(val, action): - irq = get_irq_for_action(action) - if len(irq) == 0: + irqs = get_irqs_for_action(action) + if len(irqs) == 0: print(f"No IRQs found for '{action}'") return - for i in irq: + + for i in irqs: sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list") +@lru_cache +def get_device_type(): + # lru_cache and cache can cause memory leaks when used in classes + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + # TODO: remove this with AGNOS 7+ + if model.startswith('Qualcomm'): + model = 'tici' + return model class Tici(HardwareBase): @cached_property @@ -91,26 +112,18 @@ class Tici(HardwareBase): def amplifier(self): return Amplifier() - @cached_property - def model(self): - with open("/sys/firmware/devicetree/base/model") as f: - model = f.read().strip('\x00') - model = model.split('comma ')[-1] - # TODO: remove this with AGNOS 7+ - if model.startswith('Qualcomm'): - model = 'tici' - return model - def get_os_version(self): with open("/VERSION") as f: return f.read().strip() def get_device_type(self): - return "tici" + return get_device_type() def get_sound_card_online(self): - return (os.path.isfile('/proc/asound/card0/state') and - open('/proc/asound/card0/state').read().strip() == 'ONLINE') + if os.path.isfile('/proc/asound/card0/state'): + with open('/proc/asound/card0/state') as f: + return f.read().strip() == 'ONLINE' + return False def reboot(self, reason=None): subprocess.check_output(["sudo", "reboot"]) @@ -310,7 +323,8 @@ class Tici(HardwareBase): (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]), # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class - (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]), + (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \ + "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]), ] download = [ @@ -319,7 +333,8 @@ class Tici(HardwareBase): # Redirect ingress (incoming) to egress ifb0 (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]), - (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]), + (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \ + "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]), # Add class and rules for virtual interface (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]), @@ -424,7 +439,7 @@ class Tici(HardwareBase): # amplifier, 100mW at idle self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) if not powersave_enabled: - self.amplifier.initialize_configuration(self.model) + self.amplifier.initialize_configuration(self.get_device_type()) # *** CPU config *** @@ -439,49 +454,48 @@ class Tici(HardwareBase): # *** IRQ config *** - # GPU - affine_irq(5, "kgsl-3d0") - # boardd core affine_irq(4, "spi_geni") # SPI affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) - if "tici" in self.model: - affine_irq(4, "xhci-hcd:usb1") # internal panda USB + if "tici" in self.get_device_type(): + affine_irq(4, "xhci-hcd:usb1") # internal panda USB (also modem) + + # GPU + affine_irq(5, "kgsl-3d0") # camerad core - camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite") + camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite") for n in camera_irqs: affine_irq(5, n) def get_gpu_usage_percent(self): try: - used, total = open('/sys/class/kgsl/kgsl-3d0/gpubusy').read().strip().split() + with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f: + used, total = f.read().strip().split() return 100.0 * int(used) / int(total) except Exception: return 0 def initialize_hardware(self): - self.amplifier.initialize_configuration(self.model) + self.amplifier.initialize_configuration(self.get_device_type()) # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") - # TODO: remove the if once agnos 7 ships # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL - if os.path.exists('/sys/class/gpio/gpio49/'): - gpio_init(GPIO.SOM_ST_IO, True) - gpio_set(GPIO.SOM_ST_IO, 1) + gpio_init(GPIO.SOM_ST_IO, True) + gpio_set(GPIO.SOM_ST_IO, 1) # *** IRQ config *** - # move these off the default core - affine_irq(1, "msm_drm") - affine_irq(1, "msm_vidc") - affine_irq(1, "i2c_geni") - # mask off big cluster from default affinity sudo_write("f", "/proc/irq/default_smp_affinity") + # move these off the default core + affine_irq(1, "msm_drm") # display + affine_irq(1, "msm_vidc") # encoders + affine_irq(1, "i2c_geni") # sensors + # *** GPU config *** # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216 sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") @@ -489,7 +503,7 @@ class Tici(HardwareBase): sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on") - sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer") + sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer") sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor") sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz") @@ -581,8 +595,9 @@ class Tici(HardwareBase): gpio_set(GPIO.STM_RST_N, 1) gpio_set(GPIO.STM_BOOT0, 1) - time.sleep(2) + time.sleep(1) gpio_set(GPIO.STM_RST_N, 0) + time.sleep(1) gpio_set(GPIO.STM_BOOT0, 0) diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 082a402f15..5ac0158082 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -10,6 +10,7 @@ class GPIO: STM_RST_N = 124 STM_BOOT0 = 134 + SIREN = 42 SOM_ST_IO = 49 LTE_RST_N = 50 diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py index bde92ae4a5..3c303ff61f 100755 --- a/system/hardware/tici/power_draw_test.py +++ b/system/hardware/tici/power_draw_test.py @@ -4,7 +4,7 @@ import time import numpy as np from system.hardware.tici.hardware import Tici from system.hardware.tici.pins import GPIO -from common.gpio import gpio_init, gpio_set +from common.gpio import gpio_init, gpio_set, gpio_export def read_power(): with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f: @@ -33,13 +33,6 @@ def read_power_avg(): return "total %7.2f mW SOM %7.2f mW" % (power_total, power_som) -def gpio_export(pin): - try: - with open("/sys/class/gpio/export", 'w') as f: - f.write(str(pin)) - except Exception: - print(f"Failed to export gpio {pin}") - if __name__ == "__main__": gpio_export(GPIO.CAM0_AVDD_EN) gpio_export(GPIO.CAM0_RSTN) diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh index 26c04e4fba..3c67d9d21d 100755 --- a/system/hardware/tici/restart_modem.sh +++ b/system/hardware/tici/restart_modem.sh @@ -7,7 +7,7 @@ sudo nmcli connection reload sudo systemctl stop ModemManager nmcli con down lte -nmcli con down magenta-prime +nmcli con down blue-prime # power cycle modem /usr/comma/lte/lte.sh stop_blocking diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index b462e93ebc..6d7232bd64 100755 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -40,7 +40,7 @@ if __name__ == "__main__": # Get content-length for each chunk with multiprocessing.Pool() as pool: szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to))) - chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs)} + chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)} sources: Dict[str, List[int]] = { 'seed': [], diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 1cad6cfd6b..6019495449 100755 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -5,7 +5,7 @@ import unittest import subprocess from panda import Panda -from system.hardware import TICI +from system.hardware import TICI, HARDWARE from system.hardware.tici.hardware import Tici from system.hardware.tici.amplifier import Amplifier @@ -21,37 +21,40 @@ class TestAmplifier(unittest.TestCase): # clear dmesg subprocess.check_call("sudo dmesg -C", shell=True) + HARDWARE.reset_internal_panda() + Panda.wait_for_panda(None, 30) self.panda = Panda() - self.panda.reset() def tearDown(self): - self.panda.reset(reconnect=False) + HARDWARE.reset_internal_panda() def _check_for_i2c_errors(self, expected): dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8') i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l] i2c_str = '\n'.join(i2c_lines) + if not expected: - assert len(i2c_lines) == 0 + return len(i2c_lines) == 0 else: - assert "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str + return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str def test_init(self): amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().model) + r = amp.initialize_configuration(Tici().get_device_type()) assert r - self._check_for_i2c_errors(False) + assert self._check_for_i2c_errors(False) def test_shutdown(self): amp = Amplifier(debug=True) for _ in range(10): r = amp.set_global_shutdown(True) r = amp.set_global_shutdown(False) + # amp config should be successful, with no i2c errors assert r - self._check_for_i2c_errors(False) + assert self._check_for_i2c_errors(False) def test_init_while_siren_play(self): - for _ in range(5): + for _ in range(10): self.panda.set_siren(False) time.sleep(0.1) @@ -59,11 +62,13 @@ class TestAmplifier(unittest.TestCase): time.sleep(random.randint(0, 5)) amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().model) + r = amp.initialize_configuration(Tici().get_device_type()) assert r - # make sure we're a good test - self._check_for_i2c_errors(True) + if self._check_for_i2c_errors(True): + break + else: + self.fail("didn't hit any i2c errors") if __name__ == "__main__": diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py new file mode 100755 index 0000000000..bb22cb1594 --- /dev/null +++ b/system/hardware/tici/tests/test_hardware.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python3 +import time +import unittest +import numpy as np + +from system.hardware import TICI +from system.hardware.tici.hardware import Tici + +HARDWARE = Tici() + +class TestHardware(unittest.TestCase): + + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + HARDWARE.initialize_hardware() + HARDWARE.set_power_save(False) + + def test_power_save_time(self): + ts = [] + for _ in range(5): + for on in (True, False): + st = time.monotonic() + HARDWARE.set_power_save(on) + ts.append(time.monotonic() - st) + + assert 0.1 < np.mean(ts) < 0.25 + assert max(ts) < 0.3 + + +if __name__ == "__main__": + unittest.main() diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index f563933285..a35f231c4e 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -2,30 +2,47 @@ import unittest import time import math +import threading from dataclasses import dataclass from tabulate import tabulate +from typing import List +import cereal.messaging as messaging +from cereal.services import service_list from system.hardware import HARDWARE, TICI from system.hardware.tici.power_monitor import get_power from selfdrive.manager.process_config import managed_processes from selfdrive.manager.manager import manager_cleanup +from selfdrive.navd.tests.test_map_renderer import gen_llk +SAMPLE_TIME = 8 # seconds to sample power @dataclass class Proc: name: str power: float + msgs: List[str] rtol: float = 0.05 - atol: float = 0.1 + atol: float = 0.12 warmup: float = 6. PROCS = [ - Proc('camerad', 2.15), - Proc('modeld', 0.93, atol=0.2), - Proc('dmonitoringmodeld', 0.4), - Proc('encoderd', 0.23), + Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']), + Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']), + Proc('encoderd', 0.23, msgs=[]), + Proc('mapsd', 0.05, msgs=['mapRenderState']), + Proc('navmodeld', 0.05, msgs=['navModel']), ] +def send_llk_msg(done): + # Send liveLocationKalman at 20Hz + pm = messaging.PubMaster(['liveLocationKalman']) + while not done.is_set(): + msg = gen_llk() + pm.send('liveLocationKalman', msg) + time.sleep(1/20.) + class TestPowerDraw(unittest.TestCase): @@ -46,27 +63,39 @@ class TestPowerDraw(unittest.TestCase): def test_camera_procs(self): baseline = get_power() + done = threading.Event() + thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True) + thread.start() prev = baseline used = {} + msg_counts = {} for proc in PROCS: + socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs} managed_processes[proc.name].start() time.sleep(proc.warmup) + for sock in socks.values(): + messaging.drain_sock_raw(sock) - now = get_power(8) + now = get_power(SAMPLE_TIME) used[proc.name] = now - prev prev = now + for msg,sock in socks.items(): + msg_counts[msg] = len(messaging.drain_sock_raw(sock)) + done.set() manager_cleanup() - tab = [] - tab.append(['process', 'expected (W)', 'current (W)']) + tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']] for proc in PROCS: cur = used[proc.name] expected = proc.power - tab.append([proc.name, round(expected, 2), round(cur, 2)]) + msgs_received = sum(msg_counts[msg] for msg in proc.msgs) + msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs)) + tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received]) with self.subTest(proc=proc.name): self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) + self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2)) print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") diff --git a/system/loggerd/config.py b/system/loggerd/config.py index 168c9fba91..df187a48c0 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -5,7 +5,7 @@ from system.hardware import PC if os.environ.get('LOG_ROOT', False): ROOT = os.environ['LOG_ROOT'] elif PC: - ROOT = os.path.join(str(Path.home()), ".comma", "media", "0", "realdata") + ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata") else: ROOT = '/data/media/0/realdata/' @@ -16,7 +16,7 @@ SEGMENT_LENGTH = 60 STATS_DIR_FILE_LIMIT = 10000 STATS_SOCKET = "ipc:///tmp/stats" if PC: - STATS_DIR = os.path.join(str(Path.home()), ".comma", "stats") + STATS_DIR = str(Path.home() / ".comma" / "stats") else: STATS_DIR = "/data/stats/" STATS_FLUSH_TIME_S = 60 diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index 5fb2b9eb41..5e7b31f583 100644 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -2,15 +2,48 @@ import os import shutil import threading +from typing import List + from system.swaglog import cloudlog from system.loggerd.config import ROOT, get_available_bytes, get_available_percent from system.loggerd.uploader import listdir_by_creation +from system.loggerd.xattr_cache import getxattr MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 DELETE_LAST = ['boot', 'crash'] +PRESERVE_ATTR_NAME = 'user.preserve' +PRESERVE_ATTR_VALUE = b'1' +PRESERVE_COUNT = 5 + + +def has_preserve_xattr(d: str) -> bool: + return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE + + +def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]: + preserved = [] + for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))): + if n == PRESERVE_COUNT: + break + date_str, _, seg_str = d.rpartition("--") + + # ignore non-segment directories + if not date_str: + continue + try: + seg_num = int(seg_str) + except ValueError: + continue + + # preserve segment and its prior + preserved.append(d) + preserved.append(f"{date_str}--{seg_num - 1}") + + return preserved + def deleter_thread(exit_event): while not exit_event.is_set(): @@ -18,9 +51,13 @@ def deleter_thread(exit_event): out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT if out_of_percent or out_of_bytes: + dirs = listdir_by_creation(ROOT) + + # skip deleting most recent N preserved segments (and their prior segment) + preserved_dirs = get_preserved_segments(dirs) + # remove the earliest directory we can - dirs = sorted(listdir_by_creation(ROOT), key=lambda x: x in DELETE_LAST) - for delete_dir in dirs: + for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)): delete_path = os.path.join(ROOT, delete_dir) if any(name.endswith(".lock") for name in os.listdir(delete_path)): diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 08eaf0ff01..869b4617b3 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -1,14 +1,8 @@ -#include #include "system/loggerd/encoder/encoder.h" -VideoEncoder::~VideoEncoder() {} - -void VideoEncoder::publisher_init() { - // publish - service_name = this->type == DriverCam ? "driverEncodeData" : - (this->type == WideRoadCam ? "wideRoadEncodeData" : - (this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData")); - pm.reset(new PubMaster({service_name})); +VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) + : encoder_info(encoder_info), in_width(in_width), in_height(in_height) { + pm.reset(new PubMaster({encoder_info.publish_name})); } void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, @@ -16,9 +10,7 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t // broadcast packet MessageBuilder msg; auto event = msg.initEvent(true); - auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() : - ((e->type == WideRoadCam) ? event.initWideRoadEncodeData() : - (e->in_width == e->out_width ? event.initRoadEncodeData() : event.initQRoadEncodeData())); + auto edat = (event.*(e->encoder_info.init_encode_data_func))(); auto edata = edat.initIdx(); struct timespec ts; timespec_get(&ts, TIME_UTC); @@ -26,7 +18,7 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t edata.setFrameId(extra.frame_id); edata.setTimestampSof(extra.timestamp_sof); edata.setTimestampEof(extra.timestamp_eof); - edata.setType(e->codec); + edata.setType(e->encoder_info.encode_type); edata.setEncodeId(e->cnt++); edata.setSegmentNum(segment_num); edata.setSegmentId(idx); @@ -37,46 +29,6 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t auto words = new kj::Array(capnp::messageToFlatArray(msg)); auto bytes = words->asBytes(); - e->pm->send(e->service_name, bytes.begin(), bytes.size()); - if (e->write) { - e->to_write.push(words); - } else { - delete words; - } -} - -// TODO: writing should be moved to loggerd -void VideoEncoder::write_handler(VideoEncoder *e, const char *path) { - VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec); - - bool first = true; - kj::Array* out_buf; - while ((out_buf = e->to_write.pop())) { - capnp::FlatArrayMessageReader cmsg(*out_buf); - cereal::Event::Reader event = cmsg.getRoot(); - - auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() : - ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() : - (e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData())); - auto idx = edata.getIdx(); - auto flags = idx.getFlags(); - - if (first) { - assert(flags & V4L2_BUF_FLAG_KEYFRAME); - auto header = edata.getHeader(); - writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); - first = false; - } - - // dangerous cast from const, but should be fine - auto data = edata.getData(); - if (data.size() > 0) { - writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); - } - - // free the data - delete out_buf; - } - - // VideoWriter is freed on out of scope + e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size()); + delete words; } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 88dd5cee23..59ec4357ae 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,56 +7,28 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" +#include "system/loggerd/loggerd.h" #define V4L2_BUF_FLAG_KEYFRAME 8 class VideoEncoder { public: - VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) - : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps), - bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { } - virtual ~VideoEncoder(); + VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); + virtual ~VideoEncoder() {}; virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; virtual void encoder_open(const char* path) = 0; virtual void encoder_close() = 0; - void publisher_init(); static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - void writer_open(const char* path) { - if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path); - } - - void writer_close() { - if (this->write) { - to_write.push(NULL); - write_handler_thread.join(); - } - assert(to_write.empty()); - } protected: - bool write; - const char* filename; int in_width, in_height; - int out_width, out_height, fps; - int bitrate; - cereal::EncodeIndex::Type codec; - CameraType type; + const EncoderInfo encoder_info; private: // total frames encoded int cnt = 0; - - // publishing std::unique_ptr pm; - const char *service_name; - - // writing support - static void write_handler(VideoEncoder *e, const char *path); - std::thread write_handler_thread; - SafeQueue* > to_write; }; diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 275da34f18..b73f4e8f5d 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -24,23 +24,22 @@ extern "C" { const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; -void FfmpegEncoder::encoder_init() { +FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) + : VideoEncoder(encoder_info, in_width, in_height) { frame = av_frame_alloc(); assert(frame); frame->format = AV_PIX_FMT_YUV420P; - frame->width = out_width; - frame->height = out_height; - frame->linesize[0] = out_width; - frame->linesize[1] = out_width/2; - frame->linesize[2] = out_width/2; + frame->width = encoder_info.frame_width; + frame->height = encoder_info.frame_height; + frame->linesize[0] = encoder_info.frame_width; + frame->linesize[1] = encoder_info.frame_width/2; + frame->linesize[2] = encoder_info.frame_width/2; convert_buf.resize(in_width * in_height * 3 / 2); - if (in_width != out_width || in_height != out_height) { - downscale_buf.resize(out_width * out_height * 3 / 2); + if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) { + downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2); } - - publisher_init(); } FfmpegEncoder::~FfmpegEncoder() { @@ -56,11 +55,10 @@ void FfmpegEncoder::encoder_open(const char* path) { this->codec_ctx->width = frame->width; this->codec_ctx->height = frame->height; this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; - this->codec_ctx->time_base = (AVRational){ 1, fps }; + this->codec_ctx->time_base = (AVRational){ 1, encoder_info.fps }; int err = avcodec_open2(this->codec_ctx, codec, NULL); assert(err >= 0); - writer_open(path); is_open = true; segment_num++; counter = 0; @@ -69,7 +67,6 @@ void FfmpegEncoder::encoder_open(const char* path) { void FfmpegEncoder::encoder_close() { if (!is_open) return; - writer_close(); avcodec_free_context(&codec_ctx); is_open = false; } @@ -138,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { } if (env_debug_encoder) { - printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", this->filename, pkt.size, pkt.flags, counter, extra->frame_id); + printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id); } publisher_publish(this, segment_num, counter, *extra, diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h index 9095a6e815..9e45a3d82d 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -15,12 +15,9 @@ extern "C" { #include "system/loggerd/loggerd.h" class FfmpegEncoder : public VideoEncoder { - public: - FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); } +public: + FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); ~FfmpegEncoder(); - void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); void encoder_open(const char* path); void encoder_close(); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 16e7246ff4..a319d414ca 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -68,7 +68,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) } void V4LEncoder::dequeue_handler(V4LEncoder *e) { - std::string dequeue_thread_name = "dq-"+std::string(e->filename); + std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename); util::set_thread_name(dequeue_thread_name.c_str()); e->segment_num++; @@ -88,7 +88,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { if (!rc) { LOGE("encoder dequeue poll timeout"); continue; } if (env_debug_encoder >= 2) { - printf("%20s poll %x at %.2f ms\n", e->filename, pfd.revents, millis_since_boot()); + printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot()); } int frame_id = -1; @@ -116,7 +116,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { if (env_debug_encoder) { printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n", - e->filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); + e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); } // requeue the buffer @@ -131,7 +131,8 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { } } -void V4LEncoder::encoder_init() { +V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) + : VideoEncoder(encoder_info, in_width, in_height) { fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK); assert(fd >= 0); @@ -146,9 +147,9 @@ void V4LEncoder::encoder_init() { .fmt = { .pix_mp = { // downscales are free with v4l - .width = (unsigned int)out_width, - .height = (unsigned int)out_height, - .pixelformat = (codec == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, + .width = (unsigned int)encoder_info.frame_width, + .height = (unsigned int)encoder_info.frame_height, + .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, .field = V4L2_FIELD_ANY, .colorspace = V4L2_COLORSPACE_DEFAULT, } @@ -192,7 +193,7 @@ void V4LEncoder::encoder_init() { { struct v4l2_control ctrls[] = { { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE}, - { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = bitrate}, + { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1}, @@ -202,10 +203,11 @@ void V4LEncoder::encoder_init() { } } - if (codec == cereal::EncodeIndex::Type::FULL_H_E_V_C) { + if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) { struct v4l2_control ctrls[] = { { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, }; @@ -249,13 +251,10 @@ void V4LEncoder::encoder_init() { for (unsigned int i = 0; i < BUF_IN_COUNT; i++) { free_buf_in.push(i); } - - publisher_init(); } void V4LEncoder::encoder_open(const char* path) { dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this); - writer_open(path); this->is_open = true; this->counter = 0; } @@ -288,7 +287,6 @@ void V4LEncoder::encoder_close() { // join waits for V4L2_QCOM_BUF_FLAG_EOS dequeue_handler_thread.join(); assert(extras.empty()); - writer_close(); } this->is_open = false; } diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h index d4b0a1211d..9336bf3d8b 100644 --- a/system/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -8,11 +8,8 @@ class V4LEncoder : public VideoEncoder { public: - V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); } + V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); ~V4LEncoder(); - void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); void encoder_open(const char* path); void encoder_close(); diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 12b58b6591..6dd1f2ae32 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -1,5 +1,15 @@ +#include + #include "system/loggerd/loggerd.h" +#ifdef QCOM2 +#include "system/loggerd/encoder/v4l_encoder.h" +#define Encoder V4LEncoder +#else +#include "system/loggerd/encoder/ffmpeg_encoder.h" +#define Encoder FfmpegEncoder +#endif + ExitHandler do_exit; struct EncoderdState { @@ -35,7 +45,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { - util::set_thread_name(cam_info.filename); + util::set_thread_name(cam_info.thread_name); std::vector encoders; VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); @@ -50,25 +60,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // init encoders if (encoders.empty()) { VisionBuf buf_info = vipc_client.buffers[0]; - LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height); + LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height); + assert(buf_info.width > 0 && buf_info.height > 0); - if (buf_info.width > 0 && buf_info.height > 0) { - // main encoder - encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, - cam_info.fps, cam_info.bitrate, - cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - buf_info.width, buf_info.height, false)); - // qcamera encoder - if (cam_info.has_qcamera) { - encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, - qcam_info.fps, qcam_info.bitrate, - qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - qcam_info.frame_width, qcam_info.frame_height, false)); - } - } else { - LOGE("not initting empty encoder"); - s->max_waiting--; - break; + for (const auto &encoder_info : cam_info.encoder_infos) { + encoders.push_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); } } @@ -85,7 +81,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // detect loop around and drop the frames if (buf->get_frame_id() != extra.frame_id) { if (!lagging) { - LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id); + LOGE("encoder %s lag buffer id: %" PRIu64 " extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id); lagging = true; } continue; @@ -119,24 +115,40 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { } LOG("encoder destroy"); - for(auto &e : encoders) { + for (auto &e : encoders) { e->encoder_close(); delete e; } } -void encoderd_thread() { +template +void encoderd_thread(const LogCameraInfo (&cameras)[N]) { EncoderdState s; - std::vector encoder_threads; - for (const auto &cam : cameras_logged) { - encoder_threads.push_back(std::thread(encoder_thread, &s, cam)); - s.max_waiting++; + std::set streams; + while (!do_exit) { + streams = VisionIpcClient::getAvailableStreams("camerad", false); + if (!streams.empty()) { + break; + } + util::sleep_for(100); + } + + if (!streams.empty()) { + std::vector encoder_threads; + for (auto stream : streams) { + auto it = std::find_if(std::begin(cameras), std::end(cameras), + [stream](auto &cam) { return cam.stream_type == stream; }); + assert(it != std::end(cameras)); + ++s.max_waiting; + encoder_threads.push_back(std::thread(encoder_thread, &s, *it)); + } + + for (auto &t : encoder_threads) t.join(); } - for (auto &t : encoder_threads) t.join(); } -int main() { +int main(int argc, char* argv[]) { if (!Hardware::PC()) { int ret; ret = util::set_realtime_priority(52); @@ -144,6 +156,15 @@ int main() { ret = util::set_core_affinity({3}); assert(ret == 0); } - encoderd_thread(); + if (argc > 1) { + std::string arg1(argv[1]); + if (arg1 == "--stream") { + encoderd_thread(stream_cameras_logged); + } else { + LOGE("Argument '%s' is not supported", arg1.c_str()); + } + } else { + encoderd_thread(cameras_logged); + } return 0; } diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 0599aa1e54..1e710759e6 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -70,7 +70,9 @@ kj::Array logger_build_init_data() { "df -h", // usage for all filesystems }; - auto commands = init.initCommands().initEntries(log_commands.size()); + auto hw_logs = Hardware::get_init_logs(); + + auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size()); for (int i = 0; i < log_commands.size(); i++) { auto lentry = commands[i]; @@ -80,6 +82,14 @@ kj::Array logger_build_init_data() { lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size())); } + int i = log_commands.size(); + for (auto &[key, value] : hw_logs) { + auto lentry = commands[i]; + lentry.setKey(key); + lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size())); + i++; + } + return capnp::messageToFlatArray(msg); } diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index a7f7db4801..56fc11f62c 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,3 +1,8 @@ +#include + +#include + +#include "system/loggerd/encoder/encoder.h" #include "system/loggerd/loggerd.h" #include "system/loggerd/video_writer.h" @@ -58,18 +63,13 @@ struct RemoteEncoder { bool seen_first_packet = false; }; -int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) { - const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] : - ((name == "wideRoadEncodeData") ? cameras_logged[2] : - ((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0])); +int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) { int bytes_count = 0; // extract the message capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); auto event = cmsg.getRoot(); - auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() : - ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() : - ((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData())); + auto edata = (event.*(encoder_info.get_encode_data_func))(); auto idx = edata.getIdx(); auto flags = idx.getFlags(); @@ -95,7 +95,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { for (auto &qmsg: re.q) { - bytes_count += handle_encoder_msg(s, qmsg, name, re); + bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); } re.q.clear(); } @@ -111,10 +111,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct re.dropped_frames = 0; } // if we aren't actually recording, don't create the writer - if (cam_info.record) { + if (encoder_info.record) { re.writer.reset(new VideoWriter(s->segment_path, - cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, - cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType())); + encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, + encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); // write the header auto header = edata.getHeader(); re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); @@ -142,10 +142,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct MessageBuilder bmsg; auto evt = bmsg.initEvent(event.getValid()); evt.setLogMonoTime(event.getLogMonoTime()); - if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); } - if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); } - if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); } - if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); } + (evt.*(encoder_info.set_encode_idx_func))(idx); auto new_msg = bmsg.toBytes(); logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? bytes_count += new_msg.size(); @@ -175,14 +172,31 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct return bytes_count; } +void handle_user_flag(LoggerdState *s) { + static int prev_segment = -1; + if (s->rotate_segment == prev_segment) return; + + LOGW("preserving %s", s->segment_path); + +#ifdef __APPLE__ + int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); +#else + int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); +#endif + if (ret) { + LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno)); + } + prev_segment = s->rotate_segment.load(); +} + void loggerd_thread() { // setup messaging - typedef struct QlogState { + typedef struct ServiceState { std::string name; int counter, freq; - bool encoder; - } QlogState; - std::unordered_map qlog_states; + bool encoder, user_flag; + } ServiceState; + std::unordered_map service_state; std::unordered_map remote_encoders; std::unique_ptr ctx(Context::create()); @@ -191,17 +205,19 @@ void loggerd_thread() { // subscribe to all socks for (const auto& it : services) { const bool encoder = strcmp(it.name+strlen(it.name)-strlen("EncodeData"), "EncodeData") == 0; - if (!it.should_log && !encoder) continue; + const bool livestream_encoder = strncmp(it.name, "livestream", strlen("livestream")) == 0; + if (!it.should_log && (!encoder || livestream_encoder)) continue; LOGD("logging %s (on port %d)", it.name, it.port); SubSocket * sock = SubSocket::create(ctx.get(), it.name); assert(sock != NULL); poller->registerSocket(sock); - qlog_states[sock] = { + service_state[sock] = { .name = it.name, .counter = 0, .freq = it.decimation, .encoder = encoder, + .user_flag = (strcmp(it.name, "userFlag") == 0), }; } @@ -211,11 +227,12 @@ void loggerd_thread() { logger_rotate(&s); Params().put("CurrentRoute", s.logger.route_name); - // init encoders - s.last_camera_seen_tms = millis_since_boot(); + std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { - s.max_waiting++; - if (cam.has_qcamera) { s.max_waiting++; } + for (const auto &encoder_info: cam.encoder_infos) { + encoder_infos_dict[encoder_info.publish_name] = encoder_info; + s.max_waiting++; + } } uint64_t msg_count = 0, bytes_count = 0; @@ -225,16 +242,19 @@ void loggerd_thread() { for (auto sock : poller->poll(1000)) { if (do_exit) break; + ServiceState &service = service_state[sock]; + if (service.user_flag) { + handle_user_flag(&s); + } + // drain socket int count = 0; - QlogState &qs = qlog_states[sock]; Message *msg = nullptr; while (!do_exit && (msg = sock->receive(true))) { - const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0); - - if (qs.encoder) { + const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0); + if (service.encoder) { s.last_camera_seen_tms = millis_since_boot(); - bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]); + bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); } else { logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); bytes_count += msg->getSize(); @@ -245,12 +265,12 @@ void loggerd_thread() { if ((++msg_count % 1000) == 0) { double seconds = (millis_since_boot() - start_ts) / 1000.0; - LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds); + LOGD("%" PRIu64 " messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds); } count++; if (count >= 200) { - LOGD("large volume of '%s' messages", qs.name.c_str()); + LOGD("large volume of '%s' messages", service.name.c_str()); break; } } @@ -267,7 +287,7 @@ void loggerd_thread() { } // messaging cleanup - for (auto &[sock, qs] : qlog_states) delete sock; + for (auto &[sock, service] : service_state) delete sock; } int main(int argc, char** argv) { diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 1b8f9e0d2a..531b30e9f2 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -1,103 +1,152 @@ #pragma once -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - #include "cereal/messaging/messaging.h" #include "cereal/services.h" -#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_client.h" #include "system/camerad/cameras/camera_common.h" +#include "system/hardware/hw.h" #include "common/params.h" #include "common/swaglog.h" -#include "common/timing.h" #include "common/util.h" -#include "system/hardware/hw.h" -#include "system/loggerd/encoder/encoder.h" #include "system/loggerd/logger.h" -#ifdef QCOM2 -#include "system/loggerd/encoder/v4l_encoder.h" -#define Encoder V4LEncoder -#else -#include "system/loggerd/encoder/ffmpeg_encoder.h" -#define Encoder FfmpegEncoder -#endif constexpr int MAIN_FPS = 20; -const int MAIN_BITRATE = 10000000; -const int DCAM_BITRATE = MAIN_BITRATE; +const int MAIN_BITRATE = 1e7; +const int LIVESTREAM_BITRATE = 1e6; +const int QCAM_BITRATE = 256000; -#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead +#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead + +#define INIT_ENCODE_FUNCTIONS(encode_type) \ + .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \ + .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx, \ + .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data const bool LOGGERD_TEST = getenv("LOGGERD_TEST"); const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60; -struct LogCameraInfo { - CameraType type; - const char *filename; - VisionStreamType stream_type; - int frame_width, frame_height; - int fps; - int bitrate; - bool is_h265; - bool has_qcamera; - bool record; +constexpr char PRESERVE_ATTR_NAME[] = "user.preserve"; +constexpr char PRESERVE_ATTR_VALUE = '1'; +class EncoderInfo { +public: + const char *publish_name; + const char *filename = NULL; + bool record = true; + int frame_width = 1928; + int frame_height = 1208; + int fps = MAIN_FPS; + int bitrate = MAIN_BITRATE; + cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS + : cereal::EncodeIndex::Type::FULL_H_E_V_C; + ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; + void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); + cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)(); }; -const LogCameraInfo cameras_logged[] = { - { - .type = RoadCam, - .stream_type = VISION_STREAM_ROAD, - .filename = "fcamera.hevc", - .fps = MAIN_FPS, - .bitrate = MAIN_BITRATE, - .is_h265 = true, - .has_qcamera = true, - .record = true, - .frame_width = 1928, - .frame_height = 1208, - }, - { - .type = DriverCam, - .stream_type = VISION_STREAM_DRIVER, - .filename = "dcamera.hevc", - .fps = MAIN_FPS, - .bitrate = DCAM_BITRATE, - .is_h265 = true, - .has_qcamera = false, - .record = Params().getBool("RecordFront"), - .frame_width = 1928, - .frame_height = 1208, - }, - { - .type = WideRoadCam, - .stream_type = VISION_STREAM_WIDE_ROAD, - .filename = "ecamera.hevc", - .fps = MAIN_FPS, - .bitrate = MAIN_BITRATE, - .is_h265 = true, - .has_qcamera = false, - .record = true, - .frame_width = 1928, - .frame_height = 1208, - }, +class LogCameraInfo { +public: + const char *thread_name; + int fps = MAIN_FPS; + CameraType type; + VisionStreamType stream_type; + std::vector encoder_infos; }; -const LogCameraInfo qcam_info = { + +const EncoderInfo main_road_encoder_info = { + .publish_name = "roadEncodeData", + .filename = "fcamera.hevc", + INIT_ENCODE_FUNCTIONS(RoadEncode), +}; + +const EncoderInfo main_wide_road_encoder_info = { + .publish_name = "wideRoadEncodeData", + .filename = "ecamera.hevc", + INIT_ENCODE_FUNCTIONS(WideRoadEncode), +}; + +const EncoderInfo main_driver_encoder_info = { + .publish_name = "driverEncodeData", + .filename = "dcamera.hevc", + .record = Params().getBool("RecordFront"), + INIT_ENCODE_FUNCTIONS(DriverEncode), +}; + +const EncoderInfo stream_road_encoder_info = { + .publish_name = "livestreamRoadEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), +}; + +const EncoderInfo stream_wide_road_encoder_info = { + .publish_name = "livestreamWideRoadEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), +}; + +const EncoderInfo stream_driver_encoder_info = { + .publish_name = "livestreamDriverEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), +}; + +const EncoderInfo qcam_encoder_info = { + .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .fps = MAIN_FPS, - .bitrate = 256000, - .is_h265 = false, - .record = true, + .bitrate = QCAM_BITRATE, + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .frame_width = 526, .frame_height = 330, + INIT_ENCODE_FUNCTIONS(QRoadEncode), }; + +const LogCameraInfo road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {main_road_encoder_info, qcam_encoder_info} +}; + +const LogCameraInfo wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {main_wide_road_encoder_info} +}; + +const LogCameraInfo driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {main_driver_encoder_info} +}; + +const LogCameraInfo stream_road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {stream_road_encoder_info} +}; + +const LogCameraInfo stream_wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {stream_wide_road_encoder_info} +}; + +const LogCameraInfo stream_driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {stream_driver_encoder_info} +}; + +const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; +const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info}; diff --git a/system/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill.py similarity index 57% rename from system/loggerd/tests/fill_eon.py rename to system/loggerd/tests/fill.py index e0c52ea0d7..4bf4f73604 100755 --- a/system/loggerd/tests/fill_eon.py +++ b/system/loggerd/tests/fill.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 -"""Script to fill up EON with fake data""" +"""Script to fill up storage with fake data""" -import os +from pathlib import Path from system.loggerd.config import ROOT, get_available_percent from system.loggerd.tests.loggerd_tests_common import create_random_file @@ -10,13 +10,13 @@ from system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": segment_idx = 0 while True: - seg_name = "1970-01-01--00-00-00--%d" % segment_idx - seg_path = os.path.join(ROOT, seg_name) + seg_name = f"1970-01-01--00-00-00--{segment_idx}" + seg_path = Path(ROOT) / seg_name print(seg_path) - create_random_file(os.path.join(seg_path, 'fcamera.hevc'), 36) - create_random_file(os.path.join(seg_path, 'rlog.bz2'), 2) + create_random_file(seg_path / "fcamera.hevc", 36) + create_random_file(seg_path / "rlog.bz2", 2) segment_idx += 1 diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 6aca83858b..7d71516dfe 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -4,27 +4,32 @@ import shutil import random import tempfile import unittest +from pathlib import Path +from typing import Optional +import system.loggerd.deleter as deleter import system.loggerd.uploader as uploader +from system.loggerd.xattr_cache import setxattr -def create_random_file(file_path, size_mb, lock=False): - try: - os.mkdir(os.path.dirname(file_path)) - except OSError: - pass - lock_path = file_path + ".lock" +def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None: + file_path.parent.mkdir(parents=True, exist_ok=True) + if lock: + lock_path = str(file_path) + ".lock" os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL)) chunks = 128 chunk_bytes = int(size_mb * 1024 * 1024 / chunks) data = os.urandom(chunk_bytes) - with open(file_path, 'wb') as f: + with open(file_path, "wb") as f: for _ in range(chunks): f.write(data) + if upload_xattr is not None: + setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr) + class MockResponse(): def __init__(self, text, status_code): self.text = text @@ -72,12 +77,18 @@ class MockParams(): class UploaderTestCase(unittest.TestCase): f_type = "UNKNOWN" + root: Path + seg_num: int + seg_format: str + seg_format2: str + seg_dir: str + def set_ignore(self): uploader.Api = MockApiIgnore def setUp(self): - self.root = tempfile.mkdtemp() - uploader.ROOT = self.root # Monkey patch root dir + self.root = Path(tempfile.mkdtemp()) + uploader.ROOT = str(self.root) # Monkey patch root dir uploader.Api = MockApi uploader.Params = MockParams uploader.fake_upload = True @@ -95,8 +106,12 @@ class UploaderTestCase(unittest.TestCase): if e.errno != errno.ENOENT: raise - def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False): - file_path = os.path.join(self.root, f_dir, fn) - create_random_file(file_path, size_mb, lock) + def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, + upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: + file_path = self.root / f_dir / fn + create_random_file(file_path, size_mb, lock, upload_xattr) + + if preserve_xattr is not None: + setxattr(str(file_path.parent), deleter.PRESERVE_ATTR_NAME, preserve_xattr) return file_path diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 5b54a43f3b..9474b30f82 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 -import os import time import threading import unittest from collections import namedtuple +from pathlib import Path +from typing import Sequence -from common.timeout import Timeout, TimeoutException import system.loggerd.deleter as deleter +from common.timeout import Timeout, TimeoutException from system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) @@ -21,7 +22,7 @@ class TestDeleter(UploaderTestCase): super().setUp() self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096) deleter.os.statvfs = self.fake_statvfs - deleter.ROOT = self.root + deleter.ROOT = str(self.root) def start_thread(self): self.end_event = threading.Event() @@ -38,31 +39,59 @@ class TestDeleter(UploaderTestCase): self.start_thread() - with Timeout(5, "Timeout waiting for file to be deleted"): - while os.path.exists(f_path): - time.sleep(0.01) - self.join_thread() + try: + with Timeout(2, "Timeout waiting for file to be deleted"): + while f_path.exists(): + time.sleep(0.01) + finally: + self.join_thread() - self.assertFalse(os.path.exists(f_path), "File not deleted") - - def test_delete_files_in_create_order(self): - f_path_1 = self.make_file_with_data(self.seg_dir, self.f_type) - time.sleep(1) - self.seg_num += 1 - self.seg_dir = self.seg_format.format(self.seg_num) - f_path_2 = self.make_file_with_data(self.seg_dir, self.f_type) + def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None: + deleted_order = [] self.start_thread() + try: + with Timeout(timeout, "Timeout waiting for files to be deleted"): + while True: + for f in f_paths: + if not f.exists() and f not in deleted_order: + deleted_order.append(f) + if len(deleted_order) == len(f_paths): + break + time.sleep(0.01) + except TimeoutException: + print("Not deleted:", [f for f in f_paths if f not in deleted_order]) + raise + finally: + self.join_thread() - with Timeout(5, "Timeout waiting for file to be deleted"): - while os.path.exists(f_path_1) and os.path.exists(f_path_2): - time.sleep(0.01) + self.assertEqual(deleted_order, f_paths, "Files not deleted in expected order") - self.join_thread() + def test_delete_order(self): + self.assertDeleteOrder([ + self.make_file_with_data(self.seg_format.format(0), self.f_type), + self.make_file_with_data(self.seg_format.format(1), self.f_type), + self.make_file_with_data(self.seg_format2.format(0), self.f_type), + ]) - self.assertFalse(os.path.exists(f_path_1), "Older file not deleted") + def test_delete_many_preserved(self): + self.assertDeleteOrder([ + self.make_file_with_data(self.seg_format.format(0), self.f_type), + self.make_file_with_data(self.seg_format.format(1), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE), + self.make_file_with_data(self.seg_format.format(2), self.f_type), + ] + [ + self.make_file_with_data(self.seg_format2.format(i), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE) + for i in range(5) + ]) - self.assertTrue(os.path.exists(f_path_2), "Newer file deleted before older file") + def test_delete_last(self): + self.assertDeleteOrder([ + self.make_file_with_data(self.seg_format.format(1), self.f_type), + self.make_file_with_data(self.seg_format2.format(0), self.f_type), + self.make_file_with_data(self.seg_format.format(0), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE), + self.make_file_with_data("boot", self.seg_format[:-4]), + self.make_file_with_data("crash", self.seg_format2[:-4]), + ]) def test_no_delete_when_available_space(self): f_path = self.make_file_with_data(self.seg_dir, self.f_type) @@ -72,33 +101,23 @@ class TestDeleter(UploaderTestCase): self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size) self.start_thread() + start_time = time.monotonic() + while f_path.exists() and time.monotonic() - start_time < 2: + time.sleep(0.01) + self.join_thread() - try: - with Timeout(2, "Timeout waiting for file to be deleted"): - while os.path.exists(f_path): - time.sleep(0.01) - except TimeoutException: - pass - finally: - self.join_thread() - - self.assertTrue(os.path.exists(f_path), "File deleted with available space") + self.assertTrue(f_path.exists(), "File deleted with available space") def test_no_delete_with_lock_file(self): f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True) self.start_thread() + start_time = time.monotonic() + while f_path.exists() and time.monotonic() - start_time < 2: + time.sleep(0.01) + self.join_thread() - try: - with Timeout(2, "Timeout waiting for file to be deleted"): - while os.path.exists(f_path): - time.sleep(0.01) - except TimeoutException: - pass - finally: - self.join_thread() - - self.assertTrue(os.path.exists(f_path), "File deleted when locked") + self.assertTrue(f_path.exists(), "File deleted when locked") if __name__ == "__main__": diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index f39b8bb9d6..c151afb24f 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -8,6 +8,7 @@ import time import unittest from collections import defaultdict from pathlib import Path +from typing import Dict, List import cereal.messaging as messaging from cereal import log @@ -16,6 +17,8 @@ from common.basedir import BASEDIR from common.params import Params from common.timeout import Timeout from system.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr +from system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE from selfdrive.manager.process_config import managed_processes from system.version import get_version from tools.lib.logreader import LogReader @@ -71,6 +74,30 @@ class TestLoggerd(unittest.TestCase): end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment self.assertTrue(msgs[-1].sentinel.type == end_type) + def _publish_random_messages(self, services: List[str]) -> Dict[str, list]: + pm = messaging.PubMaster(services) + + managed_processes["loggerd"].start() + for s in services: + self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + + sent_msgs = defaultdict(list) + for _ in range(random.randint(2, 10) * 100): + for s in services: + try: + m = messaging.new_message(s) + except Exception: + m = messaging.new_message(s, random.randint(2, 10)) + pm.send(s, m) + sent_msgs[s].append(m) + time.sleep(0.01) + + for s in services: + self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + managed_processes["loggerd"].stop() + + return sent_msgs + def test_init_data_values(self): os.environ["CLEAN"] = random.choice(["0", "1"]) @@ -103,7 +130,7 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'} + expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" for param_key, initData_key, v in fake_params: @@ -133,6 +160,7 @@ class TestLoggerd(unittest.TestCase): os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() + time.sleep(1) fps = 20.0 for n in range(1, int(num_segs*length*fps)+1): @@ -182,7 +210,8 @@ class TestLoggerd(unittest.TestCase): for fn in ["console-ramoops", "pmsg-ramoops-0"]: path = Path(os.path.join("/sys/fs/pstore/", fn)) if path.is_file(): - expected_val = open(path, "rb").read() + 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] self.assertEqual(expected_val, bootlog_val) @@ -192,29 +221,7 @@ class TestLoggerd(unittest.TestCase): services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \ random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services)))) - - pm = messaging.PubMaster(services) - - # sleep enough for the first poll to time out - # TODO: fix loggerd bug dropping the msgs from the first poll - managed_processes["loggerd"].start() - for s in services: - while not pm.all_readers_updated(s): - time.sleep(0.1) - - sent_msgs = defaultdict(list) - for _ in range(random.randint(2, 10) * 100): - for s in services: - try: - m = messaging.new_message(s) - except Exception: - m = messaging.new_message(s, random.randint(2, 10)) - pm.send(s, m) - sent_msgs[s].append(m) - time.sleep(0.01) - - time.sleep(1) - managed_processes["loggerd"].stop() + sent_msgs = self._publish_random_messages(services) qlog_path = os.path.join(self._get_latest_log_dir(), "qlog") lr = list(LogReader(qlog_path)) @@ -240,27 +247,7 @@ class TestLoggerd(unittest.TestCase): def test_rlog(self): services = random.sample(CEREAL_SERVICES, random.randint(5, 10)) - pm = messaging.PubMaster(services) - - # sleep enough for the first poll to time out - # TODO: fix loggerd bug dropping the msgs from the first poll - managed_processes["loggerd"].start() - for s in services: - while not pm.all_readers_updated(s): - time.sleep(0.1) - - sent_msgs = defaultdict(list) - for _ in range(random.randint(2, 10) * 100): - for s in services: - try: - m = messaging.new_message(s) - except Exception: - m = messaging.new_message(s, random.randint(2, 10)) - pm.send(s, m) - sent_msgs[s].append(m) - - time.sleep(2) - managed_processes["loggerd"].stop() + sent_msgs = self._publish_random_messages(services) lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog"))) @@ -275,6 +262,20 @@ class TestLoggerd(unittest.TestCase): sent.clear_write_flag() self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes()) + def test_preserving_flagged_segments(self): + services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} + self._publish_random_messages(services) + + segment_dir = self._get_latest_log_dir() + self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE) + + def test_not_preserving_unflagged_segments(self): + services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} + self._publish_random_messages(services) + + segment_dir = self._get_latest_log_dir() + self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME)) + if __name__ == "__main__": unittest.main() diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 11b273cec8..580d1efae2 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -5,9 +5,11 @@ import threading import unittest import logging import json +from pathlib import Path +from typing import List, Optional from system.swaglog import cloudlog -import system.loggerd.uploader as uploader +from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from system.loggerd.tests.loggerd_tests_common import UploaderTestCase @@ -42,7 +44,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=uploader.uploader_fn, args=[self.end_event]) + self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() @@ -50,16 +52,16 @@ class TestUploader(UploaderTestCase): self.end_event.set() self.up_thread.join() - def gen_files(self, lock=False, boot=True): - f_paths = list() + def gen_files(self, lock=False, xattr: Optional[bytes] = None, boot=True) -> List[Path]: + f_paths = [] for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: - f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock)) + f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr)) if boot: - f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock)) + f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr)) return f_paths - def gen_order(self, seg1, seg2, boot=True): + def gen_order(self, seg1: List[int], seg2: List[int], boot=True) -> List[str]: keys = [] if boot: keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1] @@ -82,7 +84,25 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded") + self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + + self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + + def test_upload_with_wrong_xattr(self): + self.gen_files(lock=False, xattr=b'0') + + self.start_thread() + # allow enough time that files could upload twice if there is a bug in the logic + time.sleep(5) + self.join_thread() + + exp_order = self.gen_order([self.seg_num], []) + + self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") + self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") + self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + for f_path in exp_order: + self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") @@ -101,7 +121,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore") self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice") for f_path in exp_order: - self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not ignored") + self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored") self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order") @@ -126,7 +146,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded") + self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") @@ -141,9 +161,20 @@ class TestUploader(UploaderTestCase): self.join_thread() for f_path in f_paths: - uploaded = uploader.UPLOAD_ATTR_NAME in os.listxattr(f_path.replace('.bz2', '')) + fn = f_path.with_suffix(f_path.suffix.replace(".bz2", "")) + uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE self.assertFalse(uploaded, "File upload when locked") + def test_no_upload_with_xattr(self): + self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE) + + self.start_thread() + # allow enough time that files could upload twice if there is a bug in the logic + time.sleep(5) + self.join_thread() + + self.assertEqual(len(log_handler.upload_order), 0, "File uploaded again") + def test_clear_locks_on_startup(self): f_paths = self.gen_files(lock=True, boot=False) self.start_thread() @@ -151,7 +182,8 @@ class TestUploader(UploaderTestCase): self.join_thread() for f_path in f_paths: - self.assertFalse(os.path.isfile(f_path + ".lock"), "File lock not cleared on startup") + lock_path = f_path.with_suffix(f_path.suffix + ".lock") + self.assertFalse(lock_path.is_file(), "File lock not cleared on startup") if __name__ == "__main__": diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 13d17b58c5..196e5b3c2b 100644 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -32,15 +32,21 @@ force_wifi = os.getenv("FORCEWIFI") is not None fake_upload = os.getenv("FAKEUPLOAD") is not None +class FakeRequest: + def __init__(self): + self.headers = {"Content-Length": "0"} + + class FakeResponse: def __init__(self): self.status_code = 200 + self.request = FakeRequest() UploadResponse = Union[requests.Response, FakeResponse] def get_directory_sort(d: str) -> List[str]: - return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1))) + return [s.rjust(10, '0') for s in d.rsplit('--', 1)] def listdir_by_creation(d: str) -> List[str]: try: @@ -109,7 +115,7 @@ class Uploader: fn = os.path.join(path, name) # skip files already uploaded try: - is_uploaded = bool(getxattr(fn, UPLOAD_ATTR_NAME)) + is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) is_uploaded = True # deleter could have deleted @@ -199,9 +205,15 @@ class Uploader: if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn self.last_time = time.monotonic() - start_time - self.last_speed = (sz / 1e6) / self.last_time + if stat.status_code == 412: + self.last_speed = 0 + cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + else: + content_length = int(stat.request.headers.get("Content-Length", 0)) + self.last_speed = (content_length / 1e6) / self.last_time + cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, + network_type=network_type, metered=metered, speed=self.last_speed) success = True - cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: success = False cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc index 91bf09355f..1b449056cb 100644 --- a/system/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -89,7 +89,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc // TODO: can use av_write_frame for non raw? int err = av_interleaved_write_frame(ofmt_ctx, &pkt); - if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lu", len, timestamp); } + if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); } av_packet_unref(&pkt); } diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index 95e39f2032..5feeff34d2 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,6 +1,6 @@ import os import errno -from typing import Dict, Tuple, Optional +from typing import Dict, Optional, Tuple _cached_attributes: Dict[Tuple, Optional[bytes]] = {} diff --git a/system/logmessaged.py b/system/logmessaged.py index 280a23cf1d..04101d042b 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -12,7 +12,7 @@ def main() -> NoReturn: log_handler.setFormatter(SwagLogFileFormatter(None)) log_level = 20 # logging.INFO - ctx = zmq.Context().instance() + ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) sock.bind("ipc:///tmp/logmessage") @@ -20,23 +20,37 @@ def main() -> NoReturn: log_message_sock = messaging.pub_sock('logMessage') error_log_message_sock = messaging.pub_sock('errorLogMessage') - while True: - dat = b''.join(sock.recv_multipart()) - level = dat[0] - record = dat[1:].decode("utf-8") - if level >= log_level: - log_handler.emit(record) + try: + while True: + dat = b''.join(sock.recv_multipart()) + level = dat[0] + record = dat[1:].decode("utf-8") + if level >= log_level: + log_handler.emit(record) - # then we publish them - msg = messaging.new_message() - msg.logMessage = record - log_message_sock.send(msg.to_bytes()) + if len(record) > 2*1024*1024: + print("WARNING: log too big to publish", len(record)) + print(print(record[:100])) + continue - if level >= 40: # logging.ERROR + # then we publish them msg = messaging.new_message() - msg.errorLogMessage = record - error_log_message_sock.send(msg.to_bytes()) + msg.logMessage = record + log_message_sock.send(msg.to_bytes()) + if level >= 40: # logging.ERROR + msg = messaging.new_message() + msg.errorLogMessage = record + error_log_message_sock.send(msg.to_bytes()) + finally: + sock.close() + ctx.term() + + # can hit this if interrupted during a rollover + try: + log_handler.close() + except ValueError: + pass if __name__ == "__main__": main() diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index c9ad7ff22a..f9ac2eaf95 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10") # UBX-CFG-NAV5 (0x06 0x24) - pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") + pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501 # UBX-CFG-ODO (0x06 0x1E) pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37") pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C") - pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") + pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501 # UBX-CFG-NAV5 (0x06 0x24) pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84") diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py index 0ec15b81fb..e1daa7f918 100755 --- a/system/sensord/rawgps/compare.py +++ b/system/sensord/rawgps/compare.py @@ -19,8 +19,8 @@ if __name__ == "__main__": recv_time = report.milliseconds / 1000 car = [] - print("qcom has ", list(sorted([x.svId for x in report.sv]))) - print("ublox has", list(sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)]))) + print("qcom has ", sorted([x.svId for x in report.sv])) + print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])) for i in report.sv: # match to ublox tm = None @@ -56,7 +56,7 @@ if __name__ == "__main__": pr_err /= len(car) speed_err /= len(car) print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err)) - for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)): # type: ignore + for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)): svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c print("svid: %3d pseudorange: %10.2f m speed: %8.2f m/s meas: %12.2f speed: %10.2f meas_err: %10.3f speed_err: %8.3f cno: %d" % (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index 8f243af9a5..d9b2c37731 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -5,14 +5,20 @@ import signal import itertools import math import time +import pycurl +import shutil import subprocess -from typing import NoReturn +from datetime import datetime +from multiprocessing import Process, Event +from typing import NoReturn, Optional from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging from common.gpio import gpio_init, gpio_set -from laika.gps_time import GPSTime +from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds +from laika.helpers import get_prn_from_nmea_id +from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK from system.hardware.tici.pins import GPIO from system.swaglog import cloudlog from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv @@ -25,6 +31,9 @@ from system.sensord.rawgps.structs import (dict_unpacker, position_report, relis LOG_GNSS_OEMDRE_SVPOLY_REPORT) DEBUG = int(os.getenv("DEBUG", "0"))==1 +ASSIST_DATA_FILE = '/tmp/xtra3grc.bin' +ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download' +ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin' LOG_TYPES = [ LOG_GNSS_GPS_MEASUREMENT_REPORT, @@ -80,24 +89,24 @@ measurementStatusGlonassFields = { def try_setup_logs(diag, log_types): - for _ in range(5): + for _ in range(10): try: setup_logs(diag, log_types) break except Exception: cloudlog.exception("setup logs failed, trying again") + time.sleep(1.0) else: raise Exception(f"setup logs failed, {log_types=}") -def at_cmd(cmd: str) -> None: - for _ in range(5): +def at_cmd(cmd: str) -> Optional[str]: + for _ in range(3): try: - subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True) - break + return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') except subprocess.CalledProcessError: cloudlog.exception("rawgps.mmcli_command_failed") - else: - raise Exception(f"failed to execute mmcli command {cmd=}") + time.sleep(1.0) + raise Exception(f"failed to execute mmcli command {cmd=}") def gps_enabled() -> bool: @@ -107,7 +116,68 @@ def gps_enabled() -> bool: except subprocess.CalledProcessError as exc: raise Exception("failed to execute QGPS mmcli command") from exc -def setup_quectel(diag: ModemDiag): +def download_assistance(): + try: + c = pycurl.Curl() + c.setopt(pycurl.URL, ASSISTANCE_URL) + c.setopt(pycurl.NOBODY, 1) + c.setopt(pycurl.CONNECTTIMEOUT, 2) + c.perform() + bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD) + c.close() + if bytes_n > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return + + with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp: + c = pycurl.Curl() + c.setopt(pycurl.URL, ASSISTANCE_URL) + c.setopt(pycurl.CONNECTTIMEOUT, 5) + + c.setopt(pycurl.WRITEDATA, fp) + c.perform() + c.close() + os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) + except pycurl.error: + cloudlog.exception("Failed to download assistance file") + return + +def downloader_loop(event): + if os.path.exists(ASSIST_DATA_FILE): + os.remove(ASSIST_DATA_FILE) + + alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None) + if alt_path is not None and os.path.exists(alt_path): + shutil.copyfile(alt_path, ASSIST_DATA_FILE) + + try: + while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set(): + download_assistance() + event.wait(timeout=10) + except KeyboardInterrupt: + pass + +def inject_assistance(): + for _ in range(5): + try: + cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" + subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) + cloudlog.info("successfully loaded assistance data") + return + except subprocess.CalledProcessError as e: + cloudlog.event( + "rawgps.assistance_loading_failed", + error=True, + cmd=e.cmd, + output=e.output, + returncode=e.returncode + ) + time.sleep(0.2) + cloudlog.error("failed to load assistance after retry") + +def setup_quectel(diag: ModemDiag) -> bool: + ret = False + # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect DIAG_NV_READ_F = 38 @@ -116,17 +186,28 @@ def setup_quectel(diag: ModemDiag): send_recv(diag, DIAG_NV_WRITE_F, pack(' NoReturn: unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True) unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True) @@ -171,27 +263,31 @@ def main() -> NoReturn: unpack_position, _ = dict_unpacker(position_report) - # wait for ModemManager to come up - cloudlog.warning("waiting for modem to come up") - while True: - ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) - if ret == 0: - break - time.sleep(0.1) - - # connect to modem - diag = ModemDiag() + wait_for_modem() + stop_download_event = Event() + assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,)) + assist_fetch_proc.start() def cleanup(sig, frame): - cloudlog.warning(f"caught sig {sig}, disabling quectel gps") + cloudlog.warning("caught sig disabling quectel gps") + gpio_set(GPIO.UBLOX_PWR_EN, False) teardown_quectel(diag) cloudlog.warning("quectel cleanup done") + + stop_download_event.set() + assist_fetch_proc.kill() + assist_fetch_proc.join() + sys.exit(0) signal.signal(signal.SIGINT, cleanup) signal.signal(signal.SIGTERM, cleanup) - setup_quectel(diag) + # connect to modem + diag = ModemDiag() + r = setup_quectel(diag) + want_assistance = not r + current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) cloudlog.warning("quectel setup done") gpio_init(GPIO.UBLOX_PWR_EN, True) gpio_set(GPIO.UBLOX_PWR_EN, True) @@ -199,6 +295,10 @@ def main() -> NoReturn: pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) while 1: + if os.path.exists(ASSIST_DATA_FILE) and want_assistance: + setup_quectel(diag) + want_assistance = False + opcode, payload = diag.recv() if opcode != DIAG_LOG_F: cloudlog.error(f"Unhandled opcode: {opcode}") @@ -260,6 +360,8 @@ def main() -> NoReturn: setattr(sv.measurementStatus, kk, bool(v & (1< NoReturn: gps.source = log.GpsLocationData.SensorSource.qcomdiag gps.vNED = vNED gps.verticalAccuracy = report["q_FltVdop"] - gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi + gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi if (report["q_FltHeadingUncRad"] != 0) else 180 gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma])) # quectel gps verticalAccuracy is clipped to 500, set invalid if so gps.flags = 1 if gps.verticalAccuracy != 500 else 0 + if gps.flags: + want_assistance = False + stop_download_event.set() + pm.send('gpsLocation', msg) @@ -302,6 +408,21 @@ def main() -> NoReturn: pass else: setattr(poly, k, v) + + prn = get_prn_from_nmea_id(poly.svId) + if prn[0] == 'R': + epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time)) + else: + epoch = GPSTime(current_gps_time.week, poly.t0) + + # handle week rollover + if epoch.tow < SECS_IN_DAY and current_gps_time.tow > 6*SECS_IN_DAY: + epoch.week += 1 + elif epoch.tow > 6*SECS_IN_DAY and current_gps_time.tow < SECS_IN_DAY: + epoch.week -= 1 + + poly.gpsWeek = epoch.week + poly.gpsTow = epoch.tow pm.send('qcomGnss', msg) elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: @@ -325,7 +446,7 @@ def main() -> NoReturn: report.source = 1 # glonass measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items()) else: - assert False + raise RuntimeError(f"invalid log_type: {log_type}") for k,v in dat.items(): if k == "version": diff --git a/system/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py index 97e3d3d605..bde4e0049c 100644 --- a/system/sensord/rawgps/structs.py +++ b/system/sensord/rawgps/structs.py @@ -255,7 +255,7 @@ position_report = """ uint32 q_FltRawAlt; /* Raw height-above-ellipsoid altitude in meters as computed by WLS */ uint32 q_FltRawAltSigma; /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */ uint32 align_Flt[14]; - uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted + uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted uint32 q_FltHdop; /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */ uint32 q_FltVdop; /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */ uint8 u_EllipseConfidence; /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */ @@ -276,7 +276,7 @@ position_report = """ uint8 u_TotalGloSvs; /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */ uint8 u_NumBdsSvsUsed; /* The number of BeiDou SVs used in the fix */ uint8 u_TotalBdsSvs; /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */ -""" +""" # noqa: E501 def name_to_camelcase(nam): ret = [] @@ -317,8 +317,7 @@ def parse_struct(ss): elif typ in ["uint64", "uint64_t"]: st += "Q" else: - print("unknown type", typ) - assert False + raise RuntimeError(f"unknown type {typ}") if '[' in nam: cnt = int(nam.split("[")[1].split("]")[0]) st += st[-1]*(cnt-1) @@ -333,7 +332,7 @@ def dict_unpacker(ss, camelcase = False): if camelcase: nams = [name_to_camelcase(x) for x in nams] sz = calcsize(st) - return lambda x: dict(zip(nams, unpack_from(st, x))), sz + return lambda x: dict(zip(nams, unpack_from(st, x), strict=True)), sz def relist(dat): list_keys = set() diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py index 5bd0833955..8c2e246764 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/sensord/rawgps/test_rawgps.py @@ -1,12 +1,19 @@ #!/usr/bin/env python3 +import os import json import time +import datetime import unittest import subprocess +import numpy as np import cereal.messaging as messaging from system.hardware import TICI +from system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem from selfdrive.manager.process_config import managed_processes +from common.transformations.coordinates import ecef_from_geodetic + +GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) class TestRawgpsd(unittest.TestCase): @@ -15,27 +22,56 @@ class TestRawgpsd(unittest.TestCase): if not TICI: raise unittest.SkipTest + os.system("sudo systemctl start systemd-resolved") + os.system("sudo systemctl restart ModemManager lte") + wait_for_modem() + + @classmethod + def tearDownClass(cls): + managed_processes['rawgpsd'].stop() + os.system("sudo systemctl restart systemd-resolved") + os.system("sudo systemctl restart ModemManager lte") + + def setUp(self): + at_cmd("AT+QGPSDEL=0") + self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) + def tearDown(self): managed_processes['rawgpsd'].stop() + os.system("sudo systemctl restart systemd-resolved") + + def _wait_for_output(self, t): + dt = 0.1 + for _ in range(t*int(1/dt)): + self.sm.update(0) + if self.sm.updated['qcomGnss']: + break + time.sleep(dt) + return self.sm.updated['qcomGnss'] + + def test_no_crash_double_command(self): + at_cmd("AT+QGPSDEL=0") + at_cmd("AT+QGPSDEL=0") + + def test_wait_for_modem(self): + os.system("sudo systemctl stop ModemManager") + managed_processes['rawgpsd'].start() + assert not self._wait_for_output(5) + + os.system("sudo systemctl restart ModemManager") + assert self._wait_for_output(30) def test_startup_time(self): - for _ in range(5): - sm = messaging.SubMaster(['qcomGnss']) - managed_processes['rawgpsd'].start() - - start_time = time.monotonic() - for __ in range(10): - sm.update(1 * 1000) - if sm.updated['qcomGnss']: - break - assert sm.rcv_frame['qcomGnss'] > 0, "rawgpsd didn't start outputting messages in time" - - et = time.monotonic() - start_time - assert et < 5, f"rawgpsd took {et:.1f}s to start" - managed_processes['rawgpsd'].stop() + for internet in (True, False): + if not internet: + os.system("sudo systemctl stop systemd-resolved") + with self.subTest(internet=internet): + managed_processes['rawgpsd'].start() + assert self._wait_for_output(7) + managed_processes['rawgpsd'].stop() def test_turns_off_gnss(self): - for s in (0.1, 0.5, 1, 5): + for s in (0.1, 1, 5): managed_processes['rawgpsd'].start() time.sleep(s) managed_processes['rawgpsd'].stop() @@ -45,5 +81,64 @@ class TestRawgpsd(unittest.TestCase): assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} + def check_assistance(self, should_be_loaded): + # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"' + # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"' + out = at_cmd("AT+QGPSXTRADATA?") + out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip() + valid_duration, injected_time_str = out.split(",", 1) + if should_be_loaded: + assert valid_duration == "10080" # should be max time + injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S") + self.assertLess(abs((datetime.datetime.utcnow() - injected_time).total_seconds()), 60*60*12) + else: + valid_duration, injected_time_str = out.split(",", 1) + injected_time_str = injected_time_str.replace('\"', '').replace('\'', '') + assert injected_time_str[:] == '1980/01/05,19:00:00'[:] + assert valid_duration == '0' + + def test_assistance_loading(self): + managed_processes['rawgpsd'].start() + assert self._wait_for_output(10) + managed_processes['rawgpsd'].stop() + self.check_assistance(True) + + def test_no_assistance_loading(self): + os.system("sudo systemctl stop systemd-resolved") + + managed_processes['rawgpsd'].start() + assert self._wait_for_output(10) + managed_processes['rawgpsd'].stop() + self.check_assistance(False) + + def test_late_assistance_loading(self): + os.system("sudo systemctl stop systemd-resolved") + + managed_processes['rawgpsd'].start() + self._wait_for_output(17) + assert self.sm.updated['qcomGnss'] + + os.system("sudo systemctl restart systemd-resolved") + time.sleep(15) + managed_processes['rawgpsd'].stop() + self.check_assistance(True) + + @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal") + def test_fix(self): + managed_processes['rawgpsd'].start() + managed_processes['laikad'].start() + assert self._wait_for_output(60) + assert self.sm.updated['qcomGnss'] + assert self.sm.updated['gpsLocation'] + assert self.sm['gpsLocation'].flags == 1 + module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude, + self.sm['gpsLocation'].longitude, + self.sm['gpsLocation'].altitude]) + assert self.sm['gnssMeasurements'].positionECEF.valid + total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix + self.assertLess(np.linalg.norm(total_diff), 100) + managed_processes['laikad'].stop() + managed_processes['rawgpsd'].stop() + if __name__ == "__main__": - unittest.main() + unittest.main(failfast=True) diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc index 78f5d64e79..0c48d1e3ba 100644 --- a/system/sensord/sensors/bmx055_accel.cc +++ b/system/sensord/sensors/bmx055_accel.cc @@ -44,7 +44,7 @@ int BMX055_Accel::shutdown() { // enter deep suspend mode (lowest power mode) int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND); if (ret < 0) { - LOGE("Could not move BMX055 ACCEL in deep suspend mode!") + LOGE("Could not move BMX055 ACCEL in deep suspend mode!"); } return ret; diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc index 2a938044f3..ba41f3b47c 100644 --- a/system/sensord/sensors/bmx055_gyro.cc +++ b/system/sensord/sensors/bmx055_gyro.cc @@ -54,7 +54,7 @@ int BMX055_Gyro::shutdown() { // enter deep suspend mode (lowest power mode) int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND); if (ret < 0) { - LOGE("Could not move BMX055 GYRO in deep suspend mode!") + LOGE("Could not move BMX055 GYRO in deep suspend mode!"); } return ret; diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc index 2f0d10412c..7716ce25c0 100644 --- a/system/sensord/sensors/bmx055_magn.cc +++ b/system/sensord/sensors/bmx055_magn.cc @@ -150,7 +150,7 @@ int BMX055_Magn::shutdown() { // move to suspend mode int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0); if (ret < 0) { - LOGE("Could not move BMX055 MAGN in suspend mode!") + LOGE("Could not move BMX055 MAGN in suspend mode!"); } return ret; diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc index c8eeb6e5dc..2a09702c96 100644 --- a/system/sensord/sensors/lsm6ds3_accel.cc +++ b/system/sensord/sensors/lsm6ds3_accel.cc @@ -194,7 +194,7 @@ int LSM6DS3_Accel::shutdown() { value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); if (ret < 0) { - LOGE("Could not disable lsm6ds3 acceleration interrupt!") + LOGE("Could not disable lsm6ds3 acceleration interrupt!"); goto fail; } @@ -208,7 +208,7 @@ int LSM6DS3_Accel::shutdown() { value &= 0x0F; ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value); if (ret < 0) { - LOGE("Could not power-down lsm6ds3 accelerometer!") + LOGE("Could not power-down lsm6ds3 accelerometer!"); goto fail; } diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc index d9f5b4cb6a..9bc43485af 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ b/system/sensord/sensors/lsm6ds3_gyro.cc @@ -177,7 +177,7 @@ int LSM6DS3_Gyro::shutdown() { value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); if (ret < 0) { - LOGE("Could not disable lsm6ds3 gyroscope interrupt!") + LOGE("Could not disable lsm6ds3 gyroscope interrupt!"); goto fail; } @@ -191,7 +191,7 @@ int LSM6DS3_Gyro::shutdown() { value &= 0x0F; ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value); if (ret < 0) { - LOGE("Could not power-down lsm6ds3 gyroscope!") + LOGE("Could not power-down lsm6ds3 gyroscope!"); goto fail; } diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc index cdb82a4a12..048095786e 100644 --- a/system/sensord/sensors/mmc5603nj_magn.cc +++ b/system/sensord/sensors/mmc5603nj_magn.cc @@ -63,7 +63,7 @@ int MMC5603NJ_Magn::shutdown() { return ret; fail: - LOGE("Could not disable mmc5603nj auto set reset") + LOGE("Could not disable mmc5603nj auto set reset"); return ret; } diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py index d15b731d0c..9519183aac 100755 --- a/system/sensord/tests/test_pigeond.py +++ b/system/sensord/tests/test_pigeond.py @@ -26,8 +26,8 @@ class TestPigeond(unittest.TestCase): sm = messaging.SubMaster(['ubloxRaw']) # setup time - time.sleep(2) - sm.update() + for _ in range(int(5 * service_list['ubloxRaw'].frequency)): + sm.update() for _ in range(int(10 * service_list['ubloxRaw'].frequency)): sm.update() diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 6e8dda79bb..eea527ed63 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log -from common.gpio import get_irq_for_action +from common.gpio import get_irqs_for_action from system.hardware import TICI from selfdrive.manager.process_config import managed_processes @@ -41,33 +41,33 @@ SENSOR_CONFIGURATIONS = ( ) Sensor = log.SensorEventData.SensorSource -SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) +SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'expected_freq']) ALL_SENSORS = { Sensor.rpr0521: { - SensorConfig("light", 0, 1023), + SensorConfig("light", 0, 1023, 100), }, Sensor.lsm6ds3: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), + SensorConfig("acceleration", 5, 15, 100), + SensorConfig("gyroUncalibrated", 0, .2, 100), + SensorConfig("temperature", 0, 60, 100), }, Sensor.lsm6ds3trc: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), + SensorConfig("acceleration", 5, 15, 104), + SensorConfig("gyroUncalibrated", 0, .2, 104), + SensorConfig("temperature", 0, 60, 100), }, Sensor.bmx055: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("magneticUncalibrated", 0, 300), - SensorConfig("temperature", 0, 60), + SensorConfig("acceleration", 5, 15, 100), + SensorConfig("gyroUncalibrated", 0, .2, 100), + SensorConfig("magneticUncalibrated", 0, 300, 100), + SensorConfig("temperature", 0, 60, 100), }, Sensor.mmc5603nj: { - SensorConfig("magneticUncalibrated", 0, 300), + SensorConfig("magneticUncalibrated", 0, 300, 100), } } @@ -113,7 +113,7 @@ class TestSensord(unittest.TestCase): cls.events = read_sensor_events(cls.sample_secs) # determine sensord's irq - cls.sensord_irq = get_irq_for_action("sensord")[0] + cls.sensord_irq = get_irqs_for_action("sensord")[0] finally: # teardown won't run if this doesn't succeed managed_processes["sensord"].stop() @@ -235,7 +235,7 @@ class TestSensord(unittest.TestCase): key = (sensor, s.type) val_cnt = len(sensor_values[key]) - min_samples = self.sample_secs * 100 # Hz + min_samples = self.sample_secs * s.expected_freq err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}" assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg diff --git a/system/swaglog.py b/system/swaglog.py index 68664330a5..28beb5a4d1 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -1,6 +1,7 @@ import logging import os import time +import warnings from pathlib import Path from logging.handlers import BaseRotatingHandler @@ -72,6 +73,15 @@ class UnixDomainSocketHandler(logging.Handler): self.setFormatter(formatter) self.pid = None + self.zctx = None + self.sock = None + + def __del__(self): + if self.sock is not None: + self.sock.close() + if self.zctx is not None: + self.zctx.term() + def connect(self): self.zctx = zmq.Context() self.sock = self.zctx.socket(zmq.PUSH) @@ -81,6 +91,8 @@ class UnixDomainSocketHandler(logging.Handler): def emit(self, record): if os.getpid() != self.pid: + # TODO suppresses warning about forking proc with zmq socket, fix root cause + warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*") self.connect() msg = self.format(record).rstrip('\n') diff --git a/system/tests/__init__.py b/system/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py new file mode 100755 index 0000000000..08335517ae --- /dev/null +++ b/system/tests/test_logmessaged.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python3 +import glob +import os +import shutil +import time +import unittest + +import cereal.messaging as messaging +from selfdrive.manager.process_config import managed_processes +from system.swaglog import cloudlog, SWAGLOG_DIR + + +class TestLogmessaged(unittest.TestCase): + + def setUp(self): + if os.path.exists(SWAGLOG_DIR): + shutil.rmtree(SWAGLOG_DIR) + + managed_processes['logmessaged'].start() + self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) + self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) + + # ensure sockets are connected + time.sleep(0.2) + messaging.drain_sock(self.sock) + messaging.drain_sock(self.error_sock) + + def tearDown(self): + del self.sock + del self.error_sock + managed_processes['logmessaged'].stop(block=True) + + def _get_log_files(self): + return list(glob.glob(os.path.join(SWAGLOG_DIR, "swaglog.*"))) + + def test_simple_log(self): + msgs = [f"abc {i}" for i in range(10)] + for m in msgs: + cloudlog.error(m) + time.sleep(3) + m = messaging.drain_sock(self.sock) + assert len(m) == len(msgs) + assert len(self._get_log_files()) >= 1 + + def test_big_log(self): + n = 10 + msg = "a"*3*1024*1024 + for _ in range(n): + cloudlog.info(msg) + time.sleep(3) + + msgs = messaging.drain_sock(self.sock) + assert len(msgs) == 0 + + logsize = sum([os.path.getsize(f) for f in self._get_log_files()]) + assert (n*len(msg)) < logsize < (n*(len(msg)+1024)) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py index 0d271ad785..eeb6cde30a 100644 --- a/system/ubloxd/tests/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -185,8 +185,8 @@ class UBloxAttrDict(dict): def __getattr__(self, name): try: return self.__getitem__(name) - except KeyError: - raise AttributeError(name) + except KeyError as e: + raise RuntimeError(f"ublock invalid attr: {name}") from e def __setattr__(self, name, value): if name in self.__dict__: @@ -270,7 +270,7 @@ class UBloxDescriptor: return size2 = struct.calcsize(self.format2) - for c in range(count): + for _ in range(count): r = UBloxAttrDict() if size2 > len(buf): raise UBloxError("INVALID_SIZE=%u, " % len(buf)) @@ -324,7 +324,7 @@ class UBloxDescriptor: msg._buf += struct.pack(self.format2, *tuple(f2)) msg._buf += struct.pack(' 0: '''handle corrupted streams''' self._buf = self._buf[1:] @@ -768,7 +768,7 @@ class UBlox: if not self.read_only: if self.use_sendrecv: return self.dev.send(buf) - if type(buf) == str: + if isinstance(buf, str): return self.dev.write(str.encode(buf)) else: return self.dev.write(buf) @@ -933,7 +933,7 @@ class UBlox: 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0) self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload) - def module_reset(self, set, mode): + def module_reset(self, reset, mode): ''' Reset the module for hot/warm/cold start''' - payload = struct.pack('> UbloxMsgParser::gen_msg() { case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; case 0x0135: - // TODO return {"ubloxGnss", gen_nav_sat(static_cast(body))}; - return {"ubloxGnss", kj::Array()}; + return {"ubloxGnss", gen_nav_sat(static_cast(body))}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; @@ -391,7 +390,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ eph.setP4(data->p4()); eph.setSvURA(glonass_URA_lookup.at(data->f_t())); if (msg->sv_id() != data->n()) { - LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n()) + LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n()); } eph.setSvType(data->m()); } diff --git a/system/version.py b/system/version.py index 55f80afa35..c9ab443694 100644 --- a/system/version.py +++ b/system/version.py @@ -90,7 +90,7 @@ def is_comma_remote() -> bool: if origin is None: return False - return origin.startswith('git@github.com:commaai') or origin.startswith('https://github.com/commaai') + return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai')) @cache diff --git a/third_party/SConscript b/third_party/SConscript index e8d1789ee0..e5bbfaa07a 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -4,5 +4,3 @@ env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unq env.Append(CPPPATH=[Dir('json11')]) env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) - -SConscript(['cluster/SConscript']) diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore index 9787bd1b55..68858c62e4 100644 --- a/third_party/acados/.gitignore +++ b/third_party/acados/.gitignore @@ -1,4 +1,5 @@ acados_repo/ +lib !x86_64/ !larch64/ !aarch64/ diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib index 6d133f693d..ca6c280297 100755 Binary files a/third_party/acados/Darwin/lib/libacados.dylib and b/third_party/acados/Darwin/lib/libacados.dylib differ diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib index 7ba6a8b32d..0217db1048 100755 Binary files a/third_party/acados/Darwin/lib/libblasfeo.dylib and b/third_party/acados/Darwin/lib/libblasfeo.dylib differ diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib index 69141c8178..420ac45753 100755 Binary files a/third_party/acados/Darwin/lib/libhpipm.dylib and b/third_party/acados/Darwin/lib/libhpipm.dylib differ diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib index b0cf93b060..07dc6ea9b0 100755 Binary files a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib and b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib differ diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer index 1afbd81519..f40327a59e 100755 Binary files a/third_party/acados/Darwin/t_renderer and b/third_party/acados/Darwin/t_renderer differ diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/acados/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index 9b18b2b67d..574a577b4d 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -13,13 +13,8 @@ fi ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET" if [[ "$OSTYPE" == "darwin"* ]]; then - if [[ $(uname -m) == "x86_64" ]]; then - ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=x86_64" - ARCHNAME="Darwin_x86_64" - else - ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64" - ARCHNAME="Darwin" - fi + ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1" + ARCHNAME="Darwin" fi if [ ! -d acados_repo/ ]; then @@ -51,5 +46,11 @@ cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/ # build tera cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/ -cargo build --verbose --release +if [[ "$OSTYPE" == "darwin"* ]]; then + cargo build --verbose --release --target aarch64-apple-darwin + cargo build --verbose --release --target x86_64-apple-darwin + lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer +else + cargo build --verbose --release +fi cp target/release/t_renderer $INSTALL_DIR/ diff --git a/third_party/cluster/.gitignore b/third_party/cluster/.gitignore deleted file mode 100644 index 9daeafb986..0000000000 --- a/third_party/cluster/.gitignore +++ /dev/null @@ -1 +0,0 @@ -test diff --git a/third_party/cluster/LICENSE b/third_party/cluster/LICENSE deleted file mode 100644 index ab8b4db7d7..0000000000 --- a/third_party/cluster/LICENSE +++ /dev/null @@ -1,13 +0,0 @@ -Copyright: - * fastcluster_dm.cpp & fastcluster_R_dm.cpp: - © 2011 Daniel Müllner - * fastcluster.(h|cpp) & demo.cpp & plotresult.r: - © 2018 Christoph Dalitz -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third_party/cluster/README b/third_party/cluster/README deleted file mode 100644 index acb18bc72b..0000000000 --- a/third_party/cluster/README +++ /dev/null @@ -1,79 +0,0 @@ -C++ interface to fast hierarchical clustering algorithms -======================================================== - -This is a simplified C++ interface to fast implementations of hierarchical -clustering by Daniel Müllner. The original library with interfaces to R -and Python is described in: - -Daniel Müllner: "fastcluster: Fast Hierarchical, Agglomerative Clustering -Routines for R and Python." Journal of Statistical Software 53 (2013), -no. 9, pp. 1–18, http://www.jstatsoft.org/v53/i09/ - - -Usage of the library --------------------- - -For using the library, the following source files are needed: - -fastcluster_dm.cpp, fastcluster_R_dm.cpp - original code by Daniel Müllner - these are included by fastcluster.cpp via #include, and therefore - need not be compiled to object code - -fastcluster.[h|cpp] - simplified C++ interface - fastcluster.cpp is the only file that must be compiled - -The library provides the clustering function *hclust_fast* for -creating the dendrogram information in an encoding as used by the -R function *hclust*. For a description of the parameters, see fastcluster.h. -Its parameter *method* can be one of - -HCLUST_METHOD_SINGLE - single link with the minimum spanning tree algorithm (Rohlf, 1973) - -HHCLUST_METHOD_COMPLETE - complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984) - -HCLUST_METHOD_AVERAGE - complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984) - -HCLUST_METHOD_MEDIAN - median link with the generic algorithm (Müllner, 2011) - -For splitting the dendrogram into clusters, the two functions *cutree_k* -and *cutree_cdist* are provided. - -Note that output parameters must be allocated beforehand, e.g. - int* merge = new int[2*(npoints-1)]; -For a complete usage example, see lines 135-142 of demo.cpp. - - -Demonstration program ---------------------- - -A simple demo is implemented in demo.cpp, which can be compiled and run with - - make - ./hclust-demo -m complete lines.csv - -It creates two clusters of line segments such that the segment angle between -line segments of different clusters have a maximum (cosine) dissimilarity. -For visualizing the result, plotresult.r can be used as follows -(requires R to be installed): - - ./hclust-demo -m complete lines.csv | Rscript plotresult.r - - -Authors & Copyright -------------------- - -Daniel Müllner, 2011, -Christoph Dalitz, 2018, - - -License -------- - -This code is provided under a BSD-style license. -See the file LICENSE for details. diff --git a/third_party/cluster/SConscript b/third_party/cluster/SConscript deleted file mode 100644 index 97eb4300d4..0000000000 --- a/third_party/cluster/SConscript +++ /dev/null @@ -1,8 +0,0 @@ -Import('env') - -fc = env.SharedLibrary("fastcluster", "fastcluster.cpp") - -# TODO: how do I gate on test -#env.Program("test", ["test.cpp"], LIBS=[fc]) -#valgrind --leak-check=full ./test - diff --git a/third_party/cluster/fastcluster.cpp b/third_party/cluster/fastcluster.cpp deleted file mode 100644 index d2b557d6f5..0000000000 --- a/third_party/cluster/fastcluster.cpp +++ /dev/null @@ -1,218 +0,0 @@ -// -// C++ standalone verion of fastcluster by Daniel Müllner -// -// Copyright: Christoph Dalitz, 2018 -// Daniel Müllner, 2011 -// License: BSD style license -// (see the file LICENSE for details) -// - - -#include -#include -#include - - -extern "C" { -#include "fastcluster.h" -} - -// Code by Daniel Müllner -// workaround to make it usable as a standalone version (without R) -bool fc_isnan(double x) { return false; } -#include "fastcluster_dm.cpp" -#include "fastcluster_R_dm.cpp" - -extern "C" { -// -// Assigns cluster labels (0, ..., nclust-1) to the n points such -// that the cluster result is split into nclust clusters. -// -// Input arguments: -// n = number of observables -// merge = clustering result in R format -// nclust = number of clusters -// Output arguments: -// labels = allocated integer array of size n for result -// - void cutree_k(int n, const int* merge, int nclust, int* labels) { - - int k,m1,m2,j,l; - - if (nclust > n || nclust < 2) { - for (j=0; j last_merge(n, 0); - for (k=1; k<=(n-nclust); k++) { - // (m1,m2) = merge[k,] - m1 = merge[k-1]; - m2 = merge[n-1+k-1]; - if (m1 < 0 && m2 < 0) { // both single observables - last_merge[-m1-1] = last_merge[-m2-1] = k; - } - else if (m1 < 0 || m2 < 0) { // one is a cluster - if(m1 < 0) { j = -m1; m1 = m2; } else j = -m2; - // merging single observable and cluster - for(l = 0; l < n; l++) - if (last_merge[l] == m1) - last_merge[l] = k; - last_merge[j-1] = k; - } - else { // both cluster - for(l=0; l < n; l++) { - if( last_merge[l] == m1 || last_merge[l] == m2 ) - last_merge[l] = k; - } - } - } - - // assign cluster labels - int label = 0; - std::vector z(n,-1); - for (j=0; j= cdist - // - // Input arguments: - // n = number of observables - // merge = clustering result in R format - // height = cluster distance at each merge step - // cdist = cutoff cluster distance - // Output arguments: - // labels = allocated integer array of size n for result - // - void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels) { - - int k; - - for (k=0; k<(n-1); k++) { - if (height[k] >= cdist) { - break; - } - } - cutree_k(n, merge, n-k, labels); - } - - - // - // Hierarchical clustering with one of Daniel Muellner's fast algorithms - // - // Input arguments: - // n = number of observables - // distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing - // the upper triangle (without diagonal elements) of the distance - // matrix, e.g. for n=4: - // d00 d01 d02 d03 - // d10 d11 d12 d13 -> d01 d02 d03 d12 d13 d23 - // d20 d21 d22 d23 - // d30 d31 d32 d33 - // method = cluster metric (see enum method_code) - // Output arguments: - // merge = allocated (n-1)x2 matrix (2*(n-1) array) for storing result. - // Result follows R hclust convention: - // - observabe indices start with one - // - merge[i][] contains the merged nodes in step i - // - merge[i][j] is negative when the node is an atom - // height = allocated (n-1) array with distances at each merge step - // Return code: - // 0 = ok - // 1 = invalid method - // - int hclust_fast(int n, double* distmat, int method, int* merge, double* height) { - - // call appropriate culstering function - cluster_result Z2(n-1); - if (method == HCLUST_METHOD_SINGLE) { - // single link - MST_linkage_core(n, distmat, Z2); - } - else if (method == HCLUST_METHOD_COMPLETE) { - // complete link - NN_chain_core(n, distmat, NULL, Z2); - } - else if (method == HCLUST_METHOD_AVERAGE) { - // best average distance - double* members = new double[n]; - for (int i=0; i(n, distmat, members, Z2); - delete[] members; - } - else if (method == HCLUST_METHOD_MEDIAN) { - // best median distance (beware: O(n^3)) - generic_linkage(n, distmat, NULL, Z2); - } - else if (method == HCLUST_METHOD_CENTROID) { - // best centroid distance (beware: O(n^3)) - double* members = new double[n]; - for (int i=0; i(n, distmat, members, Z2); - delete[] members; - } - else { - return 1; - } - - int* order = new int[n]; - if (method == HCLUST_METHOD_MEDIAN || method == HCLUST_METHOD_CENTROID) { - generate_R_dendrogram(merge, height, order, Z2, n); - } else { - generate_R_dendrogram(merge, height, order, Z2, n); - } - delete[] order; // only needed for visualization - - return 0; - } - - - // Build condensed distance matrix - // Input arguments: - // n = number of observables - // m = dimension of observable - // Output arguments: - // out = allocated integer array of size n * (n - 1) / 2 for result - void hclust_pdist(int n, int m, double* pts, double* out) { - int ii = 0; - for (int i = 0; i < n; i++) { - for (int j = i + 1; j < n; j++) { - // Compute euclidian distance - double d = 0; - for (int k = 0; k < m; k ++) { - double error = pts[i * m + k] - pts[j * m + k]; - d += (error * error); - } - out[ii] = d;//sqrt(d); - ii++; - } - } - } - - void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx) { - double* pdist = new double[n * (n - 1) / 2]; - int* merge = new int[2 * (n - 1)]; - double* height = new double[n - 1]; - - hclust_pdist(n, m, pts, pdist); - hclust_fast(n, pdist, HCLUST_METHOD_CENTROID, merge, height); - cutree_cdist(n, merge, height, dist, idx); - - delete[] pdist; - delete[] merge; - delete[] height; - } -} diff --git a/third_party/cluster/fastcluster.h b/third_party/cluster/fastcluster.h deleted file mode 100644 index 56c63b6a5e..0000000000 --- a/third_party/cluster/fastcluster.h +++ /dev/null @@ -1,77 +0,0 @@ -// -// C++ standalone verion of fastcluster by Daniel Muellner -// -// Copyright: Daniel Muellner, 2011 -// Christoph Dalitz, 2018 -// License: BSD style license -// (see the file LICENSE for details) -// - -#ifndef fastclustercpp_H -#define fastclustercpp_H - -// -// Assigns cluster labels (0, ..., nclust-1) to the n points such -// that the cluster result is split into nclust clusters. -// -// Input arguments: -// n = number of observables -// merge = clustering result in R format -// nclust = number of clusters -// Output arguments: -// labels = allocated integer array of size n for result -// -void cutree_k(int n, const int* merge, int nclust, int* labels); - -// -// Assigns cluster labels (0, ..., nclust-1) to the n points such -// that the hierarchical clsutering is stopped at cluster distance cdist -// -// Input arguments: -// n = number of observables -// merge = clustering result in R format -// height = cluster distance at each merge step -// cdist = cutoff cluster distance -// Output arguments: -// labels = allocated integer array of size n for result -// -void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels); - -// -// Hierarchical clustering with one of Daniel Muellner's fast algorithms -// -// Input arguments: -// n = number of observables -// distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing -// the upper triangle (without diagonal elements) of the distance -// matrix, e.g. for n=4: -// d00 d01 d02 d03 -// d10 d11 d12 d13 -> d01 d02 d03 d12 d13 d23 -// d20 d21 d22 d23 -// d30 d31 d32 d33 -// method = cluster metric (see enum method_code) -// Output arguments: -// merge = allocated (n-1)x2 matrix (2*(n-1) array) for storing result. -// Result follows R hclust convention: -// - observabe indices start with one -// - merge[i][] contains the merged nodes in step i -// - merge[i][j] is negative when the node is an atom -// height = allocated (n-1) array with distances at each merge step -// Return code: -// 0 = ok -// 1 = invalid method -// -int hclust_fast(int n, double* distmat, int method, int* merge, double* height); -enum hclust_fast_methods { - HCLUST_METHOD_SINGLE = 0, - HCLUST_METHOD_COMPLETE = 1, - HCLUST_METHOD_AVERAGE = 2, - HCLUST_METHOD_MEDIAN = 3, - HCLUST_METHOD_CENTROID = 5, -}; - -void hclust_pdist(int n, int m, double* pts, double* out); -void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx); - - -#endif diff --git a/third_party/cluster/fastcluster_R_dm.cpp b/third_party/cluster/fastcluster_R_dm.cpp deleted file mode 100644 index cbe126c15e..0000000000 --- a/third_party/cluster/fastcluster_R_dm.cpp +++ /dev/null @@ -1,115 +0,0 @@ -// -// Excerpt from fastcluster_R.cpp -// -// Copyright: Daniel Müllner, 2011 -// - -struct pos_node { - t_index pos; - int node; -}; - -void order_nodes(const int N, const int * const merge, const t_index * const node_size, int * const order) { - /* Parameters: - N : number of data points - merge : (N-1)×2 array which specifies the node indices which are - merged in each step of the clustering procedure. - Negative entries -1...-N point to singleton nodes, while - positive entries 1...(N-1) point to nodes which are themselves - parents of other nodes. - node_size : array of node sizes - makes it easier - order : output array of size N - - Runtime: Θ(N) - */ - auto_array_ptr queue(N/2); - - int parent; - int child; - t_index pos = 0; - - queue[0].pos = 0; - queue[0].node = N-2; - t_index idx = 1; - - do { - --idx; - pos = queue[idx].pos; - parent = queue[idx].node; - - // First child - child = merge[parent]; - if (child<0) { // singleton node, write this into the 'order' array. - order[pos] = -child; - ++pos; - } - else { /* compound node: put it on top of the queue and decompose it - in a later iteration. */ - queue[idx].pos = pos; - queue[idx].node = child-1; // convert index-1 based to index-0 based - ++idx; - pos += node_size[child-1]; - } - // Second child - child = merge[parent+N-1]; - if (child<0) { - order[pos] = -child; - } - else { - queue[idx].pos = pos; - queue[idx].node = child-1; - ++idx; - } - } while (idx>0); -} - -#define size_(r_) ( ((r_ -void generate_R_dendrogram(int * const merge, double * const height, int * const order, cluster_result & Z2, const int N) { - // The array "nodes" is a union-find data structure for the cluster - // identites (only needed for unsorted cluster_result input). - union_find nodes(sorted ? 0 : N); - if (!sorted) { - std::stable_sort(Z2[0], Z2[N-1]); - } - - t_index node1, node2; - auto_array_ptr node_size(N-1); - - for (t_index i=0; inode1; - node2 = Z2[i]->node2; - } - else { - node1 = nodes.Find(Z2[i]->node1); - node2 = nodes.Find(Z2[i]->node2); - // Merge the nodes in the union-find data structure by making them - // children of a new node. - nodes.Union(node1, node2); - } - // Sort the nodes in the output array. - if (node1>node2) { - t_index tmp = node1; - node1 = node2; - node2 = tmp; - } - /* Conversion between labeling conventions. - Input: singleton nodes 0,...,N-1 - compound nodes N,...,2N-2 - Output: singleton nodes -1,...,-N - compound nodes 1,...,N - */ - merge[i] = (node1(node1)-1 - : static_cast(node1)-N+1; - merge[i+N-1] = (node2(node2)-1 - : static_cast(node2)-N+1; - height[i] = Z2[i]->dist; - node_size[i] = size_(node1) + size_(node2); - } - - order_nodes(N, merge, node_size, order); -} diff --git a/third_party/cluster/fastcluster_dm.cpp b/third_party/cluster/fastcluster_dm.cpp deleted file mode 100644 index ee6670c204..0000000000 --- a/third_party/cluster/fastcluster_dm.cpp +++ /dev/null @@ -1,1794 +0,0 @@ -/* - fastcluster: Fast hierarchical clustering routines for R and Python - - Copyright © 2011 Daniel Müllner - - - This library implements various fast algorithms for hierarchical, - agglomerative clustering methods: - - (1) Algorithms for the "stored matrix approach": the input is the array of - pairwise dissimilarities. - - MST_linkage_core: single linkage clustering with the "minimum spanning - tree algorithm (Rohlfs) - - NN_chain_core: nearest-neighbor-chain algorithm, suitable for single, - complete, average, weighted and Ward linkage (Murtagh) - - generic_linkage: generic algorithm, suitable for all distance update - formulas (Müllner) - - (2) Algorithms for the "stored data approach": the input are points in a - vector space. - - MST_linkage_core_vector: single linkage clustering for vector data - - generic_linkage_vector: generic algorithm for vector data, suitable for - the Ward, centroid and median methods. - - generic_linkage_vector_alternative: alternative scheme for updating the - nearest neighbors. This method seems faster than "generic_linkage_vector" - for the centroid and median methods but slower for the Ward method. - - All these implementation treat infinity values correctly. They throw an - exception if a NaN distance value occurs. -*/ - -// Older versions of Microsoft Visual Studio do not have the fenv header. -#ifdef _MSC_VER -#if (_MSC_VER == 1500 || _MSC_VER == 1600) -#define NO_INCLUDE_FENV -#endif -#endif -// NaN detection via fenv might not work on systems with software -// floating-point emulation (bug report for Debian armel). -#ifdef __SOFTFP__ -#define NO_INCLUDE_FENV -#endif -#ifdef NO_INCLUDE_FENV -#pragma message("Do not use fenv header.") -#else -//#pragma message("Use fenv header. If there is a warning about unknown #pragma STDC FENV_ACCESS, this can be ignored.") -//#pragma STDC FENV_ACCESS on -#include -#endif - -#include // for std::pow, std::sqrt -#include // for std::ptrdiff_t -#include // for std::numeric_limits<...>::infinity() -#include // for std::fill_n -#include // for std::runtime_error -#include // for std::string - -#include // also for DBL_MAX, DBL_MIN -#ifndef DBL_MANT_DIG -#error The constant DBL_MANT_DIG could not be defined. -#endif -#define T_FLOAT_MANT_DIG DBL_MANT_DIG - -#ifndef LONG_MAX -#include -#endif -#ifndef LONG_MAX -#error The constant LONG_MAX could not be defined. -#endif -#ifndef INT_MAX -#error The constant INT_MAX could not be defined. -#endif - -#ifndef INT32_MAX -#ifdef _MSC_VER -#if _MSC_VER >= 1600 -#define __STDC_LIMIT_MACROS -#include -#else -typedef __int32 int_fast32_t; -typedef __int64 int64_t; -#endif -#else -#define __STDC_LIMIT_MACROS -#include -#endif -#endif - -#define FILL_N std::fill_n -#ifdef _MSC_VER -#if _MSC_VER < 1600 -#undef FILL_N -#define FILL_N stdext::unchecked_fill_n -#endif -#endif - -// Suppress warnings about (potentially) uninitialized variables. -#ifdef _MSC_VER - #pragma warning (disable:4700) -#endif - -#ifndef HAVE_DIAGNOSTIC -#if __GNUC__ > 4 || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 6)) -#define HAVE_DIAGNOSTIC 1 -#endif -#endif - -#ifndef HAVE_VISIBILITY -#if __GNUC__ >= 4 -#define HAVE_VISIBILITY 1 -#endif -#endif - -/* Since the public interface is given by the Python respectively R interface, - * we do not want other symbols than the interface initalization routines to be - * visible in the shared object file. The "visibility" switch is a GCC concept. - * Hiding symbols keeps the relocation table small and decreases startup time. - * See http://gcc.gnu.org/wiki/Visibility - */ -#if HAVE_VISIBILITY -#pragma GCC visibility push(hidden) -#endif - -typedef int_fast32_t t_index; -#ifndef INT32_MAX -#define MAX_INDEX 0x7fffffffL -#else -#define MAX_INDEX INT32_MAX -#endif -#if (LONG_MAX < MAX_INDEX) -#error The integer format "t_index" must not have a greater range than "long int". -#endif -#if (INT_MAX > MAX_INDEX) -#error The integer format "int" must not have a greater range than "t_index". -#endif -typedef double t_float; - -/* Method codes. - - These codes must agree with the METHODS array in fastcluster.R and the - dictionary mthidx in fastcluster.py. -*/ -enum method_codes { - // non-Euclidean methods - METHOD_METR_SINGLE = 0, - METHOD_METR_COMPLETE = 1, - METHOD_METR_AVERAGE = 2, - METHOD_METR_WEIGHTED = 3, - METHOD_METR_WARD = 4, - METHOD_METR_WARD_D = METHOD_METR_WARD, - METHOD_METR_CENTROID = 5, - METHOD_METR_MEDIAN = 6, - METHOD_METR_WARD_D2 = 7, - - MIN_METHOD_CODE = 0, - MAX_METHOD_CODE = 7 -}; - -enum method_codes_vector { - // Euclidean methods - METHOD_VECTOR_SINGLE = 0, - METHOD_VECTOR_WARD = 1, - METHOD_VECTOR_CENTROID = 2, - METHOD_VECTOR_MEDIAN = 3, - - MIN_METHOD_VECTOR_CODE = 0, - MAX_METHOD_VECTOR_CODE = 3 -}; - -// self-destructing array pointer -template -class auto_array_ptr{ -private: - type * ptr; - auto_array_ptr(auto_array_ptr const &); // non construction-copyable - auto_array_ptr& operator=(auto_array_ptr const &); // non copyable -public: - auto_array_ptr() - : ptr(NULL) - { } - template - auto_array_ptr(index const size) - : ptr(new type[size]) - { } - template - auto_array_ptr(index const size, value const val) - : ptr(new type[size]) - { - FILL_N(ptr, size, val); - } - ~auto_array_ptr() { - delete [] ptr; } - void free() { - delete [] ptr; - ptr = NULL; - } - template - void init(index const size) { - ptr = new type [size]; - } - template - void init(index const size, value const val) { - init(size); - FILL_N(ptr, size, val); - } - inline operator type *() const { return ptr; } -}; - -struct node { - t_index node1, node2; - t_float dist; -}; - -inline bool operator< (const node a, const node b) { - return (a.dist < b.dist); -} - -class cluster_result { -private: - auto_array_ptr Z; - t_index pos; - -public: - cluster_result(const t_index size) - : Z(size) - , pos(0) - {} - - void append(const t_index node1, const t_index node2, const t_float dist) { - Z[pos].node1 = node1; - Z[pos].node2 = node2; - Z[pos].dist = dist; - ++pos; - } - - node * operator[] (const t_index idx) const { return Z + idx; } - - /* Define several methods to postprocess the distances. All these functions - are monotone, so they do not change the sorted order of distances. */ - - void sqrt() const { - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist = std::sqrt(ZZ->dist); - } - } - - void sqrt(const t_float) const { // ignore the argument - sqrt(); - } - - void sqrtdouble(const t_float) const { // ignore the argument - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist = std::sqrt(2*ZZ->dist); - } - } - - #ifdef R_pow - #define my_pow R_pow - #else - #define my_pow std::pow - #endif - - void power(const t_float p) const { - t_float const q = 1/p; - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist = my_pow(ZZ->dist,q); - } - } - - void plusone(const t_float) const { // ignore the argument - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist += 1; - } - } - - void divide(const t_float denom) const { - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist /= denom; - } - } -}; - -class doubly_linked_list { - /* - Class for a doubly linked list. Initially, the list is the integer range - [0, size]. We provide a forward iterator and a method to delete an index - from the list. - - Typical use: for (i=L.start; L succ; - -private: - auto_array_ptr pred; - // Not necessarily private, we just do not need it in this instance. - -public: - doubly_linked_list(const t_index size) - // Initialize to the given size. - : start(0) - , succ(size+1) - , pred(size+1) - { - for (t_index i=0; i(2*N-3-(r_))*(r_)>>1)+(c_)-1] ) -// Z is an ((N-1)x4)-array -#define Z_(_r, _c) (Z[(_r)*4 + (_c)]) - -/* - Lookup function for a union-find data structure. - - The function finds the root of idx by going iteratively through all - parent elements until a root is found. An element i is a root if - nodes[i] is zero. To make subsequent searches faster, the entry for - idx and all its parents is updated with the root element. - */ -class union_find { -private: - auto_array_ptr parent; - t_index nextparent; - -public: - union_find(const t_index size) - : parent(size>0 ? 2*size-1 : 0, 0) - , nextparent(size) - { } - - t_index Find (t_index idx) const { - if (parent[idx] != 0 ) { // a → b - t_index p = idx; - idx = parent[idx]; - if (parent[idx] != 0 ) { // a → b → c - do { - idx = parent[idx]; - } while (parent[idx] != 0); - do { - t_index tmp = parent[p]; - parent[p] = idx; - p = tmp; - } while (parent[p] != idx); - } - } - return idx; - } - - void Union (const t_index node1, const t_index node2) { - parent[node1] = parent[node2] = nextparent++; - } -}; - -class nan_error{}; -#ifdef FE_INVALID -class fenv_error{}; -#endif - -static void MST_linkage_core(const t_index N, const t_float * const D, - cluster_result & Z2) { -/* - N: integer, number of data points - D: condensed distance matrix N*(N-1)/2 - Z2: output data structure - - The basis of this algorithm is an algorithm by Rohlf: - - F. James Rohlf, Hierarchical clustering using the minimum spanning tree, - The Computer Journal, vol. 16, 1973, p. 93–95. -*/ - t_index i; - t_index idx2; - doubly_linked_list active_nodes(N); - auto_array_ptr d(N); - - t_index prev_node; - t_float min; - - // first iteration - idx2 = 1; - min = std::numeric_limits::infinity(); - for (i=1; i tmp) - d[i] = tmp; - else if (fc_isnan(tmp)) - throw (nan_error()); -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - if (d[i] < min) { - min = d[i]; - idx2 = i; - } - } - Z2.append(prev_node, idx2, min); - } -} - -/* Functions for the update of the dissimilarity array */ - -inline static void f_single( t_float * const b, const t_float a ) { - if (*b > a) *b = a; -} -inline static void f_complete( t_float * const b, const t_float a ) { - if (*b < a) *b = a; -} -inline static void f_average( t_float * const b, const t_float a, const t_float s, const t_float t) { - *b = s*a + t*(*b); - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_weighted( t_float * const b, const t_float a) { - *b = (a+*b)*.5; - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_ward( t_float * const b, const t_float a, const t_float c, const t_float s, const t_float t, const t_float v) { - *b = ( (v+s)*a - v*c + (v+t)*(*b) ) / (s+t+v); - //*b = a+(*b)-(t*a+s*(*b)+v*c)/(s+t+v); - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_centroid( t_float * const b, const t_float a, const t_float stc, const t_float s, const t_float t) { - *b = s*a - stc + t*(*b); - #ifndef FE_INVALID - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_median( t_float * const b, const t_float a, const t_float c_4) { - *b = (a+(*b))*.5 - c_4; - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} - -template -static void NN_chain_core(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) { -/* - N: integer - D: condensed distance matrix N*(N-1)/2 - Z2: output data structure - - This is the NN-chain algorithm, described on page 86 in the following book: - - Fionn Murtagh, Multidimensional Clustering Algorithms, - Vienna, Würzburg: Physica-Verlag, 1985. -*/ - t_index i; - - auto_array_ptr NN_chain(N); - t_index NN_chain_tip = 0; - - t_index idx1, idx2; - - t_float size1, size2; - doubly_linked_list active_nodes(N); - - t_float min; - - for (t_float const * DD=D; DD!=D+(static_cast(N)*(N-1)>>1); - ++DD) { -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*DD)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - } - - #ifdef FE_INVALID - if (feclearexcept(FE_INVALID)) throw fenv_error(); - #endif - - for (t_index j=0; jidx2) { - t_index tmp = idx1; - idx1 = idx2; - idx2 = tmp; - } - - if (method==METHOD_METR_AVERAGE || - method==METHOD_METR_WARD) { - size1 = static_cast(members[idx1]); - size2 = static_cast(members[idx2]); - members[idx2] += members[idx1]; - } - - // Remove the smaller index from the valid indices (active_nodes). - active_nodes.remove(idx1); - - switch (method) { - case METHOD_METR_SINGLE: - /* - Single linkage. - - Characteristic: new distances are never longer than the old distances. - */ - // Update the distance matrix in the range [start, idx1). - for (i=active_nodes.start; i(members[i]); - for (i=active_nodes.start; i(members[i]) ); - // Update the distance matrix in the range (idx1, idx2). - for (; i(members[i]) ); - // Update the distance matrix in the range (idx2, N). - for (i=active_nodes.succ[idx2]; i(members[i]) ); - break; - - default: - throw std::runtime_error(std::string("Invalid method.")); - } - } - #ifdef FE_INVALID - if (fetestexcept(FE_INVALID)) throw fenv_error(); - #endif -} - -class binary_min_heap { - /* - Class for a binary min-heap. The data resides in an array A. The elements of - A are not changed but two lists I and R of indices are generated which point - to elements of A and backwards. - - The heap tree structure is - - H[2*i+1] H[2*i+2] - \ / - \ / - ≤ ≤ - \ / - \ / - H[i] - - where the children must be less or equal than their parent. Thus, H[0] - contains the minimum. The lists I and R are made such that H[i] = A[I[i]] - and R[I[i]] = i. - - This implementation is not designed to handle NaN values. - */ -private: - t_float * const A; - t_index size; - auto_array_ptr I; - auto_array_ptr R; - - // no default constructor - binary_min_heap(); - // noncopyable - binary_min_heap(binary_min_heap const &); - binary_min_heap & operator=(binary_min_heap const &); - -public: - binary_min_heap(t_float * const A_, const t_index size_) - : A(A_), size(size_), I(size), R(size) - { // Allocate memory and initialize the lists I and R to the identity. This - // does not make it a heap. Call heapify afterwards! - for (t_index i=0; i>1); idx>0; ) { - --idx; - update_geq_(idx); - } - } - - inline t_index argmin() const { - // Return the minimal element. - return I[0]; - } - - void heap_pop() { - // Remove the minimal element from the heap. - --size; - I[0] = I[size]; - R[I[0]] = 0; - update_geq_(0); - } - - void remove(t_index idx) { - // Remove an element from the heap. - --size; - R[I[size]] = R[idx]; - I[R[idx]] = I[size]; - if ( H(size)<=A[idx] ) { - update_leq_(R[idx]); - } - else { - update_geq_(R[idx]); - } - } - - void replace ( const t_index idxold, const t_index idxnew, - const t_float val) { - R[idxnew] = R[idxold]; - I[R[idxnew]] = idxnew; - if (val<=A[idxold]) - update_leq(idxnew, val); - else - update_geq(idxnew, val); - } - - void update ( const t_index idx, const t_float val ) const { - // Update the element A[i] with val and re-arrange the indices to preserve - // the heap condition. - if (val<=A[idx]) - update_leq(idx, val); - else - update_geq(idx, val); - } - - void update_leq ( const t_index idx, const t_float val ) const { - // Use this when the new value is not more than the old value. - A[idx] = val; - update_leq_(R[idx]); - } - - void update_geq ( const t_index idx, const t_float val ) const { - // Use this when the new value is not less than the old value. - A[idx] = val; - update_geq_(R[idx]); - } - -private: - void update_leq_ (t_index i) const { - t_index j; - for ( ; (i>0) && ( H(i)>1) ); i=j) - heap_swap(i,j); - } - - void update_geq_ (t_index i) const { - t_index j; - for ( ; (j=2*i+1)=H(i) ) { - ++j; - if ( j>=size || H(j)>=H(i) ) break; - } - else if ( j+1 -static void generic_linkage(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) { - /* - N: integer, number of data points - D: condensed distance matrix N*(N-1)/2 - Z2: output data structure - */ - - const t_index N_1 = N-1; - t_index i, j; // loop variables - t_index idx1, idx2; // row and column indices - - auto_array_ptr n_nghbr(N_1); // array of nearest neighbors - auto_array_ptr mindist(N_1); // distances to the nearest neighbors - auto_array_ptr row_repr(N); // row_repr[i]: node number that the - // i-th row represents - doubly_linked_list active_nodes(N); - binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for - // the distance to the nearest neighbor of each point - t_index node1, node2; // node numbers in the output - t_float size1, size2; // and their cardinalities - - t_float min; // minimum and row index for nearest-neighbor search - t_index idx; - - for (i=0; ii} D(i,j) for i in range(N-1) - t_float const * DD = D; - for (i=0; i::infinity(); - for (idx=j=i+1; ji} D(i,j) - - Normally, we have equality. However, this minimum may become invalid due - to the updates in the distance matrix. The rules are: - - 1) If mindist[i] is equal to D(i, n_nghbr[i]), this is the correct - minimum and n_nghbr[i] is a nearest neighbor. - - 2) If mindist[i] is smaller than D(i, n_nghbr[i]), this might not be the - correct minimum. The minimum needs to be recomputed. - - 3) mindist[i] is never bigger than the true minimum. Hence, we never - miss the true minimum if we take the smallest mindist entry, - re-compute the value if necessary (thus maybe increasing it) and - looking for the now smallest mindist entry until a valid minimal - entry is found. This step is done in the lines below. - - The update process for D below takes care that these rules are - fulfilled. This makes sure that the minima in the rows D(i,i+1:)of D are - re-calculated when necessary but re-calculation is avoided whenever - possible. - - The re-calculation of the minima makes the worst-case runtime of this - algorithm cubic in N. We avoid this whenever possible, and in most cases - the runtime appears to be quadratic. - */ - idx1 = nn_distances.argmin(); - if (method != METHOD_METR_SINGLE) { - while ( mindist[idx1] < D_(idx1, n_nghbr[idx1]) ) { - // Recompute the minimum mindist[idx1] and n_nghbr[idx1]. - n_nghbr[idx1] = j = active_nodes.succ[idx1]; // exists, maximally N-1 - min = D_(idx1,j); - for (j=active_nodes.succ[j]; j(members[idx1]); - size2 = static_cast(members[idx2]); - members[idx2] += members[idx1]; - } - Z2.append(node1, node2, mindist[idx1]); - - // Remove idx1 from the list of active indices (active_nodes). - active_nodes.remove(idx1); - // Index idx2 now represents the new (merged) node with label N+i. - row_repr[idx2] = N+i; - - // Update the distance matrix - switch (method) { - case METHOD_METR_SINGLE: - /* - Single linkage. - - Characteristic: new distances are never longer than the old distances. - */ - // Update the distance matrix in the range [start, idx1). - for (j=active_nodes.start; j(members[j]) ); - if (n_nghbr[j] == idx1) - n_nghbr[j] = idx2; - } - // Update the distance matrix in the range (idx1, idx2). - for (; j(members[j]) ); - if (D_(j, idx2) < mindist[j]) { - nn_distances.update_leq(j, D_(j, idx2)); - n_nghbr[j] = idx2; - } - } - // Update the distance matrix in the range (idx2, N). - if (idx2(members[j]) ); - min = D_(idx2,j); - for (j=active_nodes.succ[j]; j(members[j]) ); - if (D_(idx2,j) < min) { - min = D_(idx2,j); - n_nghbr[idx2] = j; - } - } - nn_distances.update(idx2, min); - } - break; - - case METHOD_METR_CENTROID: { - /* - Centroid linkage. - - Shorter and longer distances can occur, not bigger than max(d1,d2) - but maybe smaller than min(d1,d2). - */ - // Update the distance matrix in the range [start, idx1). - t_float s = size1/(size1+size2); - t_float t = size2/(size1+size2); - t_float stc = s*t*mindist[idx1]; - for (j=active_nodes.start; j -static void MST_linkage_core_vector(const t_index N, - t_dissimilarity & dist, - cluster_result & Z2) { -/* - N: integer, number of data points - dist: function pointer to the metric - Z2: output data structure - - The basis of this algorithm is an algorithm by Rohlf: - - F. James Rohlf, Hierarchical clustering using the minimum spanning tree, - The Computer Journal, vol. 16, 1973, p. 93–95. -*/ - t_index i; - t_index idx2; - doubly_linked_list active_nodes(N); - auto_array_ptr d(N); - - t_index prev_node; - t_float min; - - // first iteration - idx2 = 1; - min = std::numeric_limits::infinity(); - for (i=1; i tmp) - d[i] = tmp; - else if (fc_isnan(tmp)) - throw (nan_error()); -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - if (d[i] < min) { - min = d[i]; - idx2 = i; - } - } - Z2.append(prev_node, idx2, min); - } -} - -template -static void generic_linkage_vector(const t_index N, - t_dissimilarity & dist, - cluster_result & Z2) { - /* - N: integer, number of data points - dist: function pointer to the metric - Z2: output data structure - - This algorithm is valid for the distance update methods - "Ward", "centroid" and "median" only! - */ - const t_index N_1 = N-1; - t_index i, j; // loop variables - t_index idx1, idx2; // row and column indices - - auto_array_ptr n_nghbr(N_1); // array of nearest neighbors - auto_array_ptr mindist(N_1); // distances to the nearest neighbors - auto_array_ptr row_repr(N); // row_repr[i]: node number that the - // i-th row represents - doubly_linked_list active_nodes(N); - binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for - // the distance to the nearest neighbor of each point - t_index node1, node2; // node numbers in the output - t_float min; // minimum and row index for nearest-neighbor search - - for (i=0; ii} D(i,j) for i in range(N-1) - for (i=0; i::infinity(); - t_index idx; - for (idx=j=i+1; j(i,j); - } - if (tmp(idx1,j); - for (j=active_nodes.succ[j]; j(idx1,j); - if (tmp(j, idx2); - if (tmp < mindist[j]) { - nn_distances.update_leq(j, tmp); - n_nghbr[j] = idx2; - } - else if (n_nghbr[j] == idx2) - n_nghbr[j] = idx1; // invalidate - } - // Find the nearest neighbor for idx2. - if (idx2(idx2,j); - for (j=active_nodes.succ[j]; j(idx2, j); - if (tmp < min) { - min = tmp; - n_nghbr[idx2] = j; - } - } - nn_distances.update(idx2, min); - } - } - } -} - -template -static void generic_linkage_vector_alternative(const t_index N, - t_dissimilarity & dist, - cluster_result & Z2) { - /* - N: integer, number of data points - dist: function pointer to the metric - Z2: output data structure - - This algorithm is valid for the distance update methods - "Ward", "centroid" and "median" only! - */ - const t_index N_1 = N-1; - t_index i, j=0; // loop variables - t_index idx1, idx2; // row and column indices - - auto_array_ptr n_nghbr(2*N-2); // array of nearest neighbors - auto_array_ptr mindist(2*N-2); // distances to the nearest neighbors - - doubly_linked_list active_nodes(N+N_1); - binary_min_heap nn_distances(&*mindist, N_1, 2*N-2, 1); // minimum heap - // structure for the distance to the nearest neighbor of each point - - t_float min; // minimum for nearest-neighbor searches - - // Initialize the minimal distances: - // Find the nearest neighbor of each point. - // n_nghbr[i] = argmin_{j>i} D(i,j) for i in range(N-1) - for (i=1; i::infinity(); - t_index idx; - for (idx=j=0; j(i,j); - } - if (tmp - -extern "C" { -#include "fastcluster.h" -} - - -int main(int argc, const char* argv[]) { - const int n = 11; - const int m = 3; - double* pts = new double[n*m]{59.26000137, -9.35999966, -5.42500019, - 91.61999817, -0.31999999, -2.75, - 31.38000031, 0.40000001, -0.2, - 89.57999725, -8.07999992, -18.04999924, - 53.42000122, 0.63999999, -0.175, - 31.38000031, 0.47999999, -0.2, - 36.33999939, 0.16, -0.2, - 53.33999939, 0.95999998, -0.175, - 59.26000137, -9.76000023, -5.44999981, - 33.93999977, 0.40000001, -0.22499999, - 106.74000092, -5.76000023, -18.04999924}; - - int * idx = new int[n]; - int * correct_idx = new int[n]{0, 1, 2, 3, 4, 2, 5, 4, 0, 5, 6}; - - cluster_points_centroid(n, m, pts, 2.5 * 2.5, idx); - - for (int i = 0; i < n; i++) { - assert(idx[i] == correct_idx[i]); - } - - delete[] idx; - delete[] correct_idx; - delete[] pts; -} diff --git a/third_party/curl/build.txt b/third_party/curl/build.txt deleted file mode 100644 index def0763b46..0000000000 --- a/third_party/curl/build.txt +++ /dev/null @@ -1,5 +0,0 @@ -# with neos tree -cd ~/android/system -mka libcurl - -cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcurl_intermediates/libcurl.a lib/ diff --git a/third_party/curl/include/Makefile.am b/third_party/curl/include/Makefile.am deleted file mode 100644 index 3b24860299..0000000000 --- a/third_party/curl/include/Makefile.am +++ /dev/null @@ -1,5 +0,0 @@ -SUBDIRS = curl - -EXTRA_DIST = README - -AUTOMAKE_OPTIONS = foreign no-dependencies diff --git a/third_party/curl/include/README b/third_party/curl/include/README deleted file mode 100644 index 3e52a1d0a6..0000000000 --- a/third_party/curl/include/README +++ /dev/null @@ -1,55 +0,0 @@ - _ _ ____ _ - ___| | | | _ \| | - / __| | | | |_) | | - | (__| |_| | _ <| |___ - \___|\___/|_| \_\_____| - -Include files for libcurl, external users. - -They're all placed in the curl subdirectory here for better fit in any kind -of environment. You must include files from here using... - - #include - -... style and point the compiler's include path to the directory holding the -curl subdirectory. It makes it more likely to survive future modifications. - -NOTE FOR LIBCURL HACKERS - -The following notes apply to libcurl version 7.19.0 and later. - -* The distributed curl/curlbuild.h file is only intended to be used on systems - which can not run the also distributed configure script. - -* The distributed curlbuild.h file is generated as a copy of curlbuild.h.dist - when the libcurl source code distribution archive file is originally created. - -* If you check out from git on a non-configure platform, you must run the - appropriate buildconf* script to set up curlbuild.h and other local files - before being able of compiling the library. - -* On systems capable of running the configure script, the configure process - will overwrite the distributed include/curl/curlbuild.h file with one that - is suitable and specific to the library being configured and built, which - is generated from the include/curl/curlbuild.h.in template file. - -* If you intend to distribute an already compiled libcurl library you _MUST_ - also distribute along with it the generated curl/curlbuild.h which has been - used to compile it. Otherwise the library will be of no use for the users of - the library that you have built. It is _your_ responsibility to provide this - file. No one at the cURL project can know how you have built the library. - -* File curl/curlbuild.h includes platform and configuration dependent info, - and must not be modified by anyone. Configure script generates it for you. - -* We cannot assume anything else but very basic compiler features being - present. While libcurl requires an ANSI C compiler to build, some of the - earlier ANSI compilers clearly can't deal with some preprocessor operators. - -* Newlines must remain unix-style for older compilers' sake. - -* Comments must be written in the old-style /* unnested C-fashion */ - -To figure out how to do good and portable checks for features, operating -systems or specific hardwarare, a very good resource is Bjorn Reese's -collection at http://predef.sf.net/ diff --git a/third_party/curl/include/curl/.gitignore b/third_party/curl/include/curl/.gitignore deleted file mode 100644 index 5f3bc3ce01..0000000000 --- a/third_party/curl/include/curl/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -stamp-h2 -stamp-h3 -curlver.h.dist diff --git a/third_party/curl/include/curl/Makefile.am b/third_party/curl/include/curl/Makefile.am deleted file mode 100644 index 86e8b78344..0000000000 --- a/third_party/curl/include/curl/Makefile.am +++ /dev/null @@ -1,53 +0,0 @@ -#*************************************************************************** -# _ _ ____ _ -# Project ___| | | | _ \| | -# / __| | | | |_) | | -# | (__| |_| | _ <| |___ -# \___|\___/|_| \_\_____| -# -# Copyright (C) 1998 - 2011, Daniel Stenberg, , et al. -# -# This software is licensed as described in the file COPYING, which -# you should have received as part of this distribution. The terms -# are also available at http://curl.haxx.se/docs/copyright.html. -# -# You may opt to use, copy, modify, merge, publish, distribute and/or sell -# copies of the Software, and permit persons to whom the Software is -# furnished to do so, under the terms of the COPYING file. -# -# This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY -# KIND, either express or implied. -# -########################################################################### -pkginclude_HEADERS = \ - curl.h curlver.h easy.h mprintf.h stdcheaders.h multi.h \ - typecheck-gcc.h curlbuild.h curlrules.h - -pkgincludedir= $(includedir)/curl - -# curlbuild.h does not exist in the git tree. When the original libcurl -# source code distribution archive file is created, curlbuild.h.dist is -# renamed to curlbuild.h and included in the tarball so that it can be -# used directly on non-configure systems. -# -# The distributed curlbuild.h will be overwritten on configure systems -# when the configure script runs, with one that is suitable and specific -# to the library being configured and built. -# -# curlbuild.h.in is the distributed template file from which the configure -# script creates curlbuild.h at library configuration time, overwiting the -# one included in the distribution archive. -# -# curlbuild.h.dist is not included in the source code distribution archive. - -EXTRA_DIST = curlbuild.h.in - -DISTCLEANFILES = curlbuild.h - -checksrc: - @@PERL@ $(top_srcdir)/lib/checksrc.pl -Wcurlbuild.h -D$(top_srcdir)/include/curl $(pkginclude_HEADERS) $(EXTRA_DIST) - -if CURLDEBUG -# for debug builds, we scan the sources on all regular make invokes -all-local: checksrc -endif diff --git a/third_party/curl/include/curl/curl.h b/third_party/curl/include/curl/curl.h deleted file mode 100644 index eab2f6e99a..0000000000 --- a/third_party/curl/include/curl/curl.h +++ /dev/null @@ -1,2376 +0,0 @@ -#ifndef __CURL_CURL_H -#define __CURL_CURL_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* - * If you have libcurl problems, all docs and details are found here: - * http://curl.haxx.se/libcurl/ - * - * curl-library mailing list subscription and unsubscription web interface: - * http://cool.haxx.se/mailman/listinfo/curl-library/ - */ - -#include "curlver.h" /* libcurl version defines */ -#include "curlbuild.h" /* libcurl build definitions */ -#include "curlrules.h" /* libcurl rules enforcement */ - -/* - * Define WIN32 when build target is Win32 API - */ - -#if (defined(_WIN32) || defined(__WIN32__)) && \ - !defined(WIN32) && !defined(__SYMBIAN32__) -#define WIN32 -#endif - -#include -#include - -#if defined(__FreeBSD__) && (__FreeBSD__ >= 2) -/* Needed for __FreeBSD_version symbol definition */ -#include -#endif - -/* The include stuff here below is mainly for time_t! */ -#include -#include - -#if defined(WIN32) && !defined(_WIN32_WCE) && !defined(__CYGWIN__) -#if !(defined(_WINSOCKAPI_) || defined(_WINSOCK_H) || defined(__LWIP_OPT_H__)) -/* The check above prevents the winsock2 inclusion if winsock.h already was - included, since they can't co-exist without problems */ -#include -#include -#endif -#endif - -/* HP-UX systems version 9, 10 and 11 lack sys/select.h and so does oldish - libc5-based Linux systems. Only include it on systems that are known to - require it! */ -#if defined(_AIX) || defined(__NOVELL_LIBC__) || defined(__NetBSD__) || \ - defined(__minix) || defined(__SYMBIAN32__) || defined(__INTEGRITY) || \ - defined(ANDROID) || defined(__ANDROID__) || defined(__OpenBSD__) || \ - (defined(__FreeBSD_version) && (__FreeBSD_version < 800000)) -#include -#endif - -#if !defined(WIN32) && !defined(_WIN32_WCE) -#include -#endif - -#if !defined(WIN32) && !defined(__WATCOMC__) && !defined(__VXWORKS__) -#include -#endif - -#ifdef __BEOS__ -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -typedef void CURL; - -/* - * libcurl external API function linkage decorations. - */ - -#ifdef CURL_STATICLIB -# define CURL_EXTERN -#elif defined(WIN32) || defined(_WIN32) || defined(__SYMBIAN32__) -# if defined(BUILDING_LIBCURL) -# define CURL_EXTERN __declspec(dllexport) -# else -# define CURL_EXTERN __declspec(dllimport) -# endif -#elif defined(BUILDING_LIBCURL) && defined(CURL_HIDDEN_SYMBOLS) -# define CURL_EXTERN CURL_EXTERN_SYMBOL -#else -# define CURL_EXTERN -#endif - -#ifndef curl_socket_typedef -/* socket typedef */ -#if defined(WIN32) && !defined(__LWIP_OPT_H__) -typedef SOCKET curl_socket_t; -#define CURL_SOCKET_BAD INVALID_SOCKET -#else -typedef int curl_socket_t; -#define CURL_SOCKET_BAD -1 -#endif -#define curl_socket_typedef -#endif /* curl_socket_typedef */ - -struct curl_httppost { - struct curl_httppost *next; /* next entry in the list */ - char *name; /* pointer to allocated name */ - long namelength; /* length of name length */ - char *contents; /* pointer to allocated data contents */ - long contentslength; /* length of contents field */ - char *buffer; /* pointer to allocated buffer contents */ - long bufferlength; /* length of buffer field */ - char *contenttype; /* Content-Type */ - struct curl_slist* contentheader; /* list of extra headers for this form */ - struct curl_httppost *more; /* if one field name has more than one - file, this link should link to following - files */ - long flags; /* as defined below */ -#define HTTPPOST_FILENAME (1<<0) /* specified content is a file name */ -#define HTTPPOST_READFILE (1<<1) /* specified content is a file name */ -#define HTTPPOST_PTRNAME (1<<2) /* name is only stored pointer - do not free in formfree */ -#define HTTPPOST_PTRCONTENTS (1<<3) /* contents is only stored pointer - do not free in formfree */ -#define HTTPPOST_BUFFER (1<<4) /* upload file from buffer */ -#define HTTPPOST_PTRBUFFER (1<<5) /* upload file from pointer contents */ -#define HTTPPOST_CALLBACK (1<<6) /* upload file contents by using the - regular read callback to get the data - and pass the given pointer as custom - pointer */ - - char *showfilename; /* The file name to show. If not set, the - actual file name will be used (if this - is a file part) */ - void *userp; /* custom pointer used for - HTTPPOST_CALLBACK posts */ -}; - -/* This is the CURLOPT_PROGRESSFUNCTION callback proto. It is now considered - deprecated but was the only choice up until 7.31.0 */ -typedef int (*curl_progress_callback)(void *clientp, - double dltotal, - double dlnow, - double ultotal, - double ulnow); - -/* This is the CURLOPT_XFERINFOFUNCTION callback proto. It was introduced in - 7.32.0, it avoids floating point and provides more detailed information. */ -typedef int (*curl_xferinfo_callback)(void *clientp, - curl_off_t dltotal, - curl_off_t dlnow, - curl_off_t ultotal, - curl_off_t ulnow); - -#ifndef CURL_MAX_WRITE_SIZE - /* Tests have proven that 20K is a very bad buffer size for uploads on - Windows, while 16K for some odd reason performed a lot better. - We do the ifndef check to allow this value to easier be changed at build - time for those who feel adventurous. The practical minimum is about - 400 bytes since libcurl uses a buffer of this size as a scratch area - (unrelated to network send operations). */ -#define CURL_MAX_WRITE_SIZE 16384 -#endif - -#ifndef CURL_MAX_HTTP_HEADER -/* The only reason to have a max limit for this is to avoid the risk of a bad - server feeding libcurl with a never-ending header that will cause reallocs - infinitely */ -#define CURL_MAX_HTTP_HEADER (100*1024) -#endif - -/* This is a magic return code for the write callback that, when returned, - will signal libcurl to pause receiving on the current transfer. */ -#define CURL_WRITEFUNC_PAUSE 0x10000001 - -typedef size_t (*curl_write_callback)(char *buffer, - size_t size, - size_t nitems, - void *outstream); - - - -/* enumeration of file types */ -typedef enum { - CURLFILETYPE_FILE = 0, - CURLFILETYPE_DIRECTORY, - CURLFILETYPE_SYMLINK, - CURLFILETYPE_DEVICE_BLOCK, - CURLFILETYPE_DEVICE_CHAR, - CURLFILETYPE_NAMEDPIPE, - CURLFILETYPE_SOCKET, - CURLFILETYPE_DOOR, /* is possible only on Sun Solaris now */ - - CURLFILETYPE_UNKNOWN /* should never occur */ -} curlfiletype; - -#define CURLFINFOFLAG_KNOWN_FILENAME (1<<0) -#define CURLFINFOFLAG_KNOWN_FILETYPE (1<<1) -#define CURLFINFOFLAG_KNOWN_TIME (1<<2) -#define CURLFINFOFLAG_KNOWN_PERM (1<<3) -#define CURLFINFOFLAG_KNOWN_UID (1<<4) -#define CURLFINFOFLAG_KNOWN_GID (1<<5) -#define CURLFINFOFLAG_KNOWN_SIZE (1<<6) -#define CURLFINFOFLAG_KNOWN_HLINKCOUNT (1<<7) - -/* Content of this structure depends on information which is known and is - achievable (e.g. by FTP LIST parsing). Please see the url_easy_setopt(3) man - page for callbacks returning this structure -- some fields are mandatory, - some others are optional. The FLAG field has special meaning. */ -struct curl_fileinfo { - char *filename; - curlfiletype filetype; - time_t time; - unsigned int perm; - int uid; - int gid; - curl_off_t size; - long int hardlinks; - - struct { - /* If some of these fields is not NULL, it is a pointer to b_data. */ - char *time; - char *perm; - char *user; - char *group; - char *target; /* pointer to the target filename of a symlink */ - } strings; - - unsigned int flags; - - /* used internally */ - char * b_data; - size_t b_size; - size_t b_used; -}; - -/* return codes for CURLOPT_CHUNK_BGN_FUNCTION */ -#define CURL_CHUNK_BGN_FUNC_OK 0 -#define CURL_CHUNK_BGN_FUNC_FAIL 1 /* tell the lib to end the task */ -#define CURL_CHUNK_BGN_FUNC_SKIP 2 /* skip this chunk over */ - -/* if splitting of data transfer is enabled, this callback is called before - download of an individual chunk started. Note that parameter "remains" works - only for FTP wildcard downloading (for now), otherwise is not used */ -typedef long (*curl_chunk_bgn_callback)(const void *transfer_info, - void *ptr, - int remains); - -/* return codes for CURLOPT_CHUNK_END_FUNCTION */ -#define CURL_CHUNK_END_FUNC_OK 0 -#define CURL_CHUNK_END_FUNC_FAIL 1 /* tell the lib to end the task */ - -/* If splitting of data transfer is enabled this callback is called after - download of an individual chunk finished. - Note! After this callback was set then it have to be called FOR ALL chunks. - Even if downloading of this chunk was skipped in CHUNK_BGN_FUNC. - This is the reason why we don't need "transfer_info" parameter in this - callback and we are not interested in "remains" parameter too. */ -typedef long (*curl_chunk_end_callback)(void *ptr); - -/* return codes for FNMATCHFUNCTION */ -#define CURL_FNMATCHFUNC_MATCH 0 /* string corresponds to the pattern */ -#define CURL_FNMATCHFUNC_NOMATCH 1 /* pattern doesn't match the string */ -#define CURL_FNMATCHFUNC_FAIL 2 /* an error occurred */ - -/* callback type for wildcard downloading pattern matching. If the - string matches the pattern, return CURL_FNMATCHFUNC_MATCH value, etc. */ -typedef int (*curl_fnmatch_callback)(void *ptr, - const char *pattern, - const char *string); - -/* These are the return codes for the seek callbacks */ -#define CURL_SEEKFUNC_OK 0 -#define CURL_SEEKFUNC_FAIL 1 /* fail the entire transfer */ -#define CURL_SEEKFUNC_CANTSEEK 2 /* tell libcurl seeking can't be done, so - libcurl might try other means instead */ -typedef int (*curl_seek_callback)(void *instream, - curl_off_t offset, - int origin); /* 'whence' */ - -/* This is a return code for the read callback that, when returned, will - signal libcurl to immediately abort the current transfer. */ -#define CURL_READFUNC_ABORT 0x10000000 -/* This is a return code for the read callback that, when returned, will - signal libcurl to pause sending data on the current transfer. */ -#define CURL_READFUNC_PAUSE 0x10000001 - -typedef size_t (*curl_read_callback)(char *buffer, - size_t size, - size_t nitems, - void *instream); - -typedef enum { - CURLSOCKTYPE_IPCXN, /* socket created for a specific IP connection */ - CURLSOCKTYPE_ACCEPT, /* socket created by accept() call */ - CURLSOCKTYPE_LAST /* never use */ -} curlsocktype; - -/* The return code from the sockopt_callback can signal information back - to libcurl: */ -#define CURL_SOCKOPT_OK 0 -#define CURL_SOCKOPT_ERROR 1 /* causes libcurl to abort and return - CURLE_ABORTED_BY_CALLBACK */ -#define CURL_SOCKOPT_ALREADY_CONNECTED 2 - -typedef int (*curl_sockopt_callback)(void *clientp, - curl_socket_t curlfd, - curlsocktype purpose); - -struct curl_sockaddr { - int family; - int socktype; - int protocol; - unsigned int addrlen; /* addrlen was a socklen_t type before 7.18.0 but it - turned really ugly and painful on the systems that - lack this type */ - struct sockaddr addr; -}; - -typedef curl_socket_t -(*curl_opensocket_callback)(void *clientp, - curlsocktype purpose, - struct curl_sockaddr *address); - -typedef int -(*curl_closesocket_callback)(void *clientp, curl_socket_t item); - -typedef enum { - CURLIOE_OK, /* I/O operation successful */ - CURLIOE_UNKNOWNCMD, /* command was unknown to callback */ - CURLIOE_FAILRESTART, /* failed to restart the read */ - CURLIOE_LAST /* never use */ -} curlioerr; - -typedef enum { - CURLIOCMD_NOP, /* no operation */ - CURLIOCMD_RESTARTREAD, /* restart the read stream from start */ - CURLIOCMD_LAST /* never use */ -} curliocmd; - -typedef curlioerr (*curl_ioctl_callback)(CURL *handle, - int cmd, - void *clientp); - -/* - * The following typedef's are signatures of malloc, free, realloc, strdup and - * calloc respectively. Function pointers of these types can be passed to the - * curl_global_init_mem() function to set user defined memory management - * callback routines. - */ -typedef void *(*curl_malloc_callback)(size_t size); -typedef void (*curl_free_callback)(void *ptr); -typedef void *(*curl_realloc_callback)(void *ptr, size_t size); -typedef char *(*curl_strdup_callback)(const char *str); -typedef void *(*curl_calloc_callback)(size_t nmemb, size_t size); - -/* the kind of data that is passed to information_callback*/ -typedef enum { - CURLINFO_TEXT = 0, - CURLINFO_HEADER_IN, /* 1 */ - CURLINFO_HEADER_OUT, /* 2 */ - CURLINFO_DATA_IN, /* 3 */ - CURLINFO_DATA_OUT, /* 4 */ - CURLINFO_SSL_DATA_IN, /* 5 */ - CURLINFO_SSL_DATA_OUT, /* 6 */ - CURLINFO_END -} curl_infotype; - -typedef int (*curl_debug_callback) - (CURL *handle, /* the handle/transfer this concerns */ - curl_infotype type, /* what kind of data */ - char *data, /* points to the data */ - size_t size, /* size of the data pointed to */ - void *userptr); /* whatever the user please */ - -/* All possible error codes from all sorts of curl functions. Future versions - may return other values, stay prepared. - - Always add new return codes last. Never *EVER* remove any. The return - codes must remain the same! - */ - -typedef enum { - CURLE_OK = 0, - CURLE_UNSUPPORTED_PROTOCOL, /* 1 */ - CURLE_FAILED_INIT, /* 2 */ - CURLE_URL_MALFORMAT, /* 3 */ - CURLE_NOT_BUILT_IN, /* 4 - [was obsoleted in August 2007 for - 7.17.0, reused in April 2011 for 7.21.5] */ - CURLE_COULDNT_RESOLVE_PROXY, /* 5 */ - CURLE_COULDNT_RESOLVE_HOST, /* 6 */ - CURLE_COULDNT_CONNECT, /* 7 */ - CURLE_FTP_WEIRD_SERVER_REPLY, /* 8 */ - CURLE_REMOTE_ACCESS_DENIED, /* 9 a service was denied by the server - due to lack of access - when login fails - this is not returned. */ - CURLE_FTP_ACCEPT_FAILED, /* 10 - [was obsoleted in April 2006 for - 7.15.4, reused in Dec 2011 for 7.24.0]*/ - CURLE_FTP_WEIRD_PASS_REPLY, /* 11 */ - CURLE_FTP_ACCEPT_TIMEOUT, /* 12 - timeout occurred accepting server - [was obsoleted in August 2007 for 7.17.0, - reused in Dec 2011 for 7.24.0]*/ - CURLE_FTP_WEIRD_PASV_REPLY, /* 13 */ - CURLE_FTP_WEIRD_227_FORMAT, /* 14 */ - CURLE_FTP_CANT_GET_HOST, /* 15 */ - CURLE_HTTP2, /* 16 - A problem in the http2 framing layer. - [was obsoleted in August 2007 for 7.17.0, - reused in July 2014 for 7.38.0] */ - CURLE_FTP_COULDNT_SET_TYPE, /* 17 */ - CURLE_PARTIAL_FILE, /* 18 */ - CURLE_FTP_COULDNT_RETR_FILE, /* 19 */ - CURLE_OBSOLETE20, /* 20 - NOT USED */ - CURLE_QUOTE_ERROR, /* 21 - quote command failure */ - CURLE_HTTP_RETURNED_ERROR, /* 22 */ - CURLE_WRITE_ERROR, /* 23 */ - CURLE_OBSOLETE24, /* 24 - NOT USED */ - CURLE_UPLOAD_FAILED, /* 25 - failed upload "command" */ - CURLE_READ_ERROR, /* 26 - couldn't open/read from file */ - CURLE_OUT_OF_MEMORY, /* 27 */ - /* Note: CURLE_OUT_OF_MEMORY may sometimes indicate a conversion error - instead of a memory allocation error if CURL_DOES_CONVERSIONS - is defined - */ - CURLE_OPERATION_TIMEDOUT, /* 28 - the timeout time was reached */ - CURLE_OBSOLETE29, /* 29 - NOT USED */ - CURLE_FTP_PORT_FAILED, /* 30 - FTP PORT operation failed */ - CURLE_FTP_COULDNT_USE_REST, /* 31 - the REST command failed */ - CURLE_OBSOLETE32, /* 32 - NOT USED */ - CURLE_RANGE_ERROR, /* 33 - RANGE "command" didn't work */ - CURLE_HTTP_POST_ERROR, /* 34 */ - CURLE_SSL_CONNECT_ERROR, /* 35 - wrong when connecting with SSL */ - CURLE_BAD_DOWNLOAD_RESUME, /* 36 - couldn't resume download */ - CURLE_FILE_COULDNT_READ_FILE, /* 37 */ - CURLE_LDAP_CANNOT_BIND, /* 38 */ - CURLE_LDAP_SEARCH_FAILED, /* 39 */ - CURLE_OBSOLETE40, /* 40 - NOT USED */ - CURLE_FUNCTION_NOT_FOUND, /* 41 */ - CURLE_ABORTED_BY_CALLBACK, /* 42 */ - CURLE_BAD_FUNCTION_ARGUMENT, /* 43 */ - CURLE_OBSOLETE44, /* 44 - NOT USED */ - CURLE_INTERFACE_FAILED, /* 45 - CURLOPT_INTERFACE failed */ - CURLE_OBSOLETE46, /* 46 - NOT USED */ - CURLE_TOO_MANY_REDIRECTS , /* 47 - catch endless re-direct loops */ - CURLE_UNKNOWN_OPTION, /* 48 - User specified an unknown option */ - CURLE_TELNET_OPTION_SYNTAX , /* 49 - Malformed telnet option */ - CURLE_OBSOLETE50, /* 50 - NOT USED */ - CURLE_PEER_FAILED_VERIFICATION, /* 51 - peer's certificate or fingerprint - wasn't verified fine */ - CURLE_GOT_NOTHING, /* 52 - when this is a specific error */ - CURLE_SSL_ENGINE_NOTFOUND, /* 53 - SSL crypto engine not found */ - CURLE_SSL_ENGINE_SETFAILED, /* 54 - can not set SSL crypto engine as - default */ - CURLE_SEND_ERROR, /* 55 - failed sending network data */ - CURLE_RECV_ERROR, /* 56 - failure in receiving network data */ - CURLE_OBSOLETE57, /* 57 - NOT IN USE */ - CURLE_SSL_CERTPROBLEM, /* 58 - problem with the local certificate */ - CURLE_SSL_CIPHER, /* 59 - couldn't use specified cipher */ - CURLE_SSL_CACERT, /* 60 - problem with the CA cert (path?) */ - CURLE_BAD_CONTENT_ENCODING, /* 61 - Unrecognized/bad encoding */ - CURLE_LDAP_INVALID_URL, /* 62 - Invalid LDAP URL */ - CURLE_FILESIZE_EXCEEDED, /* 63 - Maximum file size exceeded */ - CURLE_USE_SSL_FAILED, /* 64 - Requested FTP SSL level failed */ - CURLE_SEND_FAIL_REWIND, /* 65 - Sending the data requires a rewind - that failed */ - CURLE_SSL_ENGINE_INITFAILED, /* 66 - failed to initialise ENGINE */ - CURLE_LOGIN_DENIED, /* 67 - user, password or similar was not - accepted and we failed to login */ - CURLE_TFTP_NOTFOUND, /* 68 - file not found on server */ - CURLE_TFTP_PERM, /* 69 - permission problem on server */ - CURLE_REMOTE_DISK_FULL, /* 70 - out of disk space on server */ - CURLE_TFTP_ILLEGAL, /* 71 - Illegal TFTP operation */ - CURLE_TFTP_UNKNOWNID, /* 72 - Unknown transfer ID */ - CURLE_REMOTE_FILE_EXISTS, /* 73 - File already exists */ - CURLE_TFTP_NOSUCHUSER, /* 74 - No such user */ - CURLE_CONV_FAILED, /* 75 - conversion failed */ - CURLE_CONV_REQD, /* 76 - caller must register conversion - callbacks using curl_easy_setopt options - CURLOPT_CONV_FROM_NETWORK_FUNCTION, - CURLOPT_CONV_TO_NETWORK_FUNCTION, and - CURLOPT_CONV_FROM_UTF8_FUNCTION */ - CURLE_SSL_CACERT_BADFILE, /* 77 - could not load CACERT file, missing - or wrong format */ - CURLE_REMOTE_FILE_NOT_FOUND, /* 78 - remote file not found */ - CURLE_SSH, /* 79 - error from the SSH layer, somewhat - generic so the error message will be of - interest when this has happened */ - - CURLE_SSL_SHUTDOWN_FAILED, /* 80 - Failed to shut down the SSL - connection */ - CURLE_AGAIN, /* 81 - socket is not ready for send/recv, - wait till it's ready and try again (Added - in 7.18.2) */ - CURLE_SSL_CRL_BADFILE, /* 82 - could not load CRL file, missing or - wrong format (Added in 7.19.0) */ - CURLE_SSL_ISSUER_ERROR, /* 83 - Issuer check failed. (Added in - 7.19.0) */ - CURLE_FTP_PRET_FAILED, /* 84 - a PRET command failed */ - CURLE_RTSP_CSEQ_ERROR, /* 85 - mismatch of RTSP CSeq numbers */ - CURLE_RTSP_SESSION_ERROR, /* 86 - mismatch of RTSP Session Ids */ - CURLE_FTP_BAD_FILE_LIST, /* 87 - unable to parse FTP file list */ - CURLE_CHUNK_FAILED, /* 88 - chunk callback reported error */ - CURLE_NO_CONNECTION_AVAILABLE, /* 89 - No connection available, the - session will be queued */ - CURLE_SSL_PINNEDPUBKEYNOTMATCH, /* 90 - specified pinned public key did not - match */ - CURLE_SSL_INVALIDCERTSTATUS, /* 91 - invalid certificate status */ - CURL_LAST /* never use! */ -} CURLcode; - -#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all - the obsolete stuff removed! */ - -/* Previously obsolete error code re-used in 7.38.0 */ -#define CURLE_OBSOLETE16 CURLE_HTTP2 - -/* Previously obsolete error codes re-used in 7.24.0 */ -#define CURLE_OBSOLETE10 CURLE_FTP_ACCEPT_FAILED -#define CURLE_OBSOLETE12 CURLE_FTP_ACCEPT_TIMEOUT - -/* compatibility with older names */ -#define CURLOPT_ENCODING CURLOPT_ACCEPT_ENCODING - -/* The following were added in 7.21.5, April 2011 */ -#define CURLE_UNKNOWN_TELNET_OPTION CURLE_UNKNOWN_OPTION - -/* The following were added in 7.17.1 */ -/* These are scheduled to disappear by 2009 */ -#define CURLE_SSL_PEER_CERTIFICATE CURLE_PEER_FAILED_VERIFICATION - -/* The following were added in 7.17.0 */ -/* These are scheduled to disappear by 2009 */ -#define CURLE_OBSOLETE CURLE_OBSOLETE50 /* no one should be using this! */ -#define CURLE_BAD_PASSWORD_ENTERED CURLE_OBSOLETE46 -#define CURLE_BAD_CALLING_ORDER CURLE_OBSOLETE44 -#define CURLE_FTP_USER_PASSWORD_INCORRECT CURLE_OBSOLETE10 -#define CURLE_FTP_CANT_RECONNECT CURLE_OBSOLETE16 -#define CURLE_FTP_COULDNT_GET_SIZE CURLE_OBSOLETE32 -#define CURLE_FTP_COULDNT_SET_ASCII CURLE_OBSOLETE29 -#define CURLE_FTP_WEIRD_USER_REPLY CURLE_OBSOLETE12 -#define CURLE_FTP_WRITE_ERROR CURLE_OBSOLETE20 -#define CURLE_LIBRARY_NOT_FOUND CURLE_OBSOLETE40 -#define CURLE_MALFORMAT_USER CURLE_OBSOLETE24 -#define CURLE_SHARE_IN_USE CURLE_OBSOLETE57 -#define CURLE_URL_MALFORMAT_USER CURLE_NOT_BUILT_IN - -#define CURLE_FTP_ACCESS_DENIED CURLE_REMOTE_ACCESS_DENIED -#define CURLE_FTP_COULDNT_SET_BINARY CURLE_FTP_COULDNT_SET_TYPE -#define CURLE_FTP_QUOTE_ERROR CURLE_QUOTE_ERROR -#define CURLE_TFTP_DISKFULL CURLE_REMOTE_DISK_FULL -#define CURLE_TFTP_EXISTS CURLE_REMOTE_FILE_EXISTS -#define CURLE_HTTP_RANGE_ERROR CURLE_RANGE_ERROR -#define CURLE_FTP_SSL_FAILED CURLE_USE_SSL_FAILED - -/* The following were added earlier */ - -#define CURLE_OPERATION_TIMEOUTED CURLE_OPERATION_TIMEDOUT - -#define CURLE_HTTP_NOT_FOUND CURLE_HTTP_RETURNED_ERROR -#define CURLE_HTTP_PORT_FAILED CURLE_INTERFACE_FAILED -#define CURLE_FTP_COULDNT_STOR_FILE CURLE_UPLOAD_FAILED - -#define CURLE_FTP_PARTIAL_FILE CURLE_PARTIAL_FILE -#define CURLE_FTP_BAD_DOWNLOAD_RESUME CURLE_BAD_DOWNLOAD_RESUME - -/* This was the error code 50 in 7.7.3 and a few earlier versions, this - is no longer used by libcurl but is instead #defined here only to not - make programs break */ -#define CURLE_ALREADY_COMPLETE 99999 - -/* Provide defines for really old option names */ -#define CURLOPT_FILE CURLOPT_WRITEDATA /* name changed in 7.9.7 */ -#define CURLOPT_INFILE CURLOPT_READDATA /* name changed in 7.9.7 */ -#define CURLOPT_WRITEHEADER CURLOPT_HEADERDATA - -/* Since long deprecated options with no code in the lib that does anything - with them. */ -#define CURLOPT_WRITEINFO CURLOPT_OBSOLETE40 -#define CURLOPT_CLOSEPOLICY CURLOPT_OBSOLETE72 - -#endif /*!CURL_NO_OLDIES*/ - -/* This prototype applies to all conversion callbacks */ -typedef CURLcode (*curl_conv_callback)(char *buffer, size_t length); - -typedef CURLcode (*curl_ssl_ctx_callback)(CURL *curl, /* easy handle */ - void *ssl_ctx, /* actually an - OpenSSL SSL_CTX */ - void *userptr); - -typedef enum { - CURLPROXY_HTTP = 0, /* added in 7.10, new in 7.19.4 default is to use - CONNECT HTTP/1.1 */ - CURLPROXY_HTTP_1_0 = 1, /* added in 7.19.4, force to use CONNECT - HTTP/1.0 */ - CURLPROXY_SOCKS4 = 4, /* support added in 7.15.2, enum existed already - in 7.10 */ - CURLPROXY_SOCKS5 = 5, /* added in 7.10 */ - CURLPROXY_SOCKS4A = 6, /* added in 7.18.0 */ - CURLPROXY_SOCKS5_HOSTNAME = 7 /* Use the SOCKS5 protocol but pass along the - host name rather than the IP address. added - in 7.18.0 */ -} curl_proxytype; /* this enum was added in 7.10 */ - -/* - * Bitmasks for CURLOPT_HTTPAUTH and CURLOPT_PROXYAUTH options: - * - * CURLAUTH_NONE - No HTTP authentication - * CURLAUTH_BASIC - HTTP Basic authentication (default) - * CURLAUTH_DIGEST - HTTP Digest authentication - * CURLAUTH_NEGOTIATE - HTTP Negotiate (SPNEGO) authentication - * CURLAUTH_GSSNEGOTIATE - Alias for CURLAUTH_NEGOTIATE (deprecated) - * CURLAUTH_NTLM - HTTP NTLM authentication - * CURLAUTH_DIGEST_IE - HTTP Digest authentication with IE flavour - * CURLAUTH_NTLM_WB - HTTP NTLM authentication delegated to winbind helper - * CURLAUTH_ONLY - Use together with a single other type to force no - * authentication or just that single type - * CURLAUTH_ANY - All fine types set - * CURLAUTH_ANYSAFE - All fine types except Basic - */ - -#define CURLAUTH_NONE ((unsigned long)0) -#define CURLAUTH_BASIC (((unsigned long)1)<<0) -#define CURLAUTH_DIGEST (((unsigned long)1)<<1) -#define CURLAUTH_NEGOTIATE (((unsigned long)1)<<2) -/* Deprecated since the advent of CURLAUTH_NEGOTIATE */ -#define CURLAUTH_GSSNEGOTIATE CURLAUTH_NEGOTIATE -#define CURLAUTH_NTLM (((unsigned long)1)<<3) -#define CURLAUTH_DIGEST_IE (((unsigned long)1)<<4) -#define CURLAUTH_NTLM_WB (((unsigned long)1)<<5) -#define CURLAUTH_ONLY (((unsigned long)1)<<31) -#define CURLAUTH_ANY (~CURLAUTH_DIGEST_IE) -#define CURLAUTH_ANYSAFE (~(CURLAUTH_BASIC|CURLAUTH_DIGEST_IE)) - -#define CURLSSH_AUTH_ANY ~0 /* all types supported by the server */ -#define CURLSSH_AUTH_NONE 0 /* none allowed, silly but complete */ -#define CURLSSH_AUTH_PUBLICKEY (1<<0) /* public/private key files */ -#define CURLSSH_AUTH_PASSWORD (1<<1) /* password */ -#define CURLSSH_AUTH_HOST (1<<2) /* host key files */ -#define CURLSSH_AUTH_KEYBOARD (1<<3) /* keyboard interactive */ -#define CURLSSH_AUTH_AGENT (1<<4) /* agent (ssh-agent, pageant...) */ -#define CURLSSH_AUTH_DEFAULT CURLSSH_AUTH_ANY - -#define CURLGSSAPI_DELEGATION_NONE 0 /* no delegation (default) */ -#define CURLGSSAPI_DELEGATION_POLICY_FLAG (1<<0) /* if permitted by policy */ -#define CURLGSSAPI_DELEGATION_FLAG (1<<1) /* delegate always */ - -#define CURL_ERROR_SIZE 256 - -enum curl_khtype { - CURLKHTYPE_UNKNOWN, - CURLKHTYPE_RSA1, - CURLKHTYPE_RSA, - CURLKHTYPE_DSS -}; - -struct curl_khkey { - const char *key; /* points to a zero-terminated string encoded with base64 - if len is zero, otherwise to the "raw" data */ - size_t len; - enum curl_khtype keytype; -}; - -/* this is the set of return values expected from the curl_sshkeycallback - callback */ -enum curl_khstat { - CURLKHSTAT_FINE_ADD_TO_FILE, - CURLKHSTAT_FINE, - CURLKHSTAT_REJECT, /* reject the connection, return an error */ - CURLKHSTAT_DEFER, /* do not accept it, but we can't answer right now so - this causes a CURLE_DEFER error but otherwise the - connection will be left intact etc */ - CURLKHSTAT_LAST /* not for use, only a marker for last-in-list */ -}; - -/* this is the set of status codes pass in to the callback */ -enum curl_khmatch { - CURLKHMATCH_OK, /* match */ - CURLKHMATCH_MISMATCH, /* host found, key mismatch! */ - CURLKHMATCH_MISSING, /* no matching host/key found */ - CURLKHMATCH_LAST /* not for use, only a marker for last-in-list */ -}; - -typedef int - (*curl_sshkeycallback) (CURL *easy, /* easy handle */ - const struct curl_khkey *knownkey, /* known */ - const struct curl_khkey *foundkey, /* found */ - enum curl_khmatch, /* libcurl's view on the keys */ - void *clientp); /* custom pointer passed from app */ - -/* parameter for the CURLOPT_USE_SSL option */ -typedef enum { - CURLUSESSL_NONE, /* do not attempt to use SSL */ - CURLUSESSL_TRY, /* try using SSL, proceed anyway otherwise */ - CURLUSESSL_CONTROL, /* SSL for the control connection or fail */ - CURLUSESSL_ALL, /* SSL for all communication or fail */ - CURLUSESSL_LAST /* not an option, never use */ -} curl_usessl; - -/* Definition of bits for the CURLOPT_SSL_OPTIONS argument: */ - -/* - ALLOW_BEAST tells libcurl to allow the BEAST SSL vulnerability in the - name of improving interoperability with older servers. Some SSL libraries - have introduced work-arounds for this flaw but those work-arounds sometimes - make the SSL communication fail. To regain functionality with those broken - servers, a user can this way allow the vulnerability back. */ -#define CURLSSLOPT_ALLOW_BEAST (1<<0) - -#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all - the obsolete stuff removed! */ - -/* Backwards compatibility with older names */ -/* These are scheduled to disappear by 2009 */ - -#define CURLFTPSSL_NONE CURLUSESSL_NONE -#define CURLFTPSSL_TRY CURLUSESSL_TRY -#define CURLFTPSSL_CONTROL CURLUSESSL_CONTROL -#define CURLFTPSSL_ALL CURLUSESSL_ALL -#define CURLFTPSSL_LAST CURLUSESSL_LAST -#define curl_ftpssl curl_usessl -#endif /*!CURL_NO_OLDIES*/ - -/* parameter for the CURLOPT_FTP_SSL_CCC option */ -typedef enum { - CURLFTPSSL_CCC_NONE, /* do not send CCC */ - CURLFTPSSL_CCC_PASSIVE, /* Let the server initiate the shutdown */ - CURLFTPSSL_CCC_ACTIVE, /* Initiate the shutdown */ - CURLFTPSSL_CCC_LAST /* not an option, never use */ -} curl_ftpccc; - -/* parameter for the CURLOPT_FTPSSLAUTH option */ -typedef enum { - CURLFTPAUTH_DEFAULT, /* let libcurl decide */ - CURLFTPAUTH_SSL, /* use "AUTH SSL" */ - CURLFTPAUTH_TLS, /* use "AUTH TLS" */ - CURLFTPAUTH_LAST /* not an option, never use */ -} curl_ftpauth; - -/* parameter for the CURLOPT_FTP_CREATE_MISSING_DIRS option */ -typedef enum { - CURLFTP_CREATE_DIR_NONE, /* do NOT create missing dirs! */ - CURLFTP_CREATE_DIR, /* (FTP/SFTP) if CWD fails, try MKD and then CWD - again if MKD succeeded, for SFTP this does - similar magic */ - CURLFTP_CREATE_DIR_RETRY, /* (FTP only) if CWD fails, try MKD and then CWD - again even if MKD failed! */ - CURLFTP_CREATE_DIR_LAST /* not an option, never use */ -} curl_ftpcreatedir; - -/* parameter for the CURLOPT_FTP_FILEMETHOD option */ -typedef enum { - CURLFTPMETHOD_DEFAULT, /* let libcurl pick */ - CURLFTPMETHOD_MULTICWD, /* single CWD operation for each path part */ - CURLFTPMETHOD_NOCWD, /* no CWD at all */ - CURLFTPMETHOD_SINGLECWD, /* one CWD to full dir, then work on file */ - CURLFTPMETHOD_LAST /* not an option, never use */ -} curl_ftpmethod; - -/* bitmask defines for CURLOPT_HEADEROPT */ -#define CURLHEADER_UNIFIED 0 -#define CURLHEADER_SEPARATE (1<<0) - -/* CURLPROTO_ defines are for the CURLOPT_*PROTOCOLS options */ -#define CURLPROTO_HTTP (1<<0) -#define CURLPROTO_HTTPS (1<<1) -#define CURLPROTO_FTP (1<<2) -#define CURLPROTO_FTPS (1<<3) -#define CURLPROTO_SCP (1<<4) -#define CURLPROTO_SFTP (1<<5) -#define CURLPROTO_TELNET (1<<6) -#define CURLPROTO_LDAP (1<<7) -#define CURLPROTO_LDAPS (1<<8) -#define CURLPROTO_DICT (1<<9) -#define CURLPROTO_FILE (1<<10) -#define CURLPROTO_TFTP (1<<11) -#define CURLPROTO_IMAP (1<<12) -#define CURLPROTO_IMAPS (1<<13) -#define CURLPROTO_POP3 (1<<14) -#define CURLPROTO_POP3S (1<<15) -#define CURLPROTO_SMTP (1<<16) -#define CURLPROTO_SMTPS (1<<17) -#define CURLPROTO_RTSP (1<<18) -#define CURLPROTO_RTMP (1<<19) -#define CURLPROTO_RTMPT (1<<20) -#define CURLPROTO_RTMPE (1<<21) -#define CURLPROTO_RTMPTE (1<<22) -#define CURLPROTO_RTMPS (1<<23) -#define CURLPROTO_RTMPTS (1<<24) -#define CURLPROTO_GOPHER (1<<25) -#define CURLPROTO_SMB (1<<26) -#define CURLPROTO_SMBS (1<<27) -#define CURLPROTO_ALL (~0) /* enable everything */ - -/* long may be 32 or 64 bits, but we should never depend on anything else - but 32 */ -#define CURLOPTTYPE_LONG 0 -#define CURLOPTTYPE_OBJECTPOINT 10000 -#define CURLOPTTYPE_FUNCTIONPOINT 20000 -#define CURLOPTTYPE_OFF_T 30000 - -/* name is uppercase CURLOPT_, - type is one of the defined CURLOPTTYPE_ - number is unique identifier */ -#ifdef CINIT -#undef CINIT -#endif - -#ifdef CURL_ISOCPP -#define CINIT(na,t,nu) CURLOPT_ ## na = CURLOPTTYPE_ ## t + nu -#else -/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */ -#define LONG CURLOPTTYPE_LONG -#define OBJECTPOINT CURLOPTTYPE_OBJECTPOINT -#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT -#define OFF_T CURLOPTTYPE_OFF_T -#define CINIT(name,type,number) CURLOPT_/**/name = type + number -#endif - -/* - * This macro-mania below setups the CURLOPT_[what] enum, to be used with - * curl_easy_setopt(). The first argument in the CINIT() macro is the [what] - * word. - */ - -typedef enum { - /* This is the FILE * or void * the regular output should be written to. */ - CINIT(WRITEDATA, OBJECTPOINT, 1), - - /* The full URL to get/put */ - CINIT(URL, OBJECTPOINT, 2), - - /* Port number to connect to, if other than default. */ - CINIT(PORT, LONG, 3), - - /* Name of proxy to use. */ - CINIT(PROXY, OBJECTPOINT, 4), - - /* "user:password;options" to use when fetching. */ - CINIT(USERPWD, OBJECTPOINT, 5), - - /* "user:password" to use with proxy. */ - CINIT(PROXYUSERPWD, OBJECTPOINT, 6), - - /* Range to get, specified as an ASCII string. */ - CINIT(RANGE, OBJECTPOINT, 7), - - /* not used */ - - /* Specified file stream to upload from (use as input): */ - CINIT(READDATA, OBJECTPOINT, 9), - - /* Buffer to receive error messages in, must be at least CURL_ERROR_SIZE - * bytes big. If this is not used, error messages go to stderr instead: */ - CINIT(ERRORBUFFER, OBJECTPOINT, 10), - - /* Function that will be called to store the output (instead of fwrite). The - * parameters will use fwrite() syntax, make sure to follow them. */ - CINIT(WRITEFUNCTION, FUNCTIONPOINT, 11), - - /* Function that will be called to read the input (instead of fread). The - * parameters will use fread() syntax, make sure to follow them. */ - CINIT(READFUNCTION, FUNCTIONPOINT, 12), - - /* Time-out the read operation after this amount of seconds */ - CINIT(TIMEOUT, LONG, 13), - - /* If the CURLOPT_INFILE is used, this can be used to inform libcurl about - * how large the file being sent really is. That allows better error - * checking and better verifies that the upload was successful. -1 means - * unknown size. - * - * For large file support, there is also a _LARGE version of the key - * which takes an off_t type, allowing platforms with larger off_t - * sizes to handle larger files. See below for INFILESIZE_LARGE. - */ - CINIT(INFILESIZE, LONG, 14), - - /* POST static input fields. */ - CINIT(POSTFIELDS, OBJECTPOINT, 15), - - /* Set the referrer page (needed by some CGIs) */ - CINIT(REFERER, OBJECTPOINT, 16), - - /* Set the FTP PORT string (interface name, named or numerical IP address) - Use i.e '-' to use default address. */ - CINIT(FTPPORT, OBJECTPOINT, 17), - - /* Set the User-Agent string (examined by some CGIs) */ - CINIT(USERAGENT, OBJECTPOINT, 18), - - /* If the download receives less than "low speed limit" bytes/second - * during "low speed time" seconds, the operations is aborted. - * You could i.e if you have a pretty high speed connection, abort if - * it is less than 2000 bytes/sec during 20 seconds. - */ - - /* Set the "low speed limit" */ - CINIT(LOW_SPEED_LIMIT, LONG, 19), - - /* Set the "low speed time" */ - CINIT(LOW_SPEED_TIME, LONG, 20), - - /* Set the continuation offset. - * - * Note there is also a _LARGE version of this key which uses - * off_t types, allowing for large file offsets on platforms which - * use larger-than-32-bit off_t's. Look below for RESUME_FROM_LARGE. - */ - CINIT(RESUME_FROM, LONG, 21), - - /* Set cookie in request: */ - CINIT(COOKIE, OBJECTPOINT, 22), - - /* This points to a linked list of headers, struct curl_slist kind. This - list is also used for RTSP (in spite of its name) */ - CINIT(HTTPHEADER, OBJECTPOINT, 23), - - /* This points to a linked list of post entries, struct curl_httppost */ - CINIT(HTTPPOST, OBJECTPOINT, 24), - - /* name of the file keeping your private SSL-certificate */ - CINIT(SSLCERT, OBJECTPOINT, 25), - - /* password for the SSL or SSH private key */ - CINIT(KEYPASSWD, OBJECTPOINT, 26), - - /* send TYPE parameter? */ - CINIT(CRLF, LONG, 27), - - /* send linked-list of QUOTE commands */ - CINIT(QUOTE, OBJECTPOINT, 28), - - /* send FILE * or void * to store headers to, if you use a callback it - is simply passed to the callback unmodified */ - CINIT(HEADERDATA, OBJECTPOINT, 29), - - /* point to a file to read the initial cookies from, also enables - "cookie awareness" */ - CINIT(COOKIEFILE, OBJECTPOINT, 31), - - /* What version to specifically try to use. - See CURL_SSLVERSION defines below. */ - CINIT(SSLVERSION, LONG, 32), - - /* What kind of HTTP time condition to use, see defines */ - CINIT(TIMECONDITION, LONG, 33), - - /* Time to use with the above condition. Specified in number of seconds - since 1 Jan 1970 */ - CINIT(TIMEVALUE, LONG, 34), - - /* 35 = OBSOLETE */ - - /* Custom request, for customizing the get command like - HTTP: DELETE, TRACE and others - FTP: to use a different list command - */ - CINIT(CUSTOMREQUEST, OBJECTPOINT, 36), - - /* HTTP request, for odd commands like DELETE, TRACE and others */ - CINIT(STDERR, OBJECTPOINT, 37), - - /* 38 is not used */ - - /* send linked-list of post-transfer QUOTE commands */ - CINIT(POSTQUOTE, OBJECTPOINT, 39), - - CINIT(OBSOLETE40, OBJECTPOINT, 40), /* OBSOLETE, do not use! */ - - CINIT(VERBOSE, LONG, 41), /* talk a lot */ - CINIT(HEADER, LONG, 42), /* throw the header out too */ - CINIT(NOPROGRESS, LONG, 43), /* shut off the progress meter */ - CINIT(NOBODY, LONG, 44), /* use HEAD to get http document */ - CINIT(FAILONERROR, LONG, 45), /* no output on http error codes >= 400 */ - CINIT(UPLOAD, LONG, 46), /* this is an upload */ - CINIT(POST, LONG, 47), /* HTTP POST method */ - CINIT(DIRLISTONLY, LONG, 48), /* bare names when listing directories */ - - CINIT(APPEND, LONG, 50), /* Append instead of overwrite on upload! */ - - /* Specify whether to read the user+password from the .netrc or the URL. - * This must be one of the CURL_NETRC_* enums below. */ - CINIT(NETRC, LONG, 51), - - CINIT(FOLLOWLOCATION, LONG, 52), /* use Location: Luke! */ - - CINIT(TRANSFERTEXT, LONG, 53), /* transfer data in text/ASCII format */ - CINIT(PUT, LONG, 54), /* HTTP PUT */ - - /* 55 = OBSOLETE */ - - /* DEPRECATED - * Function that will be called instead of the internal progress display - * function. This function should be defined as the curl_progress_callback - * prototype defines. */ - CINIT(PROGRESSFUNCTION, FUNCTIONPOINT, 56), - - /* Data passed to the CURLOPT_PROGRESSFUNCTION and CURLOPT_XFERINFOFUNCTION - callbacks */ - CINIT(PROGRESSDATA, OBJECTPOINT, 57), -#define CURLOPT_XFERINFODATA CURLOPT_PROGRESSDATA - - /* We want the referrer field set automatically when following locations */ - CINIT(AUTOREFERER, LONG, 58), - - /* Port of the proxy, can be set in the proxy string as well with: - "[host]:[port]" */ - CINIT(PROXYPORT, LONG, 59), - - /* size of the POST input data, if strlen() is not good to use */ - CINIT(POSTFIELDSIZE, LONG, 60), - - /* tunnel non-http operations through a HTTP proxy */ - CINIT(HTTPPROXYTUNNEL, LONG, 61), - - /* Set the interface string to use as outgoing network interface */ - CINIT(INTERFACE, OBJECTPOINT, 62), - - /* Set the krb4/5 security level, this also enables krb4/5 awareness. This - * is a string, 'clear', 'safe', 'confidential' or 'private'. If the string - * is set but doesn't match one of these, 'private' will be used. */ - CINIT(KRBLEVEL, OBJECTPOINT, 63), - - /* Set if we should verify the peer in ssl handshake, set 1 to verify. */ - CINIT(SSL_VERIFYPEER, LONG, 64), - - /* The CApath or CAfile used to validate the peer certificate - this option is used only if SSL_VERIFYPEER is true */ - CINIT(CAINFO, OBJECTPOINT, 65), - - /* 66 = OBSOLETE */ - /* 67 = OBSOLETE */ - - /* Maximum number of http redirects to follow */ - CINIT(MAXREDIRS, LONG, 68), - - /* Pass a long set to 1 to get the date of the requested document (if - possible)! Pass a zero to shut it off. */ - CINIT(FILETIME, LONG, 69), - - /* This points to a linked list of telnet options */ - CINIT(TELNETOPTIONS, OBJECTPOINT, 70), - - /* Max amount of cached alive connections */ - CINIT(MAXCONNECTS, LONG, 71), - - CINIT(OBSOLETE72, LONG, 72), /* OBSOLETE, do not use! */ - - /* 73 = OBSOLETE */ - - /* Set to explicitly use a new connection for the upcoming transfer. - Do not use this unless you're absolutely sure of this, as it makes the - operation slower and is less friendly for the network. */ - CINIT(FRESH_CONNECT, LONG, 74), - - /* Set to explicitly forbid the upcoming transfer's connection to be re-used - when done. Do not use this unless you're absolutely sure of this, as it - makes the operation slower and is less friendly for the network. */ - CINIT(FORBID_REUSE, LONG, 75), - - /* Set to a file name that contains random data for libcurl to use to - seed the random engine when doing SSL connects. */ - CINIT(RANDOM_FILE, OBJECTPOINT, 76), - - /* Set to the Entropy Gathering Daemon socket pathname */ - CINIT(EGDSOCKET, OBJECTPOINT, 77), - - /* Time-out connect operations after this amount of seconds, if connects are - OK within this time, then fine... This only aborts the connect phase. */ - CINIT(CONNECTTIMEOUT, LONG, 78), - - /* Function that will be called to store headers (instead of fwrite). The - * parameters will use fwrite() syntax, make sure to follow them. */ - CINIT(HEADERFUNCTION, FUNCTIONPOINT, 79), - - /* Set this to force the HTTP request to get back to GET. Only really usable - if POST, PUT or a custom request have been used first. - */ - CINIT(HTTPGET, LONG, 80), - - /* Set if we should verify the Common name from the peer certificate in ssl - * handshake, set 1 to check existence, 2 to ensure that it matches the - * provided hostname. */ - CINIT(SSL_VERIFYHOST, LONG, 81), - - /* Specify which file name to write all known cookies in after completed - operation. Set file name to "-" (dash) to make it go to stdout. */ - CINIT(COOKIEJAR, OBJECTPOINT, 82), - - /* Specify which SSL ciphers to use */ - CINIT(SSL_CIPHER_LIST, OBJECTPOINT, 83), - - /* Specify which HTTP version to use! This must be set to one of the - CURL_HTTP_VERSION* enums set below. */ - CINIT(HTTP_VERSION, LONG, 84), - - /* Specifically switch on or off the FTP engine's use of the EPSV command. By - default, that one will always be attempted before the more traditional - PASV command. */ - CINIT(FTP_USE_EPSV, LONG, 85), - - /* type of the file keeping your SSL-certificate ("DER", "PEM", "ENG") */ - CINIT(SSLCERTTYPE, OBJECTPOINT, 86), - - /* name of the file keeping your private SSL-key */ - CINIT(SSLKEY, OBJECTPOINT, 87), - - /* type of the file keeping your private SSL-key ("DER", "PEM", "ENG") */ - CINIT(SSLKEYTYPE, OBJECTPOINT, 88), - - /* crypto engine for the SSL-sub system */ - CINIT(SSLENGINE, OBJECTPOINT, 89), - - /* set the crypto engine for the SSL-sub system as default - the param has no meaning... - */ - CINIT(SSLENGINE_DEFAULT, LONG, 90), - - /* Non-zero value means to use the global dns cache */ - CINIT(DNS_USE_GLOBAL_CACHE, LONG, 91), /* DEPRECATED, do not use! */ - - /* DNS cache timeout */ - CINIT(DNS_CACHE_TIMEOUT, LONG, 92), - - /* send linked-list of pre-transfer QUOTE commands */ - CINIT(PREQUOTE, OBJECTPOINT, 93), - - /* set the debug function */ - CINIT(DEBUGFUNCTION, FUNCTIONPOINT, 94), - - /* set the data for the debug function */ - CINIT(DEBUGDATA, OBJECTPOINT, 95), - - /* mark this as start of a cookie session */ - CINIT(COOKIESESSION, LONG, 96), - - /* The CApath directory used to validate the peer certificate - this option is used only if SSL_VERIFYPEER is true */ - CINIT(CAPATH, OBJECTPOINT, 97), - - /* Instruct libcurl to use a smaller receive buffer */ - CINIT(BUFFERSIZE, LONG, 98), - - /* Instruct libcurl to not use any signal/alarm handlers, even when using - timeouts. This option is useful for multi-threaded applications. - See libcurl-the-guide for more background information. */ - CINIT(NOSIGNAL, LONG, 99), - - /* Provide a CURLShare for mutexing non-ts data */ - CINIT(SHARE, OBJECTPOINT, 100), - - /* indicates type of proxy. accepted values are CURLPROXY_HTTP (default), - CURLPROXY_SOCKS4, CURLPROXY_SOCKS4A and CURLPROXY_SOCKS5. */ - CINIT(PROXYTYPE, LONG, 101), - - /* Set the Accept-Encoding string. Use this to tell a server you would like - the response to be compressed. Before 7.21.6, this was known as - CURLOPT_ENCODING */ - CINIT(ACCEPT_ENCODING, OBJECTPOINT, 102), - - /* Set pointer to private data */ - CINIT(PRIVATE, OBJECTPOINT, 103), - - /* Set aliases for HTTP 200 in the HTTP Response header */ - CINIT(HTTP200ALIASES, OBJECTPOINT, 104), - - /* Continue to send authentication (user+password) when following locations, - even when hostname changed. This can potentially send off the name - and password to whatever host the server decides. */ - CINIT(UNRESTRICTED_AUTH, LONG, 105), - - /* Specifically switch on or off the FTP engine's use of the EPRT command ( - it also disables the LPRT attempt). By default, those ones will always be - attempted before the good old traditional PORT command. */ - CINIT(FTP_USE_EPRT, LONG, 106), - - /* Set this to a bitmask value to enable the particular authentications - methods you like. Use this in combination with CURLOPT_USERPWD. - Note that setting multiple bits may cause extra network round-trips. */ - CINIT(HTTPAUTH, LONG, 107), - - /* Set the ssl context callback function, currently only for OpenSSL ssl_ctx - in second argument. The function must be matching the - curl_ssl_ctx_callback proto. */ - CINIT(SSL_CTX_FUNCTION, FUNCTIONPOINT, 108), - - /* Set the userdata for the ssl context callback function's third - argument */ - CINIT(SSL_CTX_DATA, OBJECTPOINT, 109), - - /* FTP Option that causes missing dirs to be created on the remote server. - In 7.19.4 we introduced the convenience enums for this option using the - CURLFTP_CREATE_DIR prefix. - */ - CINIT(FTP_CREATE_MISSING_DIRS, LONG, 110), - - /* Set this to a bitmask value to enable the particular authentications - methods you like. Use this in combination with CURLOPT_PROXYUSERPWD. - Note that setting multiple bits may cause extra network round-trips. */ - CINIT(PROXYAUTH, LONG, 111), - - /* FTP option that changes the timeout, in seconds, associated with - getting a response. This is different from transfer timeout time and - essentially places a demand on the FTP server to acknowledge commands - in a timely manner. */ - CINIT(FTP_RESPONSE_TIMEOUT, LONG, 112), -#define CURLOPT_SERVER_RESPONSE_TIMEOUT CURLOPT_FTP_RESPONSE_TIMEOUT - - /* Set this option to one of the CURL_IPRESOLVE_* defines (see below) to - tell libcurl to resolve names to those IP versions only. This only has - affect on systems with support for more than one, i.e IPv4 _and_ IPv6. */ - CINIT(IPRESOLVE, LONG, 113), - - /* Set this option to limit the size of a file that will be downloaded from - an HTTP or FTP server. - - Note there is also _LARGE version which adds large file support for - platforms which have larger off_t sizes. See MAXFILESIZE_LARGE below. */ - CINIT(MAXFILESIZE, LONG, 114), - - /* See the comment for INFILESIZE above, but in short, specifies - * the size of the file being uploaded. -1 means unknown. - */ - CINIT(INFILESIZE_LARGE, OFF_T, 115), - - /* Sets the continuation offset. There is also a LONG version of this; - * look above for RESUME_FROM. - */ - CINIT(RESUME_FROM_LARGE, OFF_T, 116), - - /* Sets the maximum size of data that will be downloaded from - * an HTTP or FTP server. See MAXFILESIZE above for the LONG version. - */ - CINIT(MAXFILESIZE_LARGE, OFF_T, 117), - - /* Set this option to the file name of your .netrc file you want libcurl - to parse (using the CURLOPT_NETRC option). If not set, libcurl will do - a poor attempt to find the user's home directory and check for a .netrc - file in there. */ - CINIT(NETRC_FILE, OBJECTPOINT, 118), - - /* Enable SSL/TLS for FTP, pick one of: - CURLUSESSL_TRY - try using SSL, proceed anyway otherwise - CURLUSESSL_CONTROL - SSL for the control connection or fail - CURLUSESSL_ALL - SSL for all communication or fail - */ - CINIT(USE_SSL, LONG, 119), - - /* The _LARGE version of the standard POSTFIELDSIZE option */ - CINIT(POSTFIELDSIZE_LARGE, OFF_T, 120), - - /* Enable/disable the TCP Nagle algorithm */ - CINIT(TCP_NODELAY, LONG, 121), - - /* 122 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 123 OBSOLETE. Gone in 7.16.0 */ - /* 124 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 125 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 126 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 127 OBSOLETE. Gone in 7.16.0 */ - /* 128 OBSOLETE. Gone in 7.16.0 */ - - /* When FTP over SSL/TLS is selected (with CURLOPT_USE_SSL), this option - can be used to change libcurl's default action which is to first try - "AUTH SSL" and then "AUTH TLS" in this order, and proceed when a OK - response has been received. - - Available parameters are: - CURLFTPAUTH_DEFAULT - let libcurl decide - CURLFTPAUTH_SSL - try "AUTH SSL" first, then TLS - CURLFTPAUTH_TLS - try "AUTH TLS" first, then SSL - */ - CINIT(FTPSSLAUTH, LONG, 129), - - CINIT(IOCTLFUNCTION, FUNCTIONPOINT, 130), - CINIT(IOCTLDATA, OBJECTPOINT, 131), - - /* 132 OBSOLETE. Gone in 7.16.0 */ - /* 133 OBSOLETE. Gone in 7.16.0 */ - - /* zero terminated string for pass on to the FTP server when asked for - "account" info */ - CINIT(FTP_ACCOUNT, OBJECTPOINT, 134), - - /* feed cookies into cookie engine */ - CINIT(COOKIELIST, OBJECTPOINT, 135), - - /* ignore Content-Length */ - CINIT(IGNORE_CONTENT_LENGTH, LONG, 136), - - /* Set to non-zero to skip the IP address received in a 227 PASV FTP server - response. Typically used for FTP-SSL purposes but is not restricted to - that. libcurl will then instead use the same IP address it used for the - control connection. */ - CINIT(FTP_SKIP_PASV_IP, LONG, 137), - - /* Select "file method" to use when doing FTP, see the curl_ftpmethod - above. */ - CINIT(FTP_FILEMETHOD, LONG, 138), - - /* Local port number to bind the socket to */ - CINIT(LOCALPORT, LONG, 139), - - /* Number of ports to try, including the first one set with LOCALPORT. - Thus, setting it to 1 will make no additional attempts but the first. - */ - CINIT(LOCALPORTRANGE, LONG, 140), - - /* no transfer, set up connection and let application use the socket by - extracting it with CURLINFO_LASTSOCKET */ - CINIT(CONNECT_ONLY, LONG, 141), - - /* Function that will be called to convert from the - network encoding (instead of using the iconv calls in libcurl) */ - CINIT(CONV_FROM_NETWORK_FUNCTION, FUNCTIONPOINT, 142), - - /* Function that will be called to convert to the - network encoding (instead of using the iconv calls in libcurl) */ - CINIT(CONV_TO_NETWORK_FUNCTION, FUNCTIONPOINT, 143), - - /* Function that will be called to convert from UTF8 - (instead of using the iconv calls in libcurl) - Note that this is used only for SSL certificate processing */ - CINIT(CONV_FROM_UTF8_FUNCTION, FUNCTIONPOINT, 144), - - /* if the connection proceeds too quickly then need to slow it down */ - /* limit-rate: maximum number of bytes per second to send or receive */ - CINIT(MAX_SEND_SPEED_LARGE, OFF_T, 145), - CINIT(MAX_RECV_SPEED_LARGE, OFF_T, 146), - - /* Pointer to command string to send if USER/PASS fails. */ - CINIT(FTP_ALTERNATIVE_TO_USER, OBJECTPOINT, 147), - - /* callback function for setting socket options */ - CINIT(SOCKOPTFUNCTION, FUNCTIONPOINT, 148), - CINIT(SOCKOPTDATA, OBJECTPOINT, 149), - - /* set to 0 to disable session ID re-use for this transfer, default is - enabled (== 1) */ - CINIT(SSL_SESSIONID_CACHE, LONG, 150), - - /* allowed SSH authentication methods */ - CINIT(SSH_AUTH_TYPES, LONG, 151), - - /* Used by scp/sftp to do public/private key authentication */ - CINIT(SSH_PUBLIC_KEYFILE, OBJECTPOINT, 152), - CINIT(SSH_PRIVATE_KEYFILE, OBJECTPOINT, 153), - - /* Send CCC (Clear Command Channel) after authentication */ - CINIT(FTP_SSL_CCC, LONG, 154), - - /* Same as TIMEOUT and CONNECTTIMEOUT, but with ms resolution */ - CINIT(TIMEOUT_MS, LONG, 155), - CINIT(CONNECTTIMEOUT_MS, LONG, 156), - - /* set to zero to disable the libcurl's decoding and thus pass the raw body - data to the application even when it is encoded/compressed */ - CINIT(HTTP_TRANSFER_DECODING, LONG, 157), - CINIT(HTTP_CONTENT_DECODING, LONG, 158), - - /* Permission used when creating new files and directories on the remote - server for protocols that support it, SFTP/SCP/FILE */ - CINIT(NEW_FILE_PERMS, LONG, 159), - CINIT(NEW_DIRECTORY_PERMS, LONG, 160), - - /* Set the behaviour of POST when redirecting. Values must be set to one - of CURL_REDIR* defines below. This used to be called CURLOPT_POST301 */ - CINIT(POSTREDIR, LONG, 161), - - /* used by scp/sftp to verify the host's public key */ - CINIT(SSH_HOST_PUBLIC_KEY_MD5, OBJECTPOINT, 162), - - /* Callback function for opening socket (instead of socket(2)). Optionally, - callback is able change the address or refuse to connect returning - CURL_SOCKET_BAD. The callback should have type - curl_opensocket_callback */ - CINIT(OPENSOCKETFUNCTION, FUNCTIONPOINT, 163), - CINIT(OPENSOCKETDATA, OBJECTPOINT, 164), - - /* POST volatile input fields. */ - CINIT(COPYPOSTFIELDS, OBJECTPOINT, 165), - - /* set transfer mode (;type=) when doing FTP via an HTTP proxy */ - CINIT(PROXY_TRANSFER_MODE, LONG, 166), - - /* Callback function for seeking in the input stream */ - CINIT(SEEKFUNCTION, FUNCTIONPOINT, 167), - CINIT(SEEKDATA, OBJECTPOINT, 168), - - /* CRL file */ - CINIT(CRLFILE, OBJECTPOINT, 169), - - /* Issuer certificate */ - CINIT(ISSUERCERT, OBJECTPOINT, 170), - - /* (IPv6) Address scope */ - CINIT(ADDRESS_SCOPE, LONG, 171), - - /* Collect certificate chain info and allow it to get retrievable with - CURLINFO_CERTINFO after the transfer is complete. */ - CINIT(CERTINFO, LONG, 172), - - /* "name" and "pwd" to use when fetching. */ - CINIT(USERNAME, OBJECTPOINT, 173), - CINIT(PASSWORD, OBJECTPOINT, 174), - - /* "name" and "pwd" to use with Proxy when fetching. */ - CINIT(PROXYUSERNAME, OBJECTPOINT, 175), - CINIT(PROXYPASSWORD, OBJECTPOINT, 176), - - /* Comma separated list of hostnames defining no-proxy zones. These should - match both hostnames directly, and hostnames within a domain. For - example, local.com will match local.com and www.local.com, but NOT - notlocal.com or www.notlocal.com. For compatibility with other - implementations of this, .local.com will be considered to be the same as - local.com. A single * is the only valid wildcard, and effectively - disables the use of proxy. */ - CINIT(NOPROXY, OBJECTPOINT, 177), - - /* block size for TFTP transfers */ - CINIT(TFTP_BLKSIZE, LONG, 178), - - /* Socks Service */ - CINIT(SOCKS5_GSSAPI_SERVICE, OBJECTPOINT, 179), - - /* Socks Service */ - CINIT(SOCKS5_GSSAPI_NEC, LONG, 180), - - /* set the bitmask for the protocols that are allowed to be used for the - transfer, which thus helps the app which takes URLs from users or other - external inputs and want to restrict what protocol(s) to deal - with. Defaults to CURLPROTO_ALL. */ - CINIT(PROTOCOLS, LONG, 181), - - /* set the bitmask for the protocols that libcurl is allowed to follow to, - as a subset of the CURLOPT_PROTOCOLS ones. That means the protocol needs - to be set in both bitmasks to be allowed to get redirected to. Defaults - to all protocols except FILE and SCP. */ - CINIT(REDIR_PROTOCOLS, LONG, 182), - - /* set the SSH knownhost file name to use */ - CINIT(SSH_KNOWNHOSTS, OBJECTPOINT, 183), - - /* set the SSH host key callback, must point to a curl_sshkeycallback - function */ - CINIT(SSH_KEYFUNCTION, FUNCTIONPOINT, 184), - - /* set the SSH host key callback custom pointer */ - CINIT(SSH_KEYDATA, OBJECTPOINT, 185), - - /* set the SMTP mail originator */ - CINIT(MAIL_FROM, OBJECTPOINT, 186), - - /* set the SMTP mail receiver(s) */ - CINIT(MAIL_RCPT, OBJECTPOINT, 187), - - /* FTP: send PRET before PASV */ - CINIT(FTP_USE_PRET, LONG, 188), - - /* RTSP request method (OPTIONS, SETUP, PLAY, etc...) */ - CINIT(RTSP_REQUEST, LONG, 189), - - /* The RTSP session identifier */ - CINIT(RTSP_SESSION_ID, OBJECTPOINT, 190), - - /* The RTSP stream URI */ - CINIT(RTSP_STREAM_URI, OBJECTPOINT, 191), - - /* The Transport: header to use in RTSP requests */ - CINIT(RTSP_TRANSPORT, OBJECTPOINT, 192), - - /* Manually initialize the client RTSP CSeq for this handle */ - CINIT(RTSP_CLIENT_CSEQ, LONG, 193), - - /* Manually initialize the server RTSP CSeq for this handle */ - CINIT(RTSP_SERVER_CSEQ, LONG, 194), - - /* The stream to pass to INTERLEAVEFUNCTION. */ - CINIT(INTERLEAVEDATA, OBJECTPOINT, 195), - - /* Let the application define a custom write method for RTP data */ - CINIT(INTERLEAVEFUNCTION, FUNCTIONPOINT, 196), - - /* Turn on wildcard matching */ - CINIT(WILDCARDMATCH, LONG, 197), - - /* Directory matching callback called before downloading of an - individual file (chunk) started */ - CINIT(CHUNK_BGN_FUNCTION, FUNCTIONPOINT, 198), - - /* Directory matching callback called after the file (chunk) - was downloaded, or skipped */ - CINIT(CHUNK_END_FUNCTION, FUNCTIONPOINT, 199), - - /* Change match (fnmatch-like) callback for wildcard matching */ - CINIT(FNMATCH_FUNCTION, FUNCTIONPOINT, 200), - - /* Let the application define custom chunk data pointer */ - CINIT(CHUNK_DATA, OBJECTPOINT, 201), - - /* FNMATCH_FUNCTION user pointer */ - CINIT(FNMATCH_DATA, OBJECTPOINT, 202), - - /* send linked-list of name:port:address sets */ - CINIT(RESOLVE, OBJECTPOINT, 203), - - /* Set a username for authenticated TLS */ - CINIT(TLSAUTH_USERNAME, OBJECTPOINT, 204), - - /* Set a password for authenticated TLS */ - CINIT(TLSAUTH_PASSWORD, OBJECTPOINT, 205), - - /* Set authentication type for authenticated TLS */ - CINIT(TLSAUTH_TYPE, OBJECTPOINT, 206), - - /* Set to 1 to enable the "TE:" header in HTTP requests to ask for - compressed transfer-encoded responses. Set to 0 to disable the use of TE: - in outgoing requests. The current default is 0, but it might change in a - future libcurl release. - - libcurl will ask for the compressed methods it knows of, and if that - isn't any, it will not ask for transfer-encoding at all even if this - option is set to 1. - - */ - CINIT(TRANSFER_ENCODING, LONG, 207), - - /* Callback function for closing socket (instead of close(2)). The callback - should have type curl_closesocket_callback */ - CINIT(CLOSESOCKETFUNCTION, FUNCTIONPOINT, 208), - CINIT(CLOSESOCKETDATA, OBJECTPOINT, 209), - - /* allow GSSAPI credential delegation */ - CINIT(GSSAPI_DELEGATION, LONG, 210), - - /* Set the name servers to use for DNS resolution */ - CINIT(DNS_SERVERS, OBJECTPOINT, 211), - - /* Time-out accept operations (currently for FTP only) after this amount - of miliseconds. */ - CINIT(ACCEPTTIMEOUT_MS, LONG, 212), - - /* Set TCP keepalive */ - CINIT(TCP_KEEPALIVE, LONG, 213), - - /* non-universal keepalive knobs (Linux, AIX, HP-UX, more) */ - CINIT(TCP_KEEPIDLE, LONG, 214), - CINIT(TCP_KEEPINTVL, LONG, 215), - - /* Enable/disable specific SSL features with a bitmask, see CURLSSLOPT_* */ - CINIT(SSL_OPTIONS, LONG, 216), - - /* Set the SMTP auth originator */ - CINIT(MAIL_AUTH, OBJECTPOINT, 217), - - /* Enable/disable SASL initial response */ - CINIT(SASL_IR, LONG, 218), - - /* Function that will be called instead of the internal progress display - * function. This function should be defined as the curl_xferinfo_callback - * prototype defines. (Deprecates CURLOPT_PROGRESSFUNCTION) */ - CINIT(XFERINFOFUNCTION, FUNCTIONPOINT, 219), - - /* The XOAUTH2 bearer token */ - CINIT(XOAUTH2_BEARER, OBJECTPOINT, 220), - - /* Set the interface string to use as outgoing network - * interface for DNS requests. - * Only supported by the c-ares DNS backend */ - CINIT(DNS_INTERFACE, OBJECTPOINT, 221), - - /* Set the local IPv4 address to use for outgoing DNS requests. - * Only supported by the c-ares DNS backend */ - CINIT(DNS_LOCAL_IP4, OBJECTPOINT, 222), - - /* Set the local IPv4 address to use for outgoing DNS requests. - * Only supported by the c-ares DNS backend */ - CINIT(DNS_LOCAL_IP6, OBJECTPOINT, 223), - - /* Set authentication options directly */ - CINIT(LOGIN_OPTIONS, OBJECTPOINT, 224), - - /* Enable/disable TLS NPN extension (http2 over ssl might fail without) */ - CINIT(SSL_ENABLE_NPN, LONG, 225), - - /* Enable/disable TLS ALPN extension (http2 over ssl might fail without) */ - CINIT(SSL_ENABLE_ALPN, LONG, 226), - - /* Time to wait for a response to a HTTP request containing an - * Expect: 100-continue header before sending the data anyway. */ - CINIT(EXPECT_100_TIMEOUT_MS, LONG, 227), - - /* This points to a linked list of headers used for proxy requests only, - struct curl_slist kind */ - CINIT(PROXYHEADER, OBJECTPOINT, 228), - - /* Pass in a bitmask of "header options" */ - CINIT(HEADEROPT, LONG, 229), - - /* The public key in DER form used to validate the peer public key - this option is used only if SSL_VERIFYPEER is true */ - CINIT(PINNEDPUBLICKEY, OBJECTPOINT, 230), - - /* Path to Unix domain socket */ - CINIT(UNIX_SOCKET_PATH, OBJECTPOINT, 231), - - /* Set if we should verify the certificate status. */ - CINIT(SSL_VERIFYSTATUS, LONG, 232), - - /* Set if we should enable TLS false start. */ - CINIT(SSL_FALSESTART, LONG, 233), - - /* Do not squash dot-dot sequences */ - CINIT(PATH_AS_IS, LONG, 234), - - /* Proxy Service Name */ - CINIT(PROXY_SERVICE_NAME, OBJECTPOINT, 235), - - /* Service Name */ - CINIT(SERVICE_NAME, OBJECTPOINT, 236), - - /* Wait/don't wait for pipe/mutex to clarify */ - CINIT(PIPEWAIT, LONG, 237), - - CURLOPT_LASTENTRY /* the last unused */ -} CURLoption; - -#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all - the obsolete stuff removed! */ - -/* Backwards compatibility with older names */ -/* These are scheduled to disappear by 2011 */ - -/* This was added in version 7.19.1 */ -#define CURLOPT_POST301 CURLOPT_POSTREDIR - -/* These are scheduled to disappear by 2009 */ - -/* The following were added in 7.17.0 */ -#define CURLOPT_SSLKEYPASSWD CURLOPT_KEYPASSWD -#define CURLOPT_FTPAPPEND CURLOPT_APPEND -#define CURLOPT_FTPLISTONLY CURLOPT_DIRLISTONLY -#define CURLOPT_FTP_SSL CURLOPT_USE_SSL - -/* The following were added earlier */ - -#define CURLOPT_SSLCERTPASSWD CURLOPT_KEYPASSWD -#define CURLOPT_KRB4LEVEL CURLOPT_KRBLEVEL - -#else -/* This is set if CURL_NO_OLDIES is defined at compile-time */ -#undef CURLOPT_DNS_USE_GLOBAL_CACHE /* soon obsolete */ -#endif - - - /* Below here follows defines for the CURLOPT_IPRESOLVE option. If a host - name resolves addresses using more than one IP protocol version, this - option might be handy to force libcurl to use a specific IP version. */ -#define CURL_IPRESOLVE_WHATEVER 0 /* default, resolves addresses to all IP - versions that your system allows */ -#define CURL_IPRESOLVE_V4 1 /* resolve to IPv4 addresses */ -#define CURL_IPRESOLVE_V6 2 /* resolve to IPv6 addresses */ - - /* three convenient "aliases" that follow the name scheme better */ -#define CURLOPT_RTSPHEADER CURLOPT_HTTPHEADER - - /* These enums are for use with the CURLOPT_HTTP_VERSION option. */ -enum { - CURL_HTTP_VERSION_NONE, /* setting this means we don't care, and that we'd - like the library to choose the best possible - for us! */ - CURL_HTTP_VERSION_1_0, /* please use HTTP 1.0 in the request */ - CURL_HTTP_VERSION_1_1, /* please use HTTP 1.1 in the request */ - CURL_HTTP_VERSION_2_0, /* please use HTTP 2.0 in the request */ - - CURL_HTTP_VERSION_LAST /* *ILLEGAL* http version */ -}; - -/* Convenience definition simple because the name of the version is HTTP/2 and - not 2.0. The 2_0 version of the enum name was set while the version was - still planned to be 2.0 and we stick to it for compatibility. */ -#define CURL_HTTP_VERSION_2 CURL_HTTP_VERSION_2_0 - -/* - * Public API enums for RTSP requests - */ -enum { - CURL_RTSPREQ_NONE, /* first in list */ - CURL_RTSPREQ_OPTIONS, - CURL_RTSPREQ_DESCRIBE, - CURL_RTSPREQ_ANNOUNCE, - CURL_RTSPREQ_SETUP, - CURL_RTSPREQ_PLAY, - CURL_RTSPREQ_PAUSE, - CURL_RTSPREQ_TEARDOWN, - CURL_RTSPREQ_GET_PARAMETER, - CURL_RTSPREQ_SET_PARAMETER, - CURL_RTSPREQ_RECORD, - CURL_RTSPREQ_RECEIVE, - CURL_RTSPREQ_LAST /* last in list */ -}; - - /* These enums are for use with the CURLOPT_NETRC option. */ -enum CURL_NETRC_OPTION { - CURL_NETRC_IGNORED, /* The .netrc will never be read. - * This is the default. */ - CURL_NETRC_OPTIONAL, /* A user:password in the URL will be preferred - * to one in the .netrc. */ - CURL_NETRC_REQUIRED, /* A user:password in the URL will be ignored. - * Unless one is set programmatically, the .netrc - * will be queried. */ - CURL_NETRC_LAST -}; - -enum { - CURL_SSLVERSION_DEFAULT, - CURL_SSLVERSION_TLSv1, /* TLS 1.x */ - CURL_SSLVERSION_SSLv2, - CURL_SSLVERSION_SSLv3, - CURL_SSLVERSION_TLSv1_0, - CURL_SSLVERSION_TLSv1_1, - CURL_SSLVERSION_TLSv1_2, - - CURL_SSLVERSION_LAST /* never use, keep last */ -}; - -enum CURL_TLSAUTH { - CURL_TLSAUTH_NONE, - CURL_TLSAUTH_SRP, - CURL_TLSAUTH_LAST /* never use, keep last */ -}; - -/* symbols to use with CURLOPT_POSTREDIR. - CURL_REDIR_POST_301, CURL_REDIR_POST_302 and CURL_REDIR_POST_303 - can be bitwise ORed so that CURL_REDIR_POST_301 | CURL_REDIR_POST_302 - | CURL_REDIR_POST_303 == CURL_REDIR_POST_ALL */ - -#define CURL_REDIR_GET_ALL 0 -#define CURL_REDIR_POST_301 1 -#define CURL_REDIR_POST_302 2 -#define CURL_REDIR_POST_303 4 -#define CURL_REDIR_POST_ALL \ - (CURL_REDIR_POST_301|CURL_REDIR_POST_302|CURL_REDIR_POST_303) - -typedef enum { - CURL_TIMECOND_NONE, - - CURL_TIMECOND_IFMODSINCE, - CURL_TIMECOND_IFUNMODSINCE, - CURL_TIMECOND_LASTMOD, - - CURL_TIMECOND_LAST -} curl_TimeCond; - - -/* curl_strequal() and curl_strnequal() are subject for removal in a future - libcurl, see lib/README.curlx for details */ -CURL_EXTERN int (curl_strequal)(const char *s1, const char *s2); -CURL_EXTERN int (curl_strnequal)(const char *s1, const char *s2, size_t n); - -/* name is uppercase CURLFORM_ */ -#ifdef CFINIT -#undef CFINIT -#endif - -#ifdef CURL_ISOCPP -#define CFINIT(name) CURLFORM_ ## name -#else -/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */ -#define CFINIT(name) CURLFORM_/**/name -#endif - -typedef enum { - CFINIT(NOTHING), /********* the first one is unused ************/ - - /* */ - CFINIT(COPYNAME), - CFINIT(PTRNAME), - CFINIT(NAMELENGTH), - CFINIT(COPYCONTENTS), - CFINIT(PTRCONTENTS), - CFINIT(CONTENTSLENGTH), - CFINIT(FILECONTENT), - CFINIT(ARRAY), - CFINIT(OBSOLETE), - CFINIT(FILE), - - CFINIT(BUFFER), - CFINIT(BUFFERPTR), - CFINIT(BUFFERLENGTH), - - CFINIT(CONTENTTYPE), - CFINIT(CONTENTHEADER), - CFINIT(FILENAME), - CFINIT(END), - CFINIT(OBSOLETE2), - - CFINIT(STREAM), - - CURLFORM_LASTENTRY /* the last unused */ -} CURLformoption; - -#undef CFINIT /* done */ - -/* structure to be used as parameter for CURLFORM_ARRAY */ -struct curl_forms { - CURLformoption option; - const char *value; -}; - -/* use this for multipart formpost building */ -/* Returns code for curl_formadd() - * - * Returns: - * CURL_FORMADD_OK on success - * CURL_FORMADD_MEMORY if the FormInfo allocation fails - * CURL_FORMADD_OPTION_TWICE if one option is given twice for one Form - * CURL_FORMADD_NULL if a null pointer was given for a char - * CURL_FORMADD_MEMORY if the allocation of a FormInfo struct failed - * CURL_FORMADD_UNKNOWN_OPTION if an unknown option was used - * CURL_FORMADD_INCOMPLETE if the some FormInfo is not complete (or error) - * CURL_FORMADD_MEMORY if a curl_httppost struct cannot be allocated - * CURL_FORMADD_MEMORY if some allocation for string copying failed. - * CURL_FORMADD_ILLEGAL_ARRAY if an illegal option is used in an array - * - ***************************************************************************/ -typedef enum { - CURL_FORMADD_OK, /* first, no error */ - - CURL_FORMADD_MEMORY, - CURL_FORMADD_OPTION_TWICE, - CURL_FORMADD_NULL, - CURL_FORMADD_UNKNOWN_OPTION, - CURL_FORMADD_INCOMPLETE, - CURL_FORMADD_ILLEGAL_ARRAY, - CURL_FORMADD_DISABLED, /* libcurl was built with this disabled */ - - CURL_FORMADD_LAST /* last */ -} CURLFORMcode; - -/* - * NAME curl_formadd() - * - * DESCRIPTION - * - * Pretty advanced function for building multi-part formposts. Each invoke - * adds one part that together construct a full post. Then use - * CURLOPT_HTTPPOST to send it off to libcurl. - */ -CURL_EXTERN CURLFORMcode curl_formadd(struct curl_httppost **httppost, - struct curl_httppost **last_post, - ...); - -/* - * callback function for curl_formget() - * The void *arg pointer will be the one passed as second argument to - * curl_formget(). - * The character buffer passed to it must not be freed. - * Should return the buffer length passed to it as the argument "len" on - * success. - */ -typedef size_t (*curl_formget_callback)(void *arg, const char *buf, - size_t len); - -/* - * NAME curl_formget() - * - * DESCRIPTION - * - * Serialize a curl_httppost struct built with curl_formadd(). - * Accepts a void pointer as second argument which will be passed to - * the curl_formget_callback function. - * Returns 0 on success. - */ -CURL_EXTERN int curl_formget(struct curl_httppost *form, void *arg, - curl_formget_callback append); -/* - * NAME curl_formfree() - * - * DESCRIPTION - * - * Free a multipart formpost previously built with curl_formadd(). - */ -CURL_EXTERN void curl_formfree(struct curl_httppost *form); - -/* - * NAME curl_getenv() - * - * DESCRIPTION - * - * Returns a malloc()'ed string that MUST be curl_free()ed after usage is - * complete. DEPRECATED - see lib/README.curlx - */ -CURL_EXTERN char *curl_getenv(const char *variable); - -/* - * NAME curl_version() - * - * DESCRIPTION - * - * Returns a static ascii string of the libcurl version. - */ -CURL_EXTERN char *curl_version(void); - -/* - * NAME curl_easy_escape() - * - * DESCRIPTION - * - * Escapes URL strings (converts all letters consider illegal in URLs to their - * %XX versions). This function returns a new allocated string or NULL if an - * error occurred. - */ -CURL_EXTERN char *curl_easy_escape(CURL *handle, - const char *string, - int length); - -/* the previous version: */ -CURL_EXTERN char *curl_escape(const char *string, - int length); - - -/* - * NAME curl_easy_unescape() - * - * DESCRIPTION - * - * Unescapes URL encoding in strings (converts all %XX codes to their 8bit - * versions). This function returns a new allocated string or NULL if an error - * occurred. - * Conversion Note: On non-ASCII platforms the ASCII %XX codes are - * converted into the host encoding. - */ -CURL_EXTERN char *curl_easy_unescape(CURL *handle, - const char *string, - int length, - int *outlength); - -/* the previous version */ -CURL_EXTERN char *curl_unescape(const char *string, - int length); - -/* - * NAME curl_free() - * - * DESCRIPTION - * - * Provided for de-allocation in the same translation unit that did the - * allocation. Added in libcurl 7.10 - */ -CURL_EXTERN void curl_free(void *p); - -/* - * NAME curl_global_init() - * - * DESCRIPTION - * - * curl_global_init() should be invoked exactly once for each application that - * uses libcurl and before any call of other libcurl functions. - * - * This function is not thread-safe! - */ -CURL_EXTERN CURLcode curl_global_init(long flags); - -/* - * NAME curl_global_init_mem() - * - * DESCRIPTION - * - * curl_global_init() or curl_global_init_mem() should be invoked exactly once - * for each application that uses libcurl. This function can be used to - * initialize libcurl and set user defined memory management callback - * functions. Users can implement memory management routines to check for - * memory leaks, check for mis-use of the curl library etc. User registered - * callback routines with be invoked by this library instead of the system - * memory management routines like malloc, free etc. - */ -CURL_EXTERN CURLcode curl_global_init_mem(long flags, - curl_malloc_callback m, - curl_free_callback f, - curl_realloc_callback r, - curl_strdup_callback s, - curl_calloc_callback c); - -/* - * NAME curl_global_cleanup() - * - * DESCRIPTION - * - * curl_global_cleanup() should be invoked exactly once for each application - * that uses libcurl - */ -CURL_EXTERN void curl_global_cleanup(void); - -/* linked-list structure for the CURLOPT_QUOTE option (and other) */ -struct curl_slist { - char *data; - struct curl_slist *next; -}; - -/* - * NAME curl_slist_append() - * - * DESCRIPTION - * - * Appends a string to a linked list. If no list exists, it will be created - * first. Returns the new list, after appending. - */ -CURL_EXTERN struct curl_slist *curl_slist_append(struct curl_slist *, - const char *); - -/* - * NAME curl_slist_free_all() - * - * DESCRIPTION - * - * free a previously built curl_slist. - */ -CURL_EXTERN void curl_slist_free_all(struct curl_slist *); - -/* - * NAME curl_getdate() - * - * DESCRIPTION - * - * Returns the time, in seconds since 1 Jan 1970 of the time string given in - * the first argument. The time argument in the second parameter is unused - * and should be set to NULL. - */ -CURL_EXTERN time_t curl_getdate(const char *p, const time_t *unused); - -/* info about the certificate chain, only for OpenSSL builds. Asked - for with CURLOPT_CERTINFO / CURLINFO_CERTINFO */ -struct curl_certinfo { - int num_of_certs; /* number of certificates with information */ - struct curl_slist **certinfo; /* for each index in this array, there's a - linked list with textual information in the - format "name: value" */ -}; - -/* enum for the different supported SSL backends */ -typedef enum { - CURLSSLBACKEND_NONE = 0, - CURLSSLBACKEND_OPENSSL = 1, - CURLSSLBACKEND_GNUTLS = 2, - CURLSSLBACKEND_NSS = 3, - CURLSSLBACKEND_OBSOLETE4 = 4, /* Was QSOSSL. */ - CURLSSLBACKEND_GSKIT = 5, - CURLSSLBACKEND_POLARSSL = 6, - CURLSSLBACKEND_CYASSL = 7, - CURLSSLBACKEND_SCHANNEL = 8, - CURLSSLBACKEND_DARWINSSL = 9, - CURLSSLBACKEND_AXTLS = 10 -} curl_sslbackend; - -/* Information about the SSL library used and the respective internal SSL - handle, which can be used to obtain further information regarding the - connection. Asked for with CURLINFO_TLS_SESSION. */ -struct curl_tlssessioninfo { - curl_sslbackend backend; - void *internals; -}; - -#define CURLINFO_STRING 0x100000 -#define CURLINFO_LONG 0x200000 -#define CURLINFO_DOUBLE 0x300000 -#define CURLINFO_SLIST 0x400000 -#define CURLINFO_MASK 0x0fffff -#define CURLINFO_TYPEMASK 0xf00000 - -typedef enum { - CURLINFO_NONE, /* first, never use this */ - CURLINFO_EFFECTIVE_URL = CURLINFO_STRING + 1, - CURLINFO_RESPONSE_CODE = CURLINFO_LONG + 2, - CURLINFO_TOTAL_TIME = CURLINFO_DOUBLE + 3, - CURLINFO_NAMELOOKUP_TIME = CURLINFO_DOUBLE + 4, - CURLINFO_CONNECT_TIME = CURLINFO_DOUBLE + 5, - CURLINFO_PRETRANSFER_TIME = CURLINFO_DOUBLE + 6, - CURLINFO_SIZE_UPLOAD = CURLINFO_DOUBLE + 7, - CURLINFO_SIZE_DOWNLOAD = CURLINFO_DOUBLE + 8, - CURLINFO_SPEED_DOWNLOAD = CURLINFO_DOUBLE + 9, - CURLINFO_SPEED_UPLOAD = CURLINFO_DOUBLE + 10, - CURLINFO_HEADER_SIZE = CURLINFO_LONG + 11, - CURLINFO_REQUEST_SIZE = CURLINFO_LONG + 12, - CURLINFO_SSL_VERIFYRESULT = CURLINFO_LONG + 13, - CURLINFO_FILETIME = CURLINFO_LONG + 14, - CURLINFO_CONTENT_LENGTH_DOWNLOAD = CURLINFO_DOUBLE + 15, - CURLINFO_CONTENT_LENGTH_UPLOAD = CURLINFO_DOUBLE + 16, - CURLINFO_STARTTRANSFER_TIME = CURLINFO_DOUBLE + 17, - CURLINFO_CONTENT_TYPE = CURLINFO_STRING + 18, - CURLINFO_REDIRECT_TIME = CURLINFO_DOUBLE + 19, - CURLINFO_REDIRECT_COUNT = CURLINFO_LONG + 20, - CURLINFO_PRIVATE = CURLINFO_STRING + 21, - CURLINFO_HTTP_CONNECTCODE = CURLINFO_LONG + 22, - CURLINFO_HTTPAUTH_AVAIL = CURLINFO_LONG + 23, - CURLINFO_PROXYAUTH_AVAIL = CURLINFO_LONG + 24, - CURLINFO_OS_ERRNO = CURLINFO_LONG + 25, - CURLINFO_NUM_CONNECTS = CURLINFO_LONG + 26, - CURLINFO_SSL_ENGINES = CURLINFO_SLIST + 27, - CURLINFO_COOKIELIST = CURLINFO_SLIST + 28, - CURLINFO_LASTSOCKET = CURLINFO_LONG + 29, - CURLINFO_FTP_ENTRY_PATH = CURLINFO_STRING + 30, - CURLINFO_REDIRECT_URL = CURLINFO_STRING + 31, - CURLINFO_PRIMARY_IP = CURLINFO_STRING + 32, - CURLINFO_APPCONNECT_TIME = CURLINFO_DOUBLE + 33, - CURLINFO_CERTINFO = CURLINFO_SLIST + 34, - CURLINFO_CONDITION_UNMET = CURLINFO_LONG + 35, - CURLINFO_RTSP_SESSION_ID = CURLINFO_STRING + 36, - CURLINFO_RTSP_CLIENT_CSEQ = CURLINFO_LONG + 37, - CURLINFO_RTSP_SERVER_CSEQ = CURLINFO_LONG + 38, - CURLINFO_RTSP_CSEQ_RECV = CURLINFO_LONG + 39, - CURLINFO_PRIMARY_PORT = CURLINFO_LONG + 40, - CURLINFO_LOCAL_IP = CURLINFO_STRING + 41, - CURLINFO_LOCAL_PORT = CURLINFO_LONG + 42, - CURLINFO_TLS_SESSION = CURLINFO_SLIST + 43, - /* Fill in new entries below here! */ - - CURLINFO_LASTONE = 43 -} CURLINFO; - -/* CURLINFO_RESPONSE_CODE is the new name for the option previously known as - CURLINFO_HTTP_CODE */ -#define CURLINFO_HTTP_CODE CURLINFO_RESPONSE_CODE - -typedef enum { - CURLCLOSEPOLICY_NONE, /* first, never use this */ - - CURLCLOSEPOLICY_OLDEST, - CURLCLOSEPOLICY_LEAST_RECENTLY_USED, - CURLCLOSEPOLICY_LEAST_TRAFFIC, - CURLCLOSEPOLICY_SLOWEST, - CURLCLOSEPOLICY_CALLBACK, - - CURLCLOSEPOLICY_LAST /* last, never use this */ -} curl_closepolicy; - -#define CURL_GLOBAL_SSL (1<<0) -#define CURL_GLOBAL_WIN32 (1<<1) -#define CURL_GLOBAL_ALL (CURL_GLOBAL_SSL|CURL_GLOBAL_WIN32) -#define CURL_GLOBAL_NOTHING 0 -#define CURL_GLOBAL_DEFAULT CURL_GLOBAL_ALL -#define CURL_GLOBAL_ACK_EINTR (1<<2) - - -/***************************************************************************** - * Setup defines, protos etc for the sharing stuff. - */ - -/* Different data locks for a single share */ -typedef enum { - CURL_LOCK_DATA_NONE = 0, - /* CURL_LOCK_DATA_SHARE is used internally to say that - * the locking is just made to change the internal state of the share - * itself. - */ - CURL_LOCK_DATA_SHARE, - CURL_LOCK_DATA_COOKIE, - CURL_LOCK_DATA_DNS, - CURL_LOCK_DATA_SSL_SESSION, - CURL_LOCK_DATA_CONNECT, - CURL_LOCK_DATA_LAST -} curl_lock_data; - -/* Different lock access types */ -typedef enum { - CURL_LOCK_ACCESS_NONE = 0, /* unspecified action */ - CURL_LOCK_ACCESS_SHARED = 1, /* for read perhaps */ - CURL_LOCK_ACCESS_SINGLE = 2, /* for write perhaps */ - CURL_LOCK_ACCESS_LAST /* never use */ -} curl_lock_access; - -typedef void (*curl_lock_function)(CURL *handle, - curl_lock_data data, - curl_lock_access locktype, - void *userptr); -typedef void (*curl_unlock_function)(CURL *handle, - curl_lock_data data, - void *userptr); - -typedef void CURLSH; - -typedef enum { - CURLSHE_OK, /* all is fine */ - CURLSHE_BAD_OPTION, /* 1 */ - CURLSHE_IN_USE, /* 2 */ - CURLSHE_INVALID, /* 3 */ - CURLSHE_NOMEM, /* 4 out of memory */ - CURLSHE_NOT_BUILT_IN, /* 5 feature not present in lib */ - CURLSHE_LAST /* never use */ -} CURLSHcode; - -typedef enum { - CURLSHOPT_NONE, /* don't use */ - CURLSHOPT_SHARE, /* specify a data type to share */ - CURLSHOPT_UNSHARE, /* specify which data type to stop sharing */ - CURLSHOPT_LOCKFUNC, /* pass in a 'curl_lock_function' pointer */ - CURLSHOPT_UNLOCKFUNC, /* pass in a 'curl_unlock_function' pointer */ - CURLSHOPT_USERDATA, /* pass in a user data pointer used in the lock/unlock - callback functions */ - CURLSHOPT_LAST /* never use */ -} CURLSHoption; - -CURL_EXTERN CURLSH *curl_share_init(void); -CURL_EXTERN CURLSHcode curl_share_setopt(CURLSH *, CURLSHoption option, ...); -CURL_EXTERN CURLSHcode curl_share_cleanup(CURLSH *); - -/**************************************************************************** - * Structures for querying information about the curl library at runtime. - */ - -typedef enum { - CURLVERSION_FIRST, - CURLVERSION_SECOND, - CURLVERSION_THIRD, - CURLVERSION_FOURTH, - CURLVERSION_LAST /* never actually use this */ -} CURLversion; - -/* The 'CURLVERSION_NOW' is the symbolic name meant to be used by - basically all programs ever that want to get version information. It is - meant to be a built-in version number for what kind of struct the caller - expects. If the struct ever changes, we redefine the NOW to another enum - from above. */ -#define CURLVERSION_NOW CURLVERSION_FOURTH - -typedef struct { - CURLversion age; /* age of the returned struct */ - const char *version; /* LIBCURL_VERSION */ - unsigned int version_num; /* LIBCURL_VERSION_NUM */ - const char *host; /* OS/host/cpu/machine when configured */ - int features; /* bitmask, see defines below */ - const char *ssl_version; /* human readable string */ - long ssl_version_num; /* not used anymore, always 0 */ - const char *libz_version; /* human readable string */ - /* protocols is terminated by an entry with a NULL protoname */ - const char * const *protocols; - - /* The fields below this were added in CURLVERSION_SECOND */ - const char *ares; - int ares_num; - - /* This field was added in CURLVERSION_THIRD */ - const char *libidn; - - /* These field were added in CURLVERSION_FOURTH */ - - /* Same as '_libiconv_version' if built with HAVE_ICONV */ - int iconv_ver_num; - - const char *libssh_version; /* human readable string */ - -} curl_version_info_data; - -#define CURL_VERSION_IPV6 (1<<0) /* IPv6-enabled */ -#define CURL_VERSION_KERBEROS4 (1<<1) /* Kerberos V4 auth is supported - (deprecated) */ -#define CURL_VERSION_SSL (1<<2) /* SSL options are present */ -#define CURL_VERSION_LIBZ (1<<3) /* libz features are present */ -#define CURL_VERSION_NTLM (1<<4) /* NTLM auth is supported */ -#define CURL_VERSION_GSSNEGOTIATE (1<<5) /* Negotiate auth is supported - (deprecated) */ -#define CURL_VERSION_DEBUG (1<<6) /* Built with debug capabilities */ -#define CURL_VERSION_ASYNCHDNS (1<<7) /* Asynchronous DNS resolves */ -#define CURL_VERSION_SPNEGO (1<<8) /* SPNEGO auth is supported */ -#define CURL_VERSION_LARGEFILE (1<<9) /* Supports files larger than 2GB */ -#define CURL_VERSION_IDN (1<<10) /* Internationized Domain Names are - supported */ -#define CURL_VERSION_SSPI (1<<11) /* Built against Windows SSPI */ -#define CURL_VERSION_CONV (1<<12) /* Character conversions supported */ -#define CURL_VERSION_CURLDEBUG (1<<13) /* Debug memory tracking supported */ -#define CURL_VERSION_TLSAUTH_SRP (1<<14) /* TLS-SRP auth is supported */ -#define CURL_VERSION_NTLM_WB (1<<15) /* NTLM delegation to winbind helper - is suported */ -#define CURL_VERSION_HTTP2 (1<<16) /* HTTP2 support built-in */ -#define CURL_VERSION_GSSAPI (1<<17) /* Built against a GSS-API library */ -#define CURL_VERSION_KERBEROS5 (1<<18) /* Kerberos V5 auth is supported */ -#define CURL_VERSION_UNIX_SOCKETS (1<<19) /* Unix domain sockets support */ - - /* - * NAME curl_version_info() - * - * DESCRIPTION - * - * This function returns a pointer to a static copy of the version info - * struct. See above. - */ -CURL_EXTERN curl_version_info_data *curl_version_info(CURLversion); - -/* - * NAME curl_easy_strerror() - * - * DESCRIPTION - * - * The curl_easy_strerror function may be used to turn a CURLcode value - * into the equivalent human readable error string. This is useful - * for printing meaningful error messages. - */ -CURL_EXTERN const char *curl_easy_strerror(CURLcode); - -/* - * NAME curl_share_strerror() - * - * DESCRIPTION - * - * The curl_share_strerror function may be used to turn a CURLSHcode value - * into the equivalent human readable error string. This is useful - * for printing meaningful error messages. - */ -CURL_EXTERN const char *curl_share_strerror(CURLSHcode); - -/* - * NAME curl_easy_pause() - * - * DESCRIPTION - * - * The curl_easy_pause function pauses or unpauses transfers. Select the new - * state by setting the bitmask, use the convenience defines below. - * - */ -CURL_EXTERN CURLcode curl_easy_pause(CURL *handle, int bitmask); - -#define CURLPAUSE_RECV (1<<0) -#define CURLPAUSE_RECV_CONT (0) - -#define CURLPAUSE_SEND (1<<2) -#define CURLPAUSE_SEND_CONT (0) - -#define CURLPAUSE_ALL (CURLPAUSE_RECV|CURLPAUSE_SEND) -#define CURLPAUSE_CONT (CURLPAUSE_RECV_CONT|CURLPAUSE_SEND_CONT) - -#ifdef __cplusplus -} -#endif - -/* unfortunately, the easy.h and multi.h include files need options and info - stuff before they can be included! */ -#include "easy.h" /* nothing in curl is fun without the easy stuff */ -#include "multi.h" - -/* the typechecker doesn't work in C++ (yet) */ -#if defined(__GNUC__) && defined(__GNUC_MINOR__) && \ - ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) && \ - !defined(__cplusplus) && !defined(CURL_DISABLE_TYPECHECK) -#include "typecheck-gcc.h" -#else -#if defined(__STDC__) && (__STDC__ >= 1) -/* This preprocessor magic that replaces a call with the exact same call is - only done to make sure application authors pass exactly three arguments - to these functions. */ -#define curl_easy_setopt(handle,opt,param) curl_easy_setopt(handle,opt,param) -#define curl_easy_getinfo(handle,info,arg) curl_easy_getinfo(handle,info,arg) -#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param) -#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param) -#endif /* __STDC__ >= 1 */ -#endif /* gcc >= 4.3 && !__cplusplus */ - -#endif /* __CURL_CURL_H */ diff --git a/third_party/curl/include/curl/curlbuild.h b/third_party/curl/include/curl/curlbuild.h deleted file mode 100644 index 2bf01cf37c..0000000000 --- a/third_party/curl/include/curl/curlbuild.h +++ /dev/null @@ -1,195 +0,0 @@ -/* include/curl/curlbuild.h. Generated from curlbuild.h.in by configure. */ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2012, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.in or - * at file include/curl/curlbuild.h, this is due to the following reason: - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY */ -/* ================================================================ */ - -/* Configure process defines this to 1 when it finds out that system */ -/* header file ws2tcpip.h must be included by the external interface. */ -/* #undef CURL_PULL_WS2TCPIP_H */ -#ifdef CURL_PULL_WS2TCPIP_H -# ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -# endif -# include -# include -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/types.h must be included by the external interface. */ -#define CURL_PULL_SYS_TYPES_H 1 -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file stdint.h must be included by the external interface. */ -#define CURL_PULL_STDINT_H 1 -#ifdef CURL_PULL_STDINT_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file inttypes.h must be included by the external interface. */ -#define CURL_PULL_INTTYPES_H 1 -#ifdef CURL_PULL_INTTYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/socket.h must be included by the external interface. */ -#define CURL_PULL_SYS_SOCKET_H 1 -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/poll.h must be included by the external interface. */ -/* #undef CURL_PULL_SYS_POLL_H */ -#ifdef CURL_PULL_SYS_POLL_H -# include -#endif - -/* Integral data type used for curl_socklen_t. */ -#define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t - -/* The size of `curl_socklen_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -/* Data type definition of curl_socklen_t. */ -typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; - -/* Signed integral data type used for curl_off_t. */ -#define CURL_TYPEOF_CURL_OFF_T int64_t - -/* Data type definition of curl_off_t. */ -typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; - -/* curl_off_t formatting string directive without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_T "lld" - -/* unsigned curl_off_t formatting string without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_TU "llu" - -/* curl_off_t formatting string directive with "%" conversion specifier. */ -#define CURL_FORMAT_OFF_T "%lld" - -/* The size of `curl_off_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_OFF_T 8 - -/* curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_T LL - -/* unsigned curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_TU ULL - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlbuild.h.cmake b/third_party/curl/include/curl/curlbuild.h.cmake deleted file mode 100644 index 60bc7a70ec..0000000000 --- a/third_party/curl/include/curl/curlbuild.h.cmake +++ /dev/null @@ -1,197 +0,0 @@ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2008, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.in or - * at file include/curl/curlbuild.h, this is due to the following reason: - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY */ -/* ================================================================ */ - -/* Configure process defines this to 1 when it finds out that system */ -/* header file ws2tcpip.h must be included by the external interface. */ -#cmakedefine CURL_PULL_WS2TCPIP_H -#ifdef CURL_PULL_WS2TCPIP_H -# ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -# endif -# include -# include -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/types.h must be included by the external interface. */ -#cmakedefine CURL_PULL_SYS_TYPES_H -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file stdint.h must be included by the external interface. */ -#cmakedefine CURL_PULL_STDINT_H -#ifdef CURL_PULL_STDINT_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file inttypes.h must be included by the external interface. */ -#cmakedefine CURL_PULL_INTTYPES_H -#ifdef CURL_PULL_INTTYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/socket.h must be included by the external interface. */ -#cmakedefine CURL_PULL_SYS_SOCKET_H -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/poll.h must be included by the external interface. */ -#cmakedefine CURL_PULL_SYS_POLL_H -#ifdef CURL_PULL_SYS_POLL_H -# include -#endif - -/* The size of `long', as computed by sizeof. */ -#define CURL_SIZEOF_LONG ${CURL_SIZEOF_LONG} - -/* Integral data type used for curl_socklen_t. */ -#define CURL_TYPEOF_CURL_SOCKLEN_T ${CURL_TYPEOF_CURL_SOCKLEN_T} - -/* The size of `curl_socklen_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_SOCKLEN_T ${CURL_SIZEOF_CURL_SOCKLEN_T} - -/* Data type definition of curl_socklen_t. */ -typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; - -/* Signed integral data type used for curl_off_t. */ -#define CURL_TYPEOF_CURL_OFF_T ${CURL_TYPEOF_CURL_OFF_T} - -/* Data type definition of curl_off_t. */ -typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; - -/* curl_off_t formatting string directive without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_T "${CURL_FORMAT_CURL_OFF_T}" - -/* unsigned curl_off_t formatting string without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_TU "${CURL_FORMAT_CURL_OFF_TU}" - -/* curl_off_t formatting string directive with "%" conversion specifier. */ -#define CURL_FORMAT_OFF_T "${CURL_FORMAT_OFF_T}" - -/* The size of `curl_off_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_OFF_T ${CURL_SIZEOF_CURL_OFF_T} - -/* curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_T ${CURL_SUFFIX_CURL_OFF_T} - -/* unsigned curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_TU ${CURL_SUFFIX_CURL_OFF_TU} - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlbuild.h.dist b/third_party/curl/include/curl/curlbuild.h.dist deleted file mode 100644 index f09419a843..0000000000 --- a/third_party/curl/include/curl/curlbuild.h.dist +++ /dev/null @@ -1,585 +0,0 @@ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2013, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * See file include/curl/curlbuild.h.in, run configure, and forget - * that this file exists it is only used for non-configure systems. - * But you can keep reading if you want ;-) - * - */ - -/* ================================================================ */ -/* NOTES FOR NON-CONFIGURE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * Try to keep one section per platform, compiler and architecture, - * otherwise, if an existing section is reused for a different one and - * later on the original is adjusted, probably the piggybacking one can - * be adversely changed. - * - * In order to differentiate between platforms/compilers/architectures - * use only compiler built in predefined preprocessor symbols. - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * For any given platform/compiler curl_off_t must be typedef'ed to a - * 64-bit wide signed integral data type. The width of this data type - * must remain constant and independent of any possible large file - * support settings. - * - * As an exception to the above, curl_off_t shall be typedef'ed to a - * 32-bit wide signed integral data type if there is no 64-bit type. - * - * As a general rule, curl_off_t shall not be mapped to off_t. This - * rule shall only be violated if off_t is the only 64-bit data type - * available and the size of off_t is independent of large file support - * settings. Keep your build on the safe side avoiding an off_t gating. - * If you have a 64-bit off_t then take for sure that another 64-bit - * data type exists, dig deeper and you will find it. - * - * NOTE 3: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.dist or - * at file include/curl/curlbuild.h, this is due to the following reason: - * file include/curl/curlbuild.h.dist is renamed to include/curl/curlbuild.h - * when the libcurl source code distribution archive file is created. - * - * File include/curl/curlbuild.h.dist is not included in the distribution - * archive. File include/curl/curlbuild.h is not present in the git tree. - * - * The distributed include/curl/curlbuild.h file is only intended to be used - * on systems which can not run the also distributed configure script. - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - * If you check out from git on a non-configure platform, you must run the - * appropriate buildconf* script to set up curlbuild.h and other local files. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -# error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -# error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -# error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -# error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -# error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -# error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -# error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -# error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -# error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -# error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR NON-CONFIGURE SYSTEMS ONLY */ -/* ================================================================ */ - -#if defined(__DJGPP__) || defined(__GO32__) -# if defined(__DJGPP__) && (__DJGPP__ > 1) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__SALFORDC__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__BORLANDC__) -# if (__BORLANDC__ < 0x520) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__TURBOC__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__WATCOMC__) -# if defined(__386__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__POCC__) -# if (__POCC__ < 280) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# elif defined(_MSC_VER) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__LCC__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__SYMBIAN32__) -# if defined(__EABI__) /* Treat all ARM compilers equally */ -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(__CW32__) -# pragma longlong on -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(__VC32__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__MWERKS__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(_WIN32_WCE) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__MINGW32__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__VMS) -# if defined(__VAX) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__OS400__) -# if defined(__ILEC400__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 -# endif - -#elif defined(__MVS__) -# if defined(__IBMC__) || defined(__IBMCPP__) -# if defined(_ILP32) -# define CURL_SIZEOF_LONG 4 -# elif defined(_LP64) -# define CURL_SIZEOF_LONG 8 -# endif -# if defined(_LONG_LONG) -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(_LP64) -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 -# endif - -#elif defined(__370__) -# if defined(__IBMC__) || defined(__IBMCPP__) -# if defined(_ILP32) -# define CURL_SIZEOF_LONG 4 -# elif defined(_LP64) -# define CURL_SIZEOF_LONG 8 -# endif -# if defined(_LONG_LONG) -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(_LP64) -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 -# endif - -#elif defined(TPF) -# define CURL_SIZEOF_LONG 8 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -/* ===================================== */ -/* KEEP MSVC THE PENULTIMATE ENTRY */ -/* ===================================== */ - -#elif defined(_MSC_VER) -# if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -/* ===================================== */ -/* KEEP GENERIC GCC THE LAST ENTRY */ -/* ===================================== */ - -#elif defined(__GNUC__) -# if defined(__ILP32__) || \ - defined(__i386__) || defined(__ppc__) || defined(__arm__) || defined(__sparc__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(__LP64__) || \ - defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__) -# define CURL_SIZEOF_LONG 8 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 - -#else -# error "Unknown non-configure build target!" - Error Compilation_aborted_Unknown_non_configure_build_target -#endif - -/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file */ -/* sys/types.h is required here to properly make type definitions below. */ -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file */ -/* sys/socket.h is required here to properly make type definitions below. */ -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Data type definition of curl_socklen_t. */ - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T - typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; -#endif - -/* Data type definition of curl_off_t. */ - -#ifdef CURL_TYPEOF_CURL_OFF_T - typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; -#endif - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlbuild.h.in b/third_party/curl/include/curl/curlbuild.h.in deleted file mode 100644 index 7cb2b6ef7e..0000000000 --- a/third_party/curl/include/curl/curlbuild.h.in +++ /dev/null @@ -1,194 +0,0 @@ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2012, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.in or - * at file include/curl/curlbuild.h, this is due to the following reason: - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY */ -/* ================================================================ */ - -/* Configure process defines this to 1 when it finds out that system */ -/* header file ws2tcpip.h must be included by the external interface. */ -#undef CURL_PULL_WS2TCPIP_H -#ifdef CURL_PULL_WS2TCPIP_H -# ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -# endif -# include -# include -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/types.h must be included by the external interface. */ -#undef CURL_PULL_SYS_TYPES_H -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file stdint.h must be included by the external interface. */ -#undef CURL_PULL_STDINT_H -#ifdef CURL_PULL_STDINT_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file inttypes.h must be included by the external interface. */ -#undef CURL_PULL_INTTYPES_H -#ifdef CURL_PULL_INTTYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/socket.h must be included by the external interface. */ -#undef CURL_PULL_SYS_SOCKET_H -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/poll.h must be included by the external interface. */ -#undef CURL_PULL_SYS_POLL_H -#ifdef CURL_PULL_SYS_POLL_H -# include -#endif - -/* Integral data type used for curl_socklen_t. */ -#undef CURL_TYPEOF_CURL_SOCKLEN_T - -/* The size of `curl_socklen_t', as computed by sizeof. */ -#undef CURL_SIZEOF_CURL_SOCKLEN_T - -/* Data type definition of curl_socklen_t. */ -typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; - -/* Signed integral data type used for curl_off_t. */ -#undef CURL_TYPEOF_CURL_OFF_T - -/* Data type definition of curl_off_t. */ -typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; - -/* curl_off_t formatting string directive without "%" conversion specifier. */ -#undef CURL_FORMAT_CURL_OFF_T - -/* unsigned curl_off_t formatting string without "%" conversion specifier. */ -#undef CURL_FORMAT_CURL_OFF_TU - -/* curl_off_t formatting string directive with "%" conversion specifier. */ -#undef CURL_FORMAT_OFF_T - -/* The size of `curl_off_t', as computed by sizeof. */ -#undef CURL_SIZEOF_CURL_OFF_T - -/* curl_off_t constant suffix. */ -#undef CURL_SUFFIX_CURL_OFF_T - -/* unsigned curl_off_t constant suffix. */ -#undef CURL_SUFFIX_CURL_OFF_TU - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlrules.h b/third_party/curl/include/curl/curlrules.h deleted file mode 100644 index 1163e95f48..0000000000 --- a/third_party/curl/include/curl/curlrules.h +++ /dev/null @@ -1,248 +0,0 @@ -#ifndef __CURL_CURLRULES_H -#define __CURL_CURLRULES_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2012, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* COMPILE TIME SANITY CHECKS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * All checks done in this file are intentionally placed in a public - * header file which is pulled by curl/curl.h when an application is - * being built using an already built libcurl library. Additionally - * this file is also included and used when building the library. - * - * If compilation fails on this file it is certainly sure that the - * problem is elsewhere. It could be a problem in the curlbuild.h - * header file, or simply that you are using different compilation - * settings than those used to build the library. - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * Do not deactivate any check, these are done to make sure that the - * library is properly built and used. - * - * You can find further help on the libcurl development mailing list: - * http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * NOTE 2 - * ------ - * - * Some of the following compile time checks are based on the fact - * that the dimension of a constant array can not be a negative one. - * In this way if the compile time verification fails, the compilation - * will fail issuing an error. The error description wording is compiler - * dependent but it will be quite similar to one of the following: - * - * "negative subscript or subscript is too large" - * "array must have at least one element" - * "-1 is an illegal array size" - * "size of array is negative" - * - * If you are building an application which tries to use an already - * built libcurl library and you are getting this kind of errors on - * this file, it is a clear indication that there is a mismatch between - * how the library was built and how you are trying to use it for your - * application. Your already compiled or binary library provider is the - * only one who can give you the details you need to properly use it. - */ - -/* - * Verify that some macros are actually defined. - */ - -#ifndef CURL_TYPEOF_CURL_SOCKLEN_T -# error "CURL_TYPEOF_CURL_SOCKLEN_T definition is missing!" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_is_missing -#endif - -#ifndef CURL_SIZEOF_CURL_SOCKLEN_T -# error "CURL_SIZEOF_CURL_SOCKLEN_T definition is missing!" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_is_missing -#endif - -#ifndef CURL_TYPEOF_CURL_OFF_T -# error "CURL_TYPEOF_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_FORMAT_CURL_OFF_T -# error "CURL_FORMAT_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_FORMAT_CURL_OFF_TU -# error "CURL_FORMAT_CURL_OFF_TU definition is missing!" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_is_missing -#endif - -#ifndef CURL_FORMAT_OFF_T -# error "CURL_FORMAT_OFF_T definition is missing!" - Error Compilation_aborted_CURL_FORMAT_OFF_T_is_missing -#endif - -#ifndef CURL_SIZEOF_CURL_OFF_T -# error "CURL_SIZEOF_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_SUFFIX_CURL_OFF_T -# error "CURL_SUFFIX_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_SUFFIX_CURL_OFF_TU -# error "CURL_SUFFIX_CURL_OFF_TU definition is missing!" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_is_missing -#endif - -/* - * Macros private to this header file. - */ - -#define CurlchkszEQ(t, s) sizeof(t) == s ? 1 : -1 - -#define CurlchkszGE(t1, t2) sizeof(t1) >= sizeof(t2) ? 1 : -1 - -/* - * Verify that the size previously defined and expected for - * curl_off_t is actually the the same as the one reported - * by sizeof() at compile time. - */ - -typedef char - __curl_rule_02__ - [CurlchkszEQ(curl_off_t, CURL_SIZEOF_CURL_OFF_T)]; - -/* - * Verify at compile time that the size of curl_off_t as reported - * by sizeof() is greater or equal than the one reported for long - * for the current compilation. - */ - -typedef char - __curl_rule_03__ - [CurlchkszGE(curl_off_t, long)]; - -/* - * Verify that the size previously defined and expected for - * curl_socklen_t is actually the the same as the one reported - * by sizeof() at compile time. - */ - -typedef char - __curl_rule_04__ - [CurlchkszEQ(curl_socklen_t, CURL_SIZEOF_CURL_SOCKLEN_T)]; - -/* - * Verify at compile time that the size of curl_socklen_t as reported - * by sizeof() is greater or equal than the one reported for int for - * the current compilation. - */ - -typedef char - __curl_rule_05__ - [CurlchkszGE(curl_socklen_t, int)]; - -/* ================================================================ */ -/* EXTERNALLY AND INTERNALLY VISIBLE DEFINITIONS */ -/* ================================================================ */ - -/* - * CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow - * these to be visible and exported by the external libcurl interface API, - * while also making them visible to the library internals, simply including - * curl_setup.h, without actually needing to include curl.h internally. - * If some day this section would grow big enough, all this should be moved - * to its own header file. - */ - -/* - * Figure out if we can use the ## preprocessor operator, which is supported - * by ISO/ANSI C and C++. Some compilers support it without setting __STDC__ - * or __cplusplus so we need to carefully check for them too. - */ - -#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \ - defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \ - defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \ - defined(__ILEC400__) - /* This compiler is believed to have an ISO compatible preprocessor */ -#define CURL_ISOCPP -#else - /* This compiler is believed NOT to have an ISO compatible preprocessor */ -#undef CURL_ISOCPP -#endif - -/* - * Macros for minimum-width signed and unsigned curl_off_t integer constants. - */ - -#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551) -# define __CURL_OFF_T_C_HLPR2(x) x -# define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x) -# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \ - __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T) -# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \ - __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU) -#else -# ifdef CURL_ISOCPP -# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix -# else -# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix -# endif -# define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix) -# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T) -# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU) -#endif - -/* - * Get rid of macros private to this header file. - */ - -#undef CurlchkszEQ -#undef CurlchkszGE - -/* - * Get rid of macros not intended to exist beyond this point. - */ - -#undef CURL_PULL_WS2TCPIP_H -#undef CURL_PULL_SYS_TYPES_H -#undef CURL_PULL_SYS_SOCKET_H -#undef CURL_PULL_SYS_POLL_H -#undef CURL_PULL_STDINT_H -#undef CURL_PULL_INTTYPES_H - -#undef CURL_TYPEOF_CURL_SOCKLEN_T -#undef CURL_TYPEOF_CURL_OFF_T - -#ifdef CURL_NO_OLDIES -#undef CURL_FORMAT_OFF_T /* not required since 7.19.0 - obsoleted in 7.20.0 */ -#endif - -#endif /* __CURL_CURLRULES_H */ diff --git a/third_party/curl/include/curl/curlver.h b/third_party/curl/include/curl/curlver.h deleted file mode 100644 index be442eff8f..0000000000 --- a/third_party/curl/include/curl/curlver.h +++ /dev/null @@ -1,77 +0,0 @@ -#ifndef __CURL_CURLVER_H -#define __CURL_CURLVER_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* This header file contains nothing but libcurl version info, generated by - a script at release-time. This was made its own header file in 7.11.2 */ - -/* This is the global package copyright */ -#define LIBCURL_COPYRIGHT "1996 - 2015 Daniel Stenberg, ." - -/* This is the version number of the libcurl package from which this header - file origins: */ -#define LIBCURL_VERSION "7.43.0-DEV" - -/* The numeric version number is also available "in parts" by using these - defines: */ -#define LIBCURL_VERSION_MAJOR 7 -#define LIBCURL_VERSION_MINOR 43 -#define LIBCURL_VERSION_PATCH 0 - -/* This is the numeric version of the libcurl version number, meant for easier - parsing and comparions by programs. The LIBCURL_VERSION_NUM define will - always follow this syntax: - - 0xXXYYZZ - - Where XX, YY and ZZ are the main version, release and patch numbers in - hexadecimal (using 8 bits each). All three numbers are always represented - using two digits. 1.2 would appear as "0x010200" while version 9.11.7 - appears as "0x090b07". - - This 6-digit (24 bits) hexadecimal number does not show pre-release number, - and it is always a greater number in a more recent release. It makes - comparisons with greater than and less than work. - - Note: This define is the full hex number and _does not_ use the - CURL_VERSION_BITS() macro since curl's own configure script greps for it - and needs it to contain the full number. -*/ -#define LIBCURL_VERSION_NUM 0x072B00 - -/* - * This is the date and time when the full source package was created. The - * timestamp is not stored in git, as the timestamp is properly set in the - * tarballs by the maketgz script. - * - * The format of the date should follow this template: - * - * "Mon Feb 12 11:35:33 UTC 2007" - */ -#define LIBCURL_TIMESTAMP "DEV" - -#define CURL_VERSION_BITS(x,y,z) ((x)<<16|(y)<<8|z) -#define CURL_AT_LEAST_VERSION(x,y,z) \ - (LIBCURL_VERSION_NUM >= CURL_VERSION_BITS(x, y, z)) - -#endif /* __CURL_CURLVER_H */ diff --git a/third_party/curl/include/curl/easy.h b/third_party/curl/include/curl/easy.h deleted file mode 100644 index c1e3e76096..0000000000 --- a/third_party/curl/include/curl/easy.h +++ /dev/null @@ -1,102 +0,0 @@ -#ifndef __CURL_EASY_H -#define __CURL_EASY_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2008, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ -#ifdef __cplusplus -extern "C" { -#endif - -CURL_EXTERN CURL *curl_easy_init(void); -CURL_EXTERN CURLcode curl_easy_setopt(CURL *curl, CURLoption option, ...); -CURL_EXTERN CURLcode curl_easy_perform(CURL *curl); -CURL_EXTERN void curl_easy_cleanup(CURL *curl); - -/* - * NAME curl_easy_getinfo() - * - * DESCRIPTION - * - * Request internal information from the curl session with this function. The - * third argument MUST be a pointer to a long, a pointer to a char * or a - * pointer to a double (as the documentation describes elsewhere). The data - * pointed to will be filled in accordingly and can be relied upon only if the - * function returns CURLE_OK. This function is intended to get used *AFTER* a - * performed transfer, all results from this function are undefined until the - * transfer is completed. - */ -CURL_EXTERN CURLcode curl_easy_getinfo(CURL *curl, CURLINFO info, ...); - - -/* - * NAME curl_easy_duphandle() - * - * DESCRIPTION - * - * Creates a new curl session handle with the same options set for the handle - * passed in. Duplicating a handle could only be a matter of cloning data and - * options, internal state info and things like persistent connections cannot - * be transferred. It is useful in multithreaded applications when you can run - * curl_easy_duphandle() for each new thread to avoid a series of identical - * curl_easy_setopt() invokes in every thread. - */ -CURL_EXTERN CURL* curl_easy_duphandle(CURL *curl); - -/* - * NAME curl_easy_reset() - * - * DESCRIPTION - * - * Re-initializes a CURL handle to the default values. This puts back the - * handle to the same state as it was in when it was just created. - * - * It does keep: live connections, the Session ID cache, the DNS cache and the - * cookies. - */ -CURL_EXTERN void curl_easy_reset(CURL *curl); - -/* - * NAME curl_easy_recv() - * - * DESCRIPTION - * - * Receives data from the connected socket. Use after successful - * curl_easy_perform() with CURLOPT_CONNECT_ONLY option. - */ -CURL_EXTERN CURLcode curl_easy_recv(CURL *curl, void *buffer, size_t buflen, - size_t *n); - -/* - * NAME curl_easy_send() - * - * DESCRIPTION - * - * Sends data over the connected socket. Use after successful - * curl_easy_perform() with CURLOPT_CONNECT_ONLY option. - */ -CURL_EXTERN CURLcode curl_easy_send(CURL *curl, const void *buffer, - size_t buflen, size_t *n); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/third_party/curl/include/curl/mprintf.h b/third_party/curl/include/curl/mprintf.h deleted file mode 100644 index c6b0d7679a..0000000000 --- a/third_party/curl/include/curl/mprintf.h +++ /dev/null @@ -1,74 +0,0 @@ -#ifndef __CURL_MPRINTF_H -#define __CURL_MPRINTF_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -#include -#include /* needed for FILE */ - -#include "curl.h" - -#ifdef __cplusplus -extern "C" { -#endif - -CURL_EXTERN int curl_mprintf(const char *format, ...); -CURL_EXTERN int curl_mfprintf(FILE *fd, const char *format, ...); -CURL_EXTERN int curl_msprintf(char *buffer, const char *format, ...); -CURL_EXTERN int curl_msnprintf(char *buffer, size_t maxlength, - const char *format, ...); -CURL_EXTERN int curl_mvprintf(const char *format, va_list args); -CURL_EXTERN int curl_mvfprintf(FILE *fd, const char *format, va_list args); -CURL_EXTERN int curl_mvsprintf(char *buffer, const char *format, va_list args); -CURL_EXTERN int curl_mvsnprintf(char *buffer, size_t maxlength, - const char *format, va_list args); -CURL_EXTERN char *curl_maprintf(const char *format, ...); -CURL_EXTERN char *curl_mvaprintf(const char *format, va_list args); - -#ifdef _MPRINTF_REPLACE -# undef printf -# undef fprintf -# undef sprintf -# undef vsprintf -# undef snprintf -# undef vprintf -# undef vfprintf -# undef vsnprintf -# undef aprintf -# undef vaprintf -# define printf curl_mprintf -# define fprintf curl_mfprintf -# define sprintf curl_msprintf -# define vsprintf curl_mvsprintf -# define snprintf curl_msnprintf -# define vprintf curl_mvprintf -# define vfprintf curl_mvfprintf -# define vsnprintf curl_mvsnprintf -# define aprintf curl_maprintf -# define vaprintf curl_mvaprintf -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* __CURL_MPRINTF_H */ diff --git a/third_party/curl/include/curl/multi.h b/third_party/curl/include/curl/multi.h deleted file mode 100644 index 0d859f8fd9..0000000000 --- a/third_party/curl/include/curl/multi.h +++ /dev/null @@ -1,404 +0,0 @@ -#ifndef __CURL_MULTI_H -#define __CURL_MULTI_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ -/* - This is an "external" header file. Don't give away any internals here! - - GOALS - - o Enable a "pull" interface. The application that uses libcurl decides where - and when to ask libcurl to get/send data. - - o Enable multiple simultaneous transfers in the same thread without making it - complicated for the application. - - o Enable the application to select() on its own file descriptors and curl's - file descriptors simultaneous easily. - -*/ - -/* - * This header file should not really need to include "curl.h" since curl.h - * itself includes this file and we expect user applications to do #include - * without the need for especially including multi.h. - * - * For some reason we added this include here at one point, and rather than to - * break existing (wrongly written) libcurl applications, we leave it as-is - * but with this warning attached. - */ -#include "curl.h" - -#ifdef __cplusplus -extern "C" { -#endif - -typedef void CURLM; - -typedef enum { - CURLM_CALL_MULTI_PERFORM = -1, /* please call curl_multi_perform() or - curl_multi_socket*() soon */ - CURLM_OK, - CURLM_BAD_HANDLE, /* the passed-in handle is not a valid CURLM handle */ - CURLM_BAD_EASY_HANDLE, /* an easy handle was not good/valid */ - CURLM_OUT_OF_MEMORY, /* if you ever get this, you're in deep sh*t */ - CURLM_INTERNAL_ERROR, /* this is a libcurl bug */ - CURLM_BAD_SOCKET, /* the passed in socket argument did not match */ - CURLM_UNKNOWN_OPTION, /* curl_multi_setopt() with unsupported option */ - CURLM_ADDED_ALREADY, /* an easy handle already added to a multi handle was - attempted to get added - again */ - CURLM_LAST -} CURLMcode; - -/* just to make code nicer when using curl_multi_socket() you can now check - for CURLM_CALL_MULTI_SOCKET too in the same style it works for - curl_multi_perform() and CURLM_CALL_MULTI_PERFORM */ -#define CURLM_CALL_MULTI_SOCKET CURLM_CALL_MULTI_PERFORM - -/* bitmask bits for CURLMOPT_PIPELINING */ -#define CURLPIPE_NOTHING 0L -#define CURLPIPE_HTTP1 1L -#define CURLPIPE_MULTIPLEX 2L - -typedef enum { - CURLMSG_NONE, /* first, not used */ - CURLMSG_DONE, /* This easy handle has completed. 'result' contains - the CURLcode of the transfer */ - CURLMSG_LAST /* last, not used */ -} CURLMSG; - -struct CURLMsg { - CURLMSG msg; /* what this message means */ - CURL *easy_handle; /* the handle it concerns */ - union { - void *whatever; /* message-specific data */ - CURLcode result; /* return code for transfer */ - } data; -}; -typedef struct CURLMsg CURLMsg; - -/* Based on poll(2) structure and values. - * We don't use pollfd and POLL* constants explicitly - * to cover platforms without poll(). */ -#define CURL_WAIT_POLLIN 0x0001 -#define CURL_WAIT_POLLPRI 0x0002 -#define CURL_WAIT_POLLOUT 0x0004 - -struct curl_waitfd { - curl_socket_t fd; - short events; - short revents; /* not supported yet */ -}; - -/* - * Name: curl_multi_init() - * - * Desc: inititalize multi-style curl usage - * - * Returns: a new CURLM handle to use in all 'curl_multi' functions. - */ -CURL_EXTERN CURLM *curl_multi_init(void); - -/* - * Name: curl_multi_add_handle() - * - * Desc: add a standard curl handle to the multi stack - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_add_handle(CURLM *multi_handle, - CURL *curl_handle); - - /* - * Name: curl_multi_remove_handle() - * - * Desc: removes a curl handle from the multi stack again - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_remove_handle(CURLM *multi_handle, - CURL *curl_handle); - - /* - * Name: curl_multi_fdset() - * - * Desc: Ask curl for its fd_set sets. The app can use these to select() or - * poll() on. We want curl_multi_perform() called as soon as one of - * them are ready. - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_fdset(CURLM *multi_handle, - fd_set *read_fd_set, - fd_set *write_fd_set, - fd_set *exc_fd_set, - int *max_fd); - -/* - * Name: curl_multi_wait() - * - * Desc: Poll on all fds within a CURLM set as well as any - * additional fds passed to the function. - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_wait(CURLM *multi_handle, - struct curl_waitfd extra_fds[], - unsigned int extra_nfds, - int timeout_ms, - int *ret); - - /* - * Name: curl_multi_perform() - * - * Desc: When the app thinks there's data available for curl it calls this - * function to read/write whatever there is right now. This returns - * as soon as the reads and writes are done. This function does not - * require that there actually is data available for reading or that - * data can be written, it can be called just in case. It returns - * the number of handles that still transfer data in the second - * argument's integer-pointer. - * - * Returns: CURLMcode type, general multi error code. *NOTE* that this only - * returns errors etc regarding the whole multi stack. There might - * still have occurred problems on invidual transfers even when this - * returns OK. - */ -CURL_EXTERN CURLMcode curl_multi_perform(CURLM *multi_handle, - int *running_handles); - - /* - * Name: curl_multi_cleanup() - * - * Desc: Cleans up and removes a whole multi stack. It does not free or - * touch any individual easy handles in any way. We need to define - * in what state those handles will be if this function is called - * in the middle of a transfer. - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_cleanup(CURLM *multi_handle); - -/* - * Name: curl_multi_info_read() - * - * Desc: Ask the multi handle if there's any messages/informationals from - * the individual transfers. Messages include informationals such as - * error code from the transfer or just the fact that a transfer is - * completed. More details on these should be written down as well. - * - * Repeated calls to this function will return a new struct each - * time, until a special "end of msgs" struct is returned as a signal - * that there is no more to get at this point. - * - * The data the returned pointer points to will not survive calling - * curl_multi_cleanup(). - * - * The 'CURLMsg' struct is meant to be very simple and only contain - * very basic informations. If more involved information is wanted, - * we will provide the particular "transfer handle" in that struct - * and that should/could/would be used in subsequent - * curl_easy_getinfo() calls (or similar). The point being that we - * must never expose complex structs to applications, as then we'll - * undoubtably get backwards compatibility problems in the future. - * - * Returns: A pointer to a filled-in struct, or NULL if it failed or ran out - * of structs. It also writes the number of messages left in the - * queue (after this read) in the integer the second argument points - * to. - */ -CURL_EXTERN CURLMsg *curl_multi_info_read(CURLM *multi_handle, - int *msgs_in_queue); - -/* - * Name: curl_multi_strerror() - * - * Desc: The curl_multi_strerror function may be used to turn a CURLMcode - * value into the equivalent human readable error string. This is - * useful for printing meaningful error messages. - * - * Returns: A pointer to a zero-terminated error message. - */ -CURL_EXTERN const char *curl_multi_strerror(CURLMcode); - -/* - * Name: curl_multi_socket() and - * curl_multi_socket_all() - * - * Desc: An alternative version of curl_multi_perform() that allows the - * application to pass in one of the file descriptors that have been - * detected to have "action" on them and let libcurl perform. - * See man page for details. - */ -#define CURL_POLL_NONE 0 -#define CURL_POLL_IN 1 -#define CURL_POLL_OUT 2 -#define CURL_POLL_INOUT 3 -#define CURL_POLL_REMOVE 4 - -#define CURL_SOCKET_TIMEOUT CURL_SOCKET_BAD - -#define CURL_CSELECT_IN 0x01 -#define CURL_CSELECT_OUT 0x02 -#define CURL_CSELECT_ERR 0x04 - -typedef int (*curl_socket_callback)(CURL *easy, /* easy handle */ - curl_socket_t s, /* socket */ - int what, /* see above */ - void *userp, /* private callback - pointer */ - void *socketp); /* private socket - pointer */ -/* - * Name: curl_multi_timer_callback - * - * Desc: Called by libcurl whenever the library detects a change in the - * maximum number of milliseconds the app is allowed to wait before - * curl_multi_socket() or curl_multi_perform() must be called - * (to allow libcurl's timed events to take place). - * - * Returns: The callback should return zero. - */ -typedef int (*curl_multi_timer_callback)(CURLM *multi, /* multi handle */ - long timeout_ms, /* see above */ - void *userp); /* private callback - pointer */ - -CURL_EXTERN CURLMcode curl_multi_socket(CURLM *multi_handle, curl_socket_t s, - int *running_handles); - -CURL_EXTERN CURLMcode curl_multi_socket_action(CURLM *multi_handle, - curl_socket_t s, - int ev_bitmask, - int *running_handles); - -CURL_EXTERN CURLMcode curl_multi_socket_all(CURLM *multi_handle, - int *running_handles); - -#ifndef CURL_ALLOW_OLD_MULTI_SOCKET -/* This macro below was added in 7.16.3 to push users who recompile to use - the new curl_multi_socket_action() instead of the old curl_multi_socket() -*/ -#define curl_multi_socket(x,y,z) curl_multi_socket_action(x,y,0,z) -#endif - -/* - * Name: curl_multi_timeout() - * - * Desc: Returns the maximum number of milliseconds the app is allowed to - * wait before curl_multi_socket() or curl_multi_perform() must be - * called (to allow libcurl's timed events to take place). - * - * Returns: CURLM error code. - */ -CURL_EXTERN CURLMcode curl_multi_timeout(CURLM *multi_handle, - long *milliseconds); - -#undef CINIT /* re-using the same name as in curl.h */ - -#ifdef CURL_ISOCPP -#define CINIT(name,type,num) CURLMOPT_ ## name = CURLOPTTYPE_ ## type + num -#else -/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */ -#define LONG CURLOPTTYPE_LONG -#define OBJECTPOINT CURLOPTTYPE_OBJECTPOINT -#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT -#define OFF_T CURLOPTTYPE_OFF_T -#define CINIT(name,type,number) CURLMOPT_/**/name = type + number -#endif - -typedef enum { - /* This is the socket callback function pointer */ - CINIT(SOCKETFUNCTION, FUNCTIONPOINT, 1), - - /* This is the argument passed to the socket callback */ - CINIT(SOCKETDATA, OBJECTPOINT, 2), - - /* set to 1 to enable pipelining for this multi handle */ - CINIT(PIPELINING, LONG, 3), - - /* This is the timer callback function pointer */ - CINIT(TIMERFUNCTION, FUNCTIONPOINT, 4), - - /* This is the argument passed to the timer callback */ - CINIT(TIMERDATA, OBJECTPOINT, 5), - - /* maximum number of entries in the connection cache */ - CINIT(MAXCONNECTS, LONG, 6), - - /* maximum number of (pipelining) connections to one host */ - CINIT(MAX_HOST_CONNECTIONS, LONG, 7), - - /* maximum number of requests in a pipeline */ - CINIT(MAX_PIPELINE_LENGTH, LONG, 8), - - /* a connection with a content-length longer than this - will not be considered for pipelining */ - CINIT(CONTENT_LENGTH_PENALTY_SIZE, OFF_T, 9), - - /* a connection with a chunk length longer than this - will not be considered for pipelining */ - CINIT(CHUNK_LENGTH_PENALTY_SIZE, OFF_T, 10), - - /* a list of site names(+port) that are blacklisted from - pipelining */ - CINIT(PIPELINING_SITE_BL, OBJECTPOINT, 11), - - /* a list of server types that are blacklisted from - pipelining */ - CINIT(PIPELINING_SERVER_BL, OBJECTPOINT, 12), - - /* maximum number of open connections in total */ - CINIT(MAX_TOTAL_CONNECTIONS, LONG, 13), - - CURLMOPT_LASTENTRY /* the last unused */ -} CURLMoption; - - -/* - * Name: curl_multi_setopt() - * - * Desc: Sets options for the multi handle. - * - * Returns: CURLM error code. - */ -CURL_EXTERN CURLMcode curl_multi_setopt(CURLM *multi_handle, - CURLMoption option, ...); - - -/* - * Name: curl_multi_assign() - * - * Desc: This function sets an association in the multi handle between the - * given socket and a private pointer of the application. This is - * (only) useful for curl_multi_socket uses. - * - * Returns: CURLM error code. - */ -CURL_EXTERN CURLMcode curl_multi_assign(CURLM *multi_handle, - curl_socket_t sockfd, void *sockp); - -#ifdef __cplusplus -} /* end of extern "C" */ -#endif - -#endif diff --git a/third_party/curl/include/curl/stdcheaders.h b/third_party/curl/include/curl/stdcheaders.h deleted file mode 100644 index ad82ef6335..0000000000 --- a/third_party/curl/include/curl/stdcheaders.h +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef __STDC_HEADERS_H -#define __STDC_HEADERS_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2010, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -#include - -size_t fread (void *, size_t, size_t, FILE *); -size_t fwrite (const void *, size_t, size_t, FILE *); - -int strcasecmp(const char *, const char *); -int strncasecmp(const char *, const char *, size_t); - -#endif /* __STDC_HEADERS_H */ diff --git a/third_party/curl/include/curl/typecheck-gcc.h b/third_party/curl/include/curl/typecheck-gcc.h deleted file mode 100644 index 13fb0fa9ee..0000000000 --- a/third_party/curl/include/curl/typecheck-gcc.h +++ /dev/null @@ -1,612 +0,0 @@ -#ifndef __CURL_TYPECHECK_GCC_H -#define __CURL_TYPECHECK_GCC_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2014, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* wraps curl_easy_setopt() with typechecking */ - -/* To add a new kind of warning, add an - * if(_curl_is_sometype_option(_curl_opt)) - * if(!_curl_is_sometype(value)) - * _curl_easy_setopt_err_sometype(); - * block and define _curl_is_sometype_option, _curl_is_sometype and - * _curl_easy_setopt_err_sometype below - * - * NOTE: We use two nested 'if' statements here instead of the && operator, in - * order to work around gcc bug #32061. It affects only gcc 4.3.x/4.4.x - * when compiling with -Wlogical-op. - * - * To add an option that uses the same type as an existing option, you'll just - * need to extend the appropriate _curl_*_option macro - */ -#define curl_easy_setopt(handle, option, value) \ -__extension__ ({ \ - __typeof__ (option) _curl_opt = option; \ - if(__builtin_constant_p(_curl_opt)) { \ - if(_curl_is_long_option(_curl_opt)) \ - if(!_curl_is_long(value)) \ - _curl_easy_setopt_err_long(); \ - if(_curl_is_off_t_option(_curl_opt)) \ - if(!_curl_is_off_t(value)) \ - _curl_easy_setopt_err_curl_off_t(); \ - if(_curl_is_string_option(_curl_opt)) \ - if(!_curl_is_string(value)) \ - _curl_easy_setopt_err_string(); \ - if(_curl_is_write_cb_option(_curl_opt)) \ - if(!_curl_is_write_cb(value)) \ - _curl_easy_setopt_err_write_callback(); \ - if((_curl_opt) == CURLOPT_READFUNCTION) \ - if(!_curl_is_read_cb(value)) \ - _curl_easy_setopt_err_read_cb(); \ - if((_curl_opt) == CURLOPT_IOCTLFUNCTION) \ - if(!_curl_is_ioctl_cb(value)) \ - _curl_easy_setopt_err_ioctl_cb(); \ - if((_curl_opt) == CURLOPT_SOCKOPTFUNCTION) \ - if(!_curl_is_sockopt_cb(value)) \ - _curl_easy_setopt_err_sockopt_cb(); \ - if((_curl_opt) == CURLOPT_OPENSOCKETFUNCTION) \ - if(!_curl_is_opensocket_cb(value)) \ - _curl_easy_setopt_err_opensocket_cb(); \ - if((_curl_opt) == CURLOPT_PROGRESSFUNCTION) \ - if(!_curl_is_progress_cb(value)) \ - _curl_easy_setopt_err_progress_cb(); \ - if((_curl_opt) == CURLOPT_DEBUGFUNCTION) \ - if(!_curl_is_debug_cb(value)) \ - _curl_easy_setopt_err_debug_cb(); \ - if((_curl_opt) == CURLOPT_SSL_CTX_FUNCTION) \ - if(!_curl_is_ssl_ctx_cb(value)) \ - _curl_easy_setopt_err_ssl_ctx_cb(); \ - if(_curl_is_conv_cb_option(_curl_opt)) \ - if(!_curl_is_conv_cb(value)) \ - _curl_easy_setopt_err_conv_cb(); \ - if((_curl_opt) == CURLOPT_SEEKFUNCTION) \ - if(!_curl_is_seek_cb(value)) \ - _curl_easy_setopt_err_seek_cb(); \ - if(_curl_is_cb_data_option(_curl_opt)) \ - if(!_curl_is_cb_data(value)) \ - _curl_easy_setopt_err_cb_data(); \ - if((_curl_opt) == CURLOPT_ERRORBUFFER) \ - if(!_curl_is_error_buffer(value)) \ - _curl_easy_setopt_err_error_buffer(); \ - if((_curl_opt) == CURLOPT_STDERR) \ - if(!_curl_is_FILE(value)) \ - _curl_easy_setopt_err_FILE(); \ - if(_curl_is_postfields_option(_curl_opt)) \ - if(!_curl_is_postfields(value)) \ - _curl_easy_setopt_err_postfields(); \ - if((_curl_opt) == CURLOPT_HTTPPOST) \ - if(!_curl_is_arr((value), struct curl_httppost)) \ - _curl_easy_setopt_err_curl_httpost(); \ - if(_curl_is_slist_option(_curl_opt)) \ - if(!_curl_is_arr((value), struct curl_slist)) \ - _curl_easy_setopt_err_curl_slist(); \ - if((_curl_opt) == CURLOPT_SHARE) \ - if(!_curl_is_ptr((value), CURLSH)) \ - _curl_easy_setopt_err_CURLSH(); \ - } \ - curl_easy_setopt(handle, _curl_opt, value); \ -}) - -/* wraps curl_easy_getinfo() with typechecking */ -/* FIXME: don't allow const pointers */ -#define curl_easy_getinfo(handle, info, arg) \ -__extension__ ({ \ - __typeof__ (info) _curl_info = info; \ - if(__builtin_constant_p(_curl_info)) { \ - if(_curl_is_string_info(_curl_info)) \ - if(!_curl_is_arr((arg), char *)) \ - _curl_easy_getinfo_err_string(); \ - if(_curl_is_long_info(_curl_info)) \ - if(!_curl_is_arr((arg), long)) \ - _curl_easy_getinfo_err_long(); \ - if(_curl_is_double_info(_curl_info)) \ - if(!_curl_is_arr((arg), double)) \ - _curl_easy_getinfo_err_double(); \ - if(_curl_is_slist_info(_curl_info)) \ - if(!_curl_is_arr((arg), struct curl_slist *)) \ - _curl_easy_getinfo_err_curl_slist(); \ - } \ - curl_easy_getinfo(handle, _curl_info, arg); \ -}) - -/* TODO: typechecking for curl_share_setopt() and curl_multi_setopt(), - * for now just make sure that the functions are called with three - * arguments - */ -#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param) -#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param) - - -/* the actual warnings, triggered by calling the _curl_easy_setopt_err* - * functions */ - -/* To define a new warning, use _CURL_WARNING(identifier, "message") */ -#define _CURL_WARNING(id, message) \ - static void __attribute__((__warning__(message))) \ - __attribute__((__unused__)) __attribute__((__noinline__)) \ - id(void) { __asm__(""); } - -_CURL_WARNING(_curl_easy_setopt_err_long, - "curl_easy_setopt expects a long argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_curl_off_t, - "curl_easy_setopt expects a curl_off_t argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_string, - "curl_easy_setopt expects a " - "string (char* or char[]) argument for this option" - ) -_CURL_WARNING(_curl_easy_setopt_err_write_callback, - "curl_easy_setopt expects a curl_write_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_read_cb, - "curl_easy_setopt expects a curl_read_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_ioctl_cb, - "curl_easy_setopt expects a curl_ioctl_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_sockopt_cb, - "curl_easy_setopt expects a curl_sockopt_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_opensocket_cb, - "curl_easy_setopt expects a " - "curl_opensocket_callback argument for this option" - ) -_CURL_WARNING(_curl_easy_setopt_err_progress_cb, - "curl_easy_setopt expects a curl_progress_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_debug_cb, - "curl_easy_setopt expects a curl_debug_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_ssl_ctx_cb, - "curl_easy_setopt expects a curl_ssl_ctx_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_conv_cb, - "curl_easy_setopt expects a curl_conv_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_seek_cb, - "curl_easy_setopt expects a curl_seek_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_cb_data, - "curl_easy_setopt expects a " - "private data pointer as argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_error_buffer, - "curl_easy_setopt expects a " - "char buffer of CURL_ERROR_SIZE as argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_FILE, - "curl_easy_setopt expects a FILE* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_postfields, - "curl_easy_setopt expects a void* or char* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_curl_httpost, - "curl_easy_setopt expects a struct curl_httppost* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_curl_slist, - "curl_easy_setopt expects a struct curl_slist* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_CURLSH, - "curl_easy_setopt expects a CURLSH* argument for this option") - -_CURL_WARNING(_curl_easy_getinfo_err_string, - "curl_easy_getinfo expects a pointer to char * for this info") -_CURL_WARNING(_curl_easy_getinfo_err_long, - "curl_easy_getinfo expects a pointer to long for this info") -_CURL_WARNING(_curl_easy_getinfo_err_double, - "curl_easy_getinfo expects a pointer to double for this info") -_CURL_WARNING(_curl_easy_getinfo_err_curl_slist, - "curl_easy_getinfo expects a pointer to struct curl_slist * for this info") - -/* groups of curl_easy_setops options that take the same type of argument */ - -/* To add a new option to one of the groups, just add - * (option) == CURLOPT_SOMETHING - * to the or-expression. If the option takes a long or curl_off_t, you don't - * have to do anything - */ - -/* evaluates to true if option takes a long argument */ -#define _curl_is_long_option(option) \ - (0 < (option) && (option) < CURLOPTTYPE_OBJECTPOINT) - -#define _curl_is_off_t_option(option) \ - ((option) > CURLOPTTYPE_OFF_T) - -/* evaluates to true if option takes a char* argument */ -#define _curl_is_string_option(option) \ - ((option) == CURLOPT_URL || \ - (option) == CURLOPT_PROXY || \ - (option) == CURLOPT_INTERFACE || \ - (option) == CURLOPT_NETRC_FILE || \ - (option) == CURLOPT_USERPWD || \ - (option) == CURLOPT_USERNAME || \ - (option) == CURLOPT_PASSWORD || \ - (option) == CURLOPT_PROXYUSERPWD || \ - (option) == CURLOPT_PROXYUSERNAME || \ - (option) == CURLOPT_PROXYPASSWORD || \ - (option) == CURLOPT_NOPROXY || \ - (option) == CURLOPT_ACCEPT_ENCODING || \ - (option) == CURLOPT_REFERER || \ - (option) == CURLOPT_USERAGENT || \ - (option) == CURLOPT_COOKIE || \ - (option) == CURLOPT_COOKIEFILE || \ - (option) == CURLOPT_COOKIEJAR || \ - (option) == CURLOPT_COOKIELIST || \ - (option) == CURLOPT_FTPPORT || \ - (option) == CURLOPT_FTP_ALTERNATIVE_TO_USER || \ - (option) == CURLOPT_FTP_ACCOUNT || \ - (option) == CURLOPT_RANGE || \ - (option) == CURLOPT_CUSTOMREQUEST || \ - (option) == CURLOPT_SSLCERT || \ - (option) == CURLOPT_SSLCERTTYPE || \ - (option) == CURLOPT_SSLKEY || \ - (option) == CURLOPT_SSLKEYTYPE || \ - (option) == CURLOPT_KEYPASSWD || \ - (option) == CURLOPT_SSLENGINE || \ - (option) == CURLOPT_CAINFO || \ - (option) == CURLOPT_CAPATH || \ - (option) == CURLOPT_RANDOM_FILE || \ - (option) == CURLOPT_EGDSOCKET || \ - (option) == CURLOPT_SSL_CIPHER_LIST || \ - (option) == CURLOPT_KRBLEVEL || \ - (option) == CURLOPT_SSH_HOST_PUBLIC_KEY_MD5 || \ - (option) == CURLOPT_SSH_PUBLIC_KEYFILE || \ - (option) == CURLOPT_SSH_PRIVATE_KEYFILE || \ - (option) == CURLOPT_CRLFILE || \ - (option) == CURLOPT_ISSUERCERT || \ - (option) == CURLOPT_SOCKS5_GSSAPI_SERVICE || \ - (option) == CURLOPT_SSH_KNOWNHOSTS || \ - (option) == CURLOPT_MAIL_FROM || \ - (option) == CURLOPT_RTSP_SESSION_ID || \ - (option) == CURLOPT_RTSP_STREAM_URI || \ - (option) == CURLOPT_RTSP_TRANSPORT || \ - (option) == CURLOPT_XOAUTH2_BEARER || \ - (option) == CURLOPT_DNS_SERVERS || \ - (option) == CURLOPT_DNS_INTERFACE || \ - (option) == CURLOPT_DNS_LOCAL_IP4 || \ - (option) == CURLOPT_DNS_LOCAL_IP6 || \ - (option) == CURLOPT_LOGIN_OPTIONS || \ - (option) == CURLOPT_PROXY_SERVICE_NAME || \ - (option) == CURLOPT_SERVICE_NAME || \ - 0) - -/* evaluates to true if option takes a curl_write_callback argument */ -#define _curl_is_write_cb_option(option) \ - ((option) == CURLOPT_HEADERFUNCTION || \ - (option) == CURLOPT_WRITEFUNCTION) - -/* evaluates to true if option takes a curl_conv_callback argument */ -#define _curl_is_conv_cb_option(option) \ - ((option) == CURLOPT_CONV_TO_NETWORK_FUNCTION || \ - (option) == CURLOPT_CONV_FROM_NETWORK_FUNCTION || \ - (option) == CURLOPT_CONV_FROM_UTF8_FUNCTION) - -/* evaluates to true if option takes a data argument to pass to a callback */ -#define _curl_is_cb_data_option(option) \ - ((option) == CURLOPT_WRITEDATA || \ - (option) == CURLOPT_READDATA || \ - (option) == CURLOPT_IOCTLDATA || \ - (option) == CURLOPT_SOCKOPTDATA || \ - (option) == CURLOPT_OPENSOCKETDATA || \ - (option) == CURLOPT_PROGRESSDATA || \ - (option) == CURLOPT_HEADERDATA || \ - (option) == CURLOPT_DEBUGDATA || \ - (option) == CURLOPT_SSL_CTX_DATA || \ - (option) == CURLOPT_SEEKDATA || \ - (option) == CURLOPT_PRIVATE || \ - (option) == CURLOPT_SSH_KEYDATA || \ - (option) == CURLOPT_INTERLEAVEDATA || \ - (option) == CURLOPT_CHUNK_DATA || \ - (option) == CURLOPT_FNMATCH_DATA || \ - 0) - -/* evaluates to true if option takes a POST data argument (void* or char*) */ -#define _curl_is_postfields_option(option) \ - ((option) == CURLOPT_POSTFIELDS || \ - (option) == CURLOPT_COPYPOSTFIELDS || \ - 0) - -/* evaluates to true if option takes a struct curl_slist * argument */ -#define _curl_is_slist_option(option) \ - ((option) == CURLOPT_HTTPHEADER || \ - (option) == CURLOPT_HTTP200ALIASES || \ - (option) == CURLOPT_QUOTE || \ - (option) == CURLOPT_POSTQUOTE || \ - (option) == CURLOPT_PREQUOTE || \ - (option) == CURLOPT_TELNETOPTIONS || \ - (option) == CURLOPT_MAIL_RCPT || \ - 0) - -/* groups of curl_easy_getinfo infos that take the same type of argument */ - -/* evaluates to true if info expects a pointer to char * argument */ -#define _curl_is_string_info(info) \ - (CURLINFO_STRING < (info) && (info) < CURLINFO_LONG) - -/* evaluates to true if info expects a pointer to long argument */ -#define _curl_is_long_info(info) \ - (CURLINFO_LONG < (info) && (info) < CURLINFO_DOUBLE) - -/* evaluates to true if info expects a pointer to double argument */ -#define _curl_is_double_info(info) \ - (CURLINFO_DOUBLE < (info) && (info) < CURLINFO_SLIST) - -/* true if info expects a pointer to struct curl_slist * argument */ -#define _curl_is_slist_info(info) \ - (CURLINFO_SLIST < (info)) - - -/* typecheck helpers -- check whether given expression has requested type*/ - -/* For pointers, you can use the _curl_is_ptr/_curl_is_arr macros, - * otherwise define a new macro. Search for __builtin_types_compatible_p - * in the GCC manual. - * NOTE: these macros MUST NOT EVALUATE their arguments! The argument is - * the actual expression passed to the curl_easy_setopt macro. This - * means that you can only apply the sizeof and __typeof__ operators, no - * == or whatsoever. - */ - -/* XXX: should evaluate to true iff expr is a pointer */ -#define _curl_is_any_ptr(expr) \ - (sizeof(expr) == sizeof(void*)) - -/* evaluates to true if expr is NULL */ -/* XXX: must not evaluate expr, so this check is not accurate */ -#define _curl_is_NULL(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), __typeof__(NULL))) - -/* evaluates to true if expr is type*, const type* or NULL */ -#define _curl_is_ptr(expr, type) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), type *) || \ - __builtin_types_compatible_p(__typeof__(expr), const type *)) - -/* evaluates to true if expr is one of type[], type*, NULL or const type* */ -#define _curl_is_arr(expr, type) \ - (_curl_is_ptr((expr), type) || \ - __builtin_types_compatible_p(__typeof__(expr), type [])) - -/* evaluates to true if expr is a string */ -#define _curl_is_string(expr) \ - (_curl_is_arr((expr), char) || \ - _curl_is_arr((expr), signed char) || \ - _curl_is_arr((expr), unsigned char)) - -/* evaluates to true if expr is a long (no matter the signedness) - * XXX: for now, int is also accepted (and therefore short and char, which - * are promoted to int when passed to a variadic function) */ -#define _curl_is_long(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), long) || \ - __builtin_types_compatible_p(__typeof__(expr), signed long) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned long) || \ - __builtin_types_compatible_p(__typeof__(expr), int) || \ - __builtin_types_compatible_p(__typeof__(expr), signed int) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned int) || \ - __builtin_types_compatible_p(__typeof__(expr), short) || \ - __builtin_types_compatible_p(__typeof__(expr), signed short) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned short) || \ - __builtin_types_compatible_p(__typeof__(expr), char) || \ - __builtin_types_compatible_p(__typeof__(expr), signed char) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned char)) - -/* evaluates to true if expr is of type curl_off_t */ -#define _curl_is_off_t(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), curl_off_t)) - -/* evaluates to true if expr is abuffer suitable for CURLOPT_ERRORBUFFER */ -/* XXX: also check size of an char[] array? */ -#define _curl_is_error_buffer(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), char *) || \ - __builtin_types_compatible_p(__typeof__(expr), char[])) - -/* evaluates to true if expr is of type (const) void* or (const) FILE* */ -#if 0 -#define _curl_is_cb_data(expr) \ - (_curl_is_ptr((expr), void) || \ - _curl_is_ptr((expr), FILE)) -#else /* be less strict */ -#define _curl_is_cb_data(expr) \ - _curl_is_any_ptr(expr) -#endif - -/* evaluates to true if expr is of type FILE* */ -#define _curl_is_FILE(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), FILE *)) - -/* evaluates to true if expr can be passed as POST data (void* or char*) */ -#define _curl_is_postfields(expr) \ - (_curl_is_ptr((expr), void) || \ - _curl_is_arr((expr), char)) - -/* FIXME: the whole callback checking is messy... - * The idea is to tolerate char vs. void and const vs. not const - * pointers in arguments at least - */ -/* helper: __builtin_types_compatible_p distinguishes between functions and - * function pointers, hide it */ -#define _curl_callback_compatible(func, type) \ - (__builtin_types_compatible_p(__typeof__(func), type) || \ - __builtin_types_compatible_p(__typeof__(func), type*)) - -/* evaluates to true if expr is of type curl_read_callback or "similar" */ -#define _curl_is_read_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), __typeof__(fread)) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_read_callback) || \ - _curl_callback_compatible((expr), _curl_read_callback1) || \ - _curl_callback_compatible((expr), _curl_read_callback2) || \ - _curl_callback_compatible((expr), _curl_read_callback3) || \ - _curl_callback_compatible((expr), _curl_read_callback4) || \ - _curl_callback_compatible((expr), _curl_read_callback5) || \ - _curl_callback_compatible((expr), _curl_read_callback6)) -typedef size_t (_curl_read_callback1)(char *, size_t, size_t, void*); -typedef size_t (_curl_read_callback2)(char *, size_t, size_t, const void*); -typedef size_t (_curl_read_callback3)(char *, size_t, size_t, FILE*); -typedef size_t (_curl_read_callback4)(void *, size_t, size_t, void*); -typedef size_t (_curl_read_callback5)(void *, size_t, size_t, const void*); -typedef size_t (_curl_read_callback6)(void *, size_t, size_t, FILE*); - -/* evaluates to true if expr is of type curl_write_callback or "similar" */ -#define _curl_is_write_cb(expr) \ - (_curl_is_read_cb(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), __typeof__(fwrite)) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_write_callback) || \ - _curl_callback_compatible((expr), _curl_write_callback1) || \ - _curl_callback_compatible((expr), _curl_write_callback2) || \ - _curl_callback_compatible((expr), _curl_write_callback3) || \ - _curl_callback_compatible((expr), _curl_write_callback4) || \ - _curl_callback_compatible((expr), _curl_write_callback5) || \ - _curl_callback_compatible((expr), _curl_write_callback6)) -typedef size_t (_curl_write_callback1)(const char *, size_t, size_t, void*); -typedef size_t (_curl_write_callback2)(const char *, size_t, size_t, - const void*); -typedef size_t (_curl_write_callback3)(const char *, size_t, size_t, FILE*); -typedef size_t (_curl_write_callback4)(const void *, size_t, size_t, void*); -typedef size_t (_curl_write_callback5)(const void *, size_t, size_t, - const void*); -typedef size_t (_curl_write_callback6)(const void *, size_t, size_t, FILE*); - -/* evaluates to true if expr is of type curl_ioctl_callback or "similar" */ -#define _curl_is_ioctl_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_ioctl_callback) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback1) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback2) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback3) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback4)) -typedef curlioerr (_curl_ioctl_callback1)(CURL *, int, void*); -typedef curlioerr (_curl_ioctl_callback2)(CURL *, int, const void*); -typedef curlioerr (_curl_ioctl_callback3)(CURL *, curliocmd, void*); -typedef curlioerr (_curl_ioctl_callback4)(CURL *, curliocmd, const void*); - -/* evaluates to true if expr is of type curl_sockopt_callback or "similar" */ -#define _curl_is_sockopt_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_sockopt_callback) || \ - _curl_callback_compatible((expr), _curl_sockopt_callback1) || \ - _curl_callback_compatible((expr), _curl_sockopt_callback2)) -typedef int (_curl_sockopt_callback1)(void *, curl_socket_t, curlsocktype); -typedef int (_curl_sockopt_callback2)(const void *, curl_socket_t, - curlsocktype); - -/* evaluates to true if expr is of type curl_opensocket_callback or - "similar" */ -#define _curl_is_opensocket_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_opensocket_callback) ||\ - _curl_callback_compatible((expr), _curl_opensocket_callback1) || \ - _curl_callback_compatible((expr), _curl_opensocket_callback2) || \ - _curl_callback_compatible((expr), _curl_opensocket_callback3) || \ - _curl_callback_compatible((expr), _curl_opensocket_callback4)) -typedef curl_socket_t (_curl_opensocket_callback1) - (void *, curlsocktype, struct curl_sockaddr *); -typedef curl_socket_t (_curl_opensocket_callback2) - (void *, curlsocktype, const struct curl_sockaddr *); -typedef curl_socket_t (_curl_opensocket_callback3) - (const void *, curlsocktype, struct curl_sockaddr *); -typedef curl_socket_t (_curl_opensocket_callback4) - (const void *, curlsocktype, const struct curl_sockaddr *); - -/* evaluates to true if expr is of type curl_progress_callback or "similar" */ -#define _curl_is_progress_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_progress_callback) || \ - _curl_callback_compatible((expr), _curl_progress_callback1) || \ - _curl_callback_compatible((expr), _curl_progress_callback2)) -typedef int (_curl_progress_callback1)(void *, - double, double, double, double); -typedef int (_curl_progress_callback2)(const void *, - double, double, double, double); - -/* evaluates to true if expr is of type curl_debug_callback or "similar" */ -#define _curl_is_debug_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_debug_callback) || \ - _curl_callback_compatible((expr), _curl_debug_callback1) || \ - _curl_callback_compatible((expr), _curl_debug_callback2) || \ - _curl_callback_compatible((expr), _curl_debug_callback3) || \ - _curl_callback_compatible((expr), _curl_debug_callback4) || \ - _curl_callback_compatible((expr), _curl_debug_callback5) || \ - _curl_callback_compatible((expr), _curl_debug_callback6) || \ - _curl_callback_compatible((expr), _curl_debug_callback7) || \ - _curl_callback_compatible((expr), _curl_debug_callback8)) -typedef int (_curl_debug_callback1) (CURL *, - curl_infotype, char *, size_t, void *); -typedef int (_curl_debug_callback2) (CURL *, - curl_infotype, char *, size_t, const void *); -typedef int (_curl_debug_callback3) (CURL *, - curl_infotype, const char *, size_t, void *); -typedef int (_curl_debug_callback4) (CURL *, - curl_infotype, const char *, size_t, const void *); -typedef int (_curl_debug_callback5) (CURL *, - curl_infotype, unsigned char *, size_t, void *); -typedef int (_curl_debug_callback6) (CURL *, - curl_infotype, unsigned char *, size_t, const void *); -typedef int (_curl_debug_callback7) (CURL *, - curl_infotype, const unsigned char *, size_t, void *); -typedef int (_curl_debug_callback8) (CURL *, - curl_infotype, const unsigned char *, size_t, const void *); - -/* evaluates to true if expr is of type curl_ssl_ctx_callback or "similar" */ -/* this is getting even messier... */ -#define _curl_is_ssl_ctx_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_ssl_ctx_callback) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback1) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback2) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback3) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback4) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback5) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback6) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback7) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback8)) -typedef CURLcode (_curl_ssl_ctx_callback1)(CURL *, void *, void *); -typedef CURLcode (_curl_ssl_ctx_callback2)(CURL *, void *, const void *); -typedef CURLcode (_curl_ssl_ctx_callback3)(CURL *, const void *, void *); -typedef CURLcode (_curl_ssl_ctx_callback4)(CURL *, const void *, const void *); -#ifdef HEADER_SSL_H -/* hack: if we included OpenSSL's ssl.h, we know about SSL_CTX - * this will of course break if we're included before OpenSSL headers... - */ -typedef CURLcode (_curl_ssl_ctx_callback5)(CURL *, SSL_CTX, void *); -typedef CURLcode (_curl_ssl_ctx_callback6)(CURL *, SSL_CTX, const void *); -typedef CURLcode (_curl_ssl_ctx_callback7)(CURL *, const SSL_CTX, void *); -typedef CURLcode (_curl_ssl_ctx_callback8)(CURL *, const SSL_CTX, - const void *); -#else -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback5; -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback6; -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback7; -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback8; -#endif - -/* evaluates to true if expr is of type curl_conv_callback or "similar" */ -#define _curl_is_conv_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_conv_callback) || \ - _curl_callback_compatible((expr), _curl_conv_callback1) || \ - _curl_callback_compatible((expr), _curl_conv_callback2) || \ - _curl_callback_compatible((expr), _curl_conv_callback3) || \ - _curl_callback_compatible((expr), _curl_conv_callback4)) -typedef CURLcode (*_curl_conv_callback1)(char *, size_t length); -typedef CURLcode (*_curl_conv_callback2)(const char *, size_t length); -typedef CURLcode (*_curl_conv_callback3)(void *, size_t length); -typedef CURLcode (*_curl_conv_callback4)(const void *, size_t length); - -/* evaluates to true if expr is of type curl_seek_callback or "similar" */ -#define _curl_is_seek_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_seek_callback) || \ - _curl_callback_compatible((expr), _curl_seek_callback1) || \ - _curl_callback_compatible((expr), _curl_seek_callback2)) -typedef CURLcode (*_curl_seek_callback1)(void *, curl_off_t, int); -typedef CURLcode (*_curl_seek_callback2)(const void *, curl_off_t, int); - - -#endif /* __CURL_TYPECHECK_GCC_H */ diff --git a/third_party/curl/lib/libcurl.a b/third_party/curl/lib/libcurl.a deleted file mode 100644 index 494ac6c043..0000000000 Binary files a/third_party/curl/lib/libcurl.a and /dev/null differ diff --git a/third_party/libyuv/mac/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a similarity index 56% rename from third_party/libyuv/mac/lib/libyuv.a rename to third_party/libyuv/Darwin/lib/libyuv.a index 4a1609ca7a..3265bd8da0 100644 Binary files a/third_party/libyuv/mac/lib/libyuv.a and b/third_party/libyuv/Darwin/lib/libyuv.a differ diff --git a/third_party/libyuv/LICENSE.libyuv b/third_party/libyuv/LICENSE.libyuv deleted file mode 100644 index c911747a6b..0000000000 --- a/third_party/libyuv/LICENSE.libyuv +++ /dev/null @@ -1,29 +0,0 @@ -Copyright 2011 The LibYuv Project Authors. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are -met: - - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in - the documentation and/or other materials provided with the - distribution. - - * Neither the name of Google nor the names of its contributors may - be used to endorse or promote products derived from this software - without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/libyuv/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh new file mode 100644 index 0000000000..e044312d05 --- /dev/null +++ b/third_party/libyuv/build.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -e + +git clone https://chromium.googlesource.com/libyuv/libyuv +cd libyuv +git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 +cmake . + +## To create universal binary on Darwin: +## ``` +## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a +## ``` \ No newline at end of file diff --git a/third_party/libyuv/build.txt b/third_party/libyuv/build.txt deleted file mode 100644 index 376e981ec7..0000000000 --- a/third_party/libyuv/build.txt +++ /dev/null @@ -1,4 +0,0 @@ -git clone https://chromium.googlesource.com/libyuv/libyuv -cd libyuv -git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 -cmake . diff --git a/third_party/libyuv/lib/libyuv.a b/third_party/libyuv/lib/libyuv.a deleted file mode 100644 index 228de4d03e..0000000000 Binary files a/third_party/libyuv/lib/libyuv.a and /dev/null differ diff --git a/third_party/libyuv/mac_arm64/lib/libyuv.a b/third_party/libyuv/mac_arm64/lib/libyuv.a deleted file mode 100644 index 96c11829e5..0000000000 Binary files a/third_party/libyuv/mac_arm64/lib/libyuv.a and /dev/null differ diff --git a/third_party/libyuv/x64/include b/third_party/libyuv/x86_64/include similarity index 100% rename from third_party/libyuv/x64/include rename to third_party/libyuv/x86_64/include diff --git a/third_party/libyuv/x64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a similarity index 100% rename from third_party/libyuv/x64/lib/libyuv.a rename to third_party/libyuv/x86_64/lib/libyuv.a diff --git a/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so new file mode 100755 index 0000000000..d417101ac0 Binary files /dev/null and b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so differ diff --git a/tools/README.md b/tools/README.md index c3f5b0ada5..28c819c28b 100644 --- a/tools/README.md +++ b/tools/README.md @@ -2,7 +2,7 @@ ## System Requirements -openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. +openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. ## Setup your PC @@ -38,12 +38,11 @@ scons -u -j$(nproc) ### Windows -Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. +Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. -Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. - -GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242). +Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps. +**NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`. ## CTF Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md). diff --git a/tools/bodyteleop/.gitignore b/tools/bodyteleop/.gitignore new file mode 100644 index 0000000000..adeab99a95 --- /dev/null +++ b/tools/bodyteleop/.gitignore @@ -0,0 +1,4 @@ +av +av-10.0.0/* +key.pem +cert.pem \ No newline at end of file diff --git a/tools/bodyteleop/bodyav.py b/tools/bodyteleop/bodyav.py new file mode 100644 index 0000000000..fc9559f8dc --- /dev/null +++ b/tools/bodyteleop/bodyav.py @@ -0,0 +1,159 @@ +import asyncio +import io +import numpy as np +import pyaudio +import wave + +from aiortc.contrib.media import MediaBlackhole +from aiortc.mediastreams import AudioStreamTrack, MediaStreamError, MediaStreamTrack +from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE +from aiortc.rtcrtpsender import RTCRtpSender +from av import CodecContext, Packet +from pydub import AudioSegment +import cereal.messaging as messaging + +AUDIO_RATE = 16000 +SOUNDS = { + 'engage': '../../selfdrive/assets/sounds/engage.wav', + 'disengage': '../../selfdrive/assets/sounds/disengage.wav', + 'error': '../../selfdrive/assets/sounds/warning_immediate.wav', +} + + +def force_codec(pc, sender, forced_codec='video/VP9', stream_type="video"): + codecs = RTCRtpSender.getCapabilities(stream_type).codecs + codec = [codec for codec in codecs if codec.mimeType == forced_codec] + transceiver = next(t for t in pc.getTransceivers() if t.sender == sender) + transceiver.setCodecPreferences(codec) + + +class EncodedBodyVideo(MediaStreamTrack): + kind = "video" + + _start: float + _timestamp: int + + def __init__(self): + super().__init__() + sock_name = 'livestreamDriverEncodeData' + messaging.context = messaging.Context() + self.sock = messaging.sub_sock(sock_name, None, conflate=True) + self.pts = 0 + + async def recv(self) -> Packet: + while True: + msg = messaging.recv_one_or_none(self.sock) + if msg is not None: + break + await asyncio.sleep(0.005) + + evta = getattr(msg, msg.which()) + self.last_idx = evta.idx.encodeId + + packet = Packet(evta.header + evta.data) + packet.time_base = VIDEO_TIME_BASE + packet.pts = self.pts + self.pts += 0.05 * VIDEO_CLOCK_RATE + return packet + + +class WebClientSpeaker(MediaBlackhole): + def __init__(self): + super().__init__() + self.p = pyaudio.PyAudio() + self.buffer = io.BytesIO() + self.channels = 2 + self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600, + output=True, stream_callback=self.pyaudio_callback) + + def pyaudio_callback(self, in_data, frame_count, time_info, status): + if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: + buff = np.zeros((frame_count, 2), dtype=np.int16).tobytes() + elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 4) + buff = buff[:frame_count * self.channels * 2] + self.buffer.seek(2) + else: + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 2) + self.buffer.seek(2) + return (buff, pyaudio.paContinue) + + async def consume(self, track): + while True: + try: + frame = await track.recv() + except MediaStreamError: + return + bio = bytes(frame.planes[0]) + self.buffer.write(bio) + + async def start(self): + for track, task in self._MediaBlackhole__tracks.items(): # pylint: disable=access-member-before-definition + if task is None: + self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track)) + + async def stop(self): + for task in self._MediaBlackhole__tracks.values(): # pylint: disable=access-member-before-definition + if task is not None: + task.cancel() + self._MediaBlackhole__tracks = {} + self.stream.stop_stream() + self.stream.close() + self.p.terminate() + + +class BodyMic(AudioStreamTrack): + def __init__(self): + super().__init__() + + self.sample_rate = AUDIO_RATE + self.AUDIO_PTIME = 0.020 # 20ms audio packetization + self.samples = int(self.AUDIO_PTIME * self.sample_rate) + self.FORMAT = pyaudio.paInt16 + self.CHANNELS = 2 + self.RATE = self.sample_rate + self.CHUNK = int(AUDIO_RATE * 0.020) + self.p = pyaudio.PyAudio() + self.mic_stream = self.p.open(format=self.FORMAT, channels=1, rate=self.RATE, input=True, frames_per_buffer=self.CHUNK) + + self.codec = CodecContext.create('pcm_s16le', 'r') + self.codec.sample_rate = self.RATE + self.codec.channels = 2 + self.audio_samples = 0 + self.chunk_number = 0 + + async def recv(self): + mic_data = self.mic_stream.read(self.CHUNK) + mic_sound = AudioSegment(mic_data, sample_width=2, channels=1, frame_rate=self.RATE) + mic_sound = AudioSegment.from_mono_audiosegments(mic_sound, mic_sound) + mic_sound += 3 # increase volume by 3db + packet = Packet(mic_sound.raw_data) + frame = self.codec.decode(packet)[0] + frame.pts = self.audio_samples + self.audio_samples += frame.samples + self.chunk_number = self.chunk_number + 1 + return frame + + +async def play_sound(sound): + chunk = 5120 + with wave.open(SOUNDS[sound], 'rb') as wf: + def callback(in_data, frame_count, time_info, status): + data = wf.readframes(frame_count) + return data, pyaudio.paContinue + + p = pyaudio.PyAudio() + stream = p.open(format=p.get_format_from_width(wf.getsampwidth()), + channels=wf.getnchannels(), + rate=wf.getframerate(), + output=True, + frames_per_buffer=chunk, + stream_callback=callback) + stream.start_stream() + while stream.is_active(): + await asyncio.sleep(0) + stream.stop_stream() + stream.close() + p.terminate() diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html new file mode 100644 index 0000000000..3654769756 --- /dev/null +++ b/tools/bodyteleop/static/index.html @@ -0,0 +1,103 @@ + + + + + commabody + + + + + + + + + + +
+

comma body

+ + +
+
+
+
+
+ + + +
+

body

+
+
+
+ + +
+

you

+
+
+
+
+
+
+
+ - +
+

ping time

+
+
+
+ - +
+

battery

+
+
+
+ +
+
+
+
+
+
W
+
0,0x,y
+
+
+
A
+
S
+
D
+
+
+
+ + + + +
+
+
+
+
+
+

Play Sounds

+
+
+ + + +
+
+
+
+
+
+
+
+
+
+ + + diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js new file mode 100644 index 0000000000..b1e0e7ee70 --- /dev/null +++ b/tools/bodyteleop/static/js/controls.js @@ -0,0 +1,54 @@ +const keyVals = {w: 0, a: 0, s: 0, d: 0} + +export function getXY() { + let x = -keyVals.w + keyVals.s + let y = -keyVals.d + keyVals.a + return {x, y} +} + +export const handleKeyX = (key, setValue) => { + if (['w', 'a', 's', 'd'].includes(key)){ + keyVals[key] = setValue; + let color = "#333"; + if (setValue === 1){ + color = "#e74c3c"; + } + $("#key-"+key).css('background', color); + const {x, y} = getXY(); + $("#pos-vals").text(x+","+y); + } +}; + +export async function executePlan() { + let plan = $("#plan-text").val(); + const planList = []; + plan.split("\n").forEach(function(e){ + let line = e.split(",").map(k=>parseInt(k)); + if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){ + console.log("invalid plan"); + } + else{ + planList.push(line) + } + }); + + async function execute() { + for (var i = 0; i < planList.length; i++) { + let [w, a, s, d, t] = planList[i]; + while(t > 0){ + console.log(w, a, s, d, t); + if(w==1){$("#key-w").mousedown();} + if(a==1){$("#key-a").mousedown();} + if(s==1){$("#key-s").mousedown();} + if(d==1){$("#key-d").mousedown();} + await sleep(50); + $("#key-w").mouseup(); + $("#key-a").mouseup(); + $("#key-s").mouseup(); + $("#key-d").mouseup(); + t = t - 0.05; + } + } + } + execute(); +} \ No newline at end of file diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js new file mode 100644 index 0000000000..f521905724 --- /dev/null +++ b/tools/bodyteleop/static/js/jsmain.js @@ -0,0 +1,23 @@ +import { handleKeyX, executePlan } from "./controls.js"; +import { start, stop, last_ping } from "./webrtc.js"; + +export var pc = null; +export var dc = null; + +document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1))); +document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0))); +$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1)); +$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0)); +$("#plan-button").click(executePlan); + +setInterval( () => { + const dt = new Date().getTime(); + if ((dt - last_ping) > 1000) { + $(".pre-blob").removeClass('blob'); + $("#battery").text("-"); + $("#ping-time").text('-'); + $("video")[0].load(); + } +}, 5000); + +start(pc, dc); \ No newline at end of file diff --git a/tools/bodyteleop/static/js/plots.js b/tools/bodyteleop/static/js/plots.js new file mode 100644 index 0000000000..5327bf71be --- /dev/null +++ b/tools/bodyteleop/static/js/plots.js @@ -0,0 +1,53 @@ +export const pingPoints = []; +export const batteryPoints = []; + +function getChartConfig(pts, color, title, ymax=100) { + return { + type: 'line', + data: { + datasets: [{ + label: title, + data: pts, + borderWidth: 1, + borderColor: color, + backgroundColor: color, + fill: 'origin' + }] + }, + options: { + scales: { + x: { + type: 'time', + time: { + unit: 'minute', + displayFormats: { + second: 'h:mm a' + } + }, + grid: { + color: '#222', // Grid lines color + }, + ticks: { + source: 'data', + fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color + } + }, + y: { + beginAtZero: true, + max: ymax, + grid: { + color: 'rgba(255, 255, 255, 0.1)', // Grid lines color + }, + ticks: { + fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color + } + } + } + } + } +} + +const ctxPing = document.getElementById('chart-ping'); +const ctxBattery = document.getElementById('chart-battery'); +export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250)); +export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100)); diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js new file mode 100644 index 0000000000..8bc8e77317 --- /dev/null +++ b/tools/bodyteleop/static/js/webrtc.js @@ -0,0 +1,217 @@ +import { getXY } from "./controls.js"; +import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js"; + +export let dcInterval = null; +export let batteryInterval = null; +export let last_ping = null; + + +export function createPeerConnection(pc) { + var config = { + sdpSemantics: 'unified-plan' + }; + + pc = new RTCPeerConnection(config); + + // connect audio / video + pc.addEventListener('track', function(evt) { + console.log("Adding Tracks!") + if (evt.track.kind == 'video') + document.getElementById('video').srcObject = evt.streams[0]; + else + document.getElementById('audio').srcObject = evt.streams[0]; + }); + return pc; +} + + +export function negotiate(pc) { + return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) { + return pc.setLocalDescription(offer); + }).then(function() { + return new Promise(function(resolve) { + if (pc.iceGatheringState === 'complete') { + resolve(); + } + else { + function checkState() { + if (pc.iceGatheringState === 'complete') { + pc.removeEventListener('icegatheringstatechange', checkState); + resolve(); + } + } + pc.addEventListener('icegatheringstatechange', checkState); + } + }); + }).then(function() { + var offer = pc.localDescription; + return fetch('/offer', { + body: JSON.stringify({ + sdp: offer.sdp, + type: offer.type, + }), + headers: { + 'Content-Type': 'application/json' + }, + method: 'POST' + }); + }).then(function(response) { + console.log(response); + return response.json(); + }).then(function(answer) { + return pc.setRemoteDescription(answer); + }).catch(function(e) { + alert(e); + }); +} + + +function isMobile() { + let check = false; + (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera); + return check; +}; + + +export const constraints = { + audio: { + autoGainControl: false, + sampleRate: 48000, + sampleSize: 16, + echoCancellation: true, + noiseSuppression: true, + channelCount: 1 + }, + video: isMobile() +}; + + +export function createDummyVideoTrack() { + const canvas = document.createElement('canvas'); + const context = canvas.getContext('2d'); + + const frameWidth = 5; // Set the width of the frame + const frameHeight = 5; // Set the height of the frame + canvas.width = frameWidth; + canvas.height = frameHeight; + + context.fillStyle = 'black'; + context.fillRect(0, 0, frameWidth, frameHeight); + + const stream = canvas.captureStream(); + const videoTrack = stream.getVideoTracks()[0]; + + return videoTrack; +} + + +export function start(pc, dc) { + pc = createPeerConnection(pc); + + if (constraints.audio || constraints.video) { + // add audio track + navigator.mediaDevices.getUserMedia(constraints).then(function(stream) { + stream.getTracks().forEach(function(track) { + pc.addTrack(track, stream); + // only audio? + // if (track.kind === 'audio'){ + // pc.addTrack(track, stream); + // } + }); + return negotiate(pc); + }, function(err) { + alert('Could not acquire media: ' + err); + }); + + // add a fake video? + // const dummyVideoTrack = createDummyVideoTrack(); + // const dummyMediaStream = new MediaStream(); + // dummyMediaStream.addTrack(dummyVideoTrack); + // pc.addTrack(dummyVideoTrack, dummyMediaStream); + + } else { + negotiate(pc); + } + + // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000) + // var video = document.querySelector('video'); + // var print = function (e, f){console.log(e, f); video.requestVideoFrameCallback(print);}; + // video.requestVideoFrameCallback(print); + + + var parameters = {"ordered": true}; + dc = pc.createDataChannel('data', parameters); + dc.onclose = function() { + console.log("data channel closed"); + clearInterval(dcInterval); + clearInterval(batteryInterval); + }; + function controlCommand() { + const {x, y} = getXY(); + const dt = new Date().getTime(); + var message = JSON.stringify({type: 'control_command', x, y, dt}); + dc.send(message); + } + + function batteryLevel() { + var message = JSON.stringify({type: 'battery_level'}); + dc.send(message); + } + + dc.onopen = function() { + dcInterval = setInterval(controlCommand, 50); + batteryInterval = setInterval(batteryLevel, 10000); + controlCommand(); + batteryLevel(); + $(".sound").click((e)=>{ + const sound = $(e.target).attr('id').replace('sound-', '') + dc.send(JSON.stringify({type: 'play_sound', sound})); + }); + }; + + let val_print_idx = 0; + dc.onmessage = function(evt) { + const data = JSON.parse(evt.data); + if(val_print_idx == 0 && data.type === 'ping_time') { + const dt = new Date().getTime(); + const pingtime = dt - data.incoming_time; + pingPoints.push({'x': dt, 'y': pingtime}); + if (pingPoints.length > 1000) { + pingPoints.shift(); + } + chartPing.update(); + $("#ping-time").text((pingtime) + "ms"); + last_ping = dt; + $(".pre-blob").addClass('blob'); + } + val_print_idx = (val_print_idx + 1 ) % 20; + if(data.type === 'battery_level') { + $("#battery").text(data.value + "%"); + batteryPoints.push({'x': new Date().getTime(), 'y': data.value}); + if (batteryPoints.length > 1000) { + batteryPoints.shift(); + } + chartBattery.update(); + } + }; +} + + +export function stop(pc, dc) { + if (dc) { + dc.close(); + } + if (pc.getTransceivers) { + pc.getTransceivers().forEach(function(transceiver) { + if (transceiver.stop) { + transceiver.stop(); + } + }); + } + pc.getSenders().forEach(function(sender) { + sender.track.stop(); + }); + setTimeout(function() { + pc.close(); + }, 500); +} diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css new file mode 100644 index 0000000000..1bfb5982b4 --- /dev/null +++ b/tools/bodyteleop/static/main.css @@ -0,0 +1,185 @@ +body { + background: #333 !important; + color: #fff !important; + display: flex; + justify-content: center; + align-items: start; +} + +p { + margin: 0px !important; +} + +i { + font-style: normal; +} + +.small { + font-size: 1em !important +} + +.jumbo { + font-size: 8rem; +} + + +@media (max-width: 600px) { + .small { + font-size: 0.5em !important + } + .jumbo { + display: none; + } + +} + +#main { + display: flex; + flex-direction: column; + align-content: center; + justify-content: center; + align-items: center; + font-size: 30px; + width: 100%; + max-width: 1200px; +} + +video { + width: 95%; +} + +.pre-blob { + display: flex; + background: #333; + border-radius: 50%; + margin: 10px; + height: 45px; + width: 45px; + justify-content: center; + align-items: center; + font-size: 1rem; +} + +.blob { + background: rgba(231, 76, 60,1.0); + box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0); + animation: pulse 2s infinite; +} + +@keyframes pulse { + 0% { + box-shadow: 0 0 0 0px rgba(192, 57, 43, 1); + } + 100% { + box-shadow: 0 0 0 20px rgba(192, 57, 43, 0); + } +} + + +.icon-sup-panel { + display: flex; + flex-direction: row; + justify-content: space-around; + align-items: center; + background: #222; + border-radius: 10px; + padding: 5px; + margin: 5px 0px 5px 0px; +} + +.icon-sub-panel { + display: flex; + flex-direction: column; + justify-content: space-between; + align-items: center; +} + +#icon-panel { + display: flex; + width: 100%; + justify-content: space-between; + margin-top: 5px; +} + +.icon-sub-sub-panel { + display: flex; + flex-direction: row; +} + +.keys, #key-val { + background: #333; + padding: 2rem; + margin: 5px; + color: #fff; + display: flex; + justify-content: center; + align-items: center; + border-radius: 10px; + cursor: pointer; +} + +#key-val { + pointer-events: none; + background: #fff; + color: #333; + line-height: 1; + font-size: 20px; + flex-direction: column; +} + +.wasd-row { + display: flex; + flex-direction: row; + justify-content: center; + align-items: stretch; +} + +#wasd { + margin: 5px 0px 5px 0px; + background: #222; + border-radius: 10px; + width: 100%; + padding: 20px; + display: flex; + flex-direction: row; + justify-content: space-around; + align-items: stretch; + + user-select: none; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + touch-action: manipulation; +} + +.panel { + display: flex; + justify-content: center; + margin: 5px 0px 5px 0px !important; + background: #222; + border-radius: 10px; + width: 100%; + padding: 10px; +} + +#ping-time, #battery { + font-size: 25px; +} + +#stop { + display: none; +} + +.plan-form { + display: flex; + flex-direction: column; + justify-content: space-between; + align-items: center; +} + +.details { + display: flex; + padding: 0px 10px 0px 10px; +} diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png new file mode 100644 index 0000000000..ba0e846b22 Binary files /dev/null and b/tools/bodyteleop/static/poster.png differ diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py new file mode 100644 index 0000000000..ed94cb6d83 --- /dev/null +++ b/tools/bodyteleop/web.py @@ -0,0 +1,207 @@ +import asyncio +import json +import logging +import os +import ssl +import uuid +import time + +# aiortc and its dependencies have lots of internal warnings :( +import warnings +warnings.resetwarnings() +warnings.simplefilter("always") + +from aiohttp import web +from aiortc import RTCPeerConnection, RTCSessionDescription + +import cereal.messaging as messaging +from common.basedir import BASEDIR +from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo + +logger = logging.getLogger("pc") +logging.basicConfig(level=logging.INFO) + +pcs = set() +pm, sm = None, None +TELEOPDIR = f"{BASEDIR}/tools/bodyteleop" + + +async def index(request): + content = open(TELEOPDIR + "/static/index.html", "r").read() + now = time.monotonic() + request.app['mutable_vals']['last_send_time'] = now + request.app['mutable_vals']['last_override_time'] = now + request.app['mutable_vals']['prev_command'] = [] + request.app['mutable_vals']['find_person'] = False + + return web.Response(content_type="text/html", text=content) + + +async def control_body(data, app): + now = time.monotonic() + if (data['type'] == 'dummy_controls') and (now < (app['mutable_vals']['last_send_time'] + 0.2)): + return + if (data['type'] == 'control_command') and (app['mutable_vals']['prev_command'] == [data['x'], data['y']] and data['x'] == 0 and data['y'] == 0): + return + + logger.info(str(data)) + x = max(-1.0, min(1.0, data['x'])) + y = max(-1.0, min(1.0, data['y'])) + dat = messaging.new_message('testJoystick') + dat.testJoystick.axes = [x, y] + dat.testJoystick.buttons = [False] + pm.send('testJoystick', dat) + app['mutable_vals']['last_send_time'] = now + if (data['type'] == 'control_command'): + app['mutable_vals']['last_override_time'] = now + app['mutable_vals']['prev_command'] = [data['x'], data['y']] + + +async def dummy_controls_msg(app): + while True: + if 'last_send_time' in app['mutable_vals']: + this_time = time.monotonic() + if (app['mutable_vals']['last_send_time'] + 0.2) < this_time: + await control_body({'type': 'dummy_controls', 'x': 0, 'y': 0}, app) + await asyncio.sleep(0.2) + + +async def start_background_tasks(app): + app['bgtask_dummy_controls_msg'] = asyncio.create_task(dummy_controls_msg(app)) + + +async def stop_background_tasks(app): + app['bgtask_dummy_controls_msg'].cancel() + await app['bgtask_dummy_controls_msg'] + + +async def offer(request): + logger.info("\n\n\nnewoffer!\n\n") + + params = await request.json() + offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"]) + speaker = WebClientSpeaker() + blackhole = MediaBlackhole() + + pc = RTCPeerConnection() + pc_id = "PeerConnection(%s)" % uuid.uuid4() + pcs.add(pc) + + def log_info(msg, *args): + logger.info(pc_id + " " + msg, *args) + + log_info("Created for %s", request.remote) + + @pc.on("datachannel") + def on_datachannel(channel): + request.app['mutable_vals']['remote_channel'] = channel + + @channel.on("message") + async def on_message(message): + data = json.loads(message) + if data['type'] == 'control_command': + await control_body(data, request.app) + times = { + 'type': 'ping_time', + 'incoming_time': data['dt'], + 'outgoing_time': int(time.time() * 1000), + } + channel.send(json.dumps(times)) + if data['type'] == 'battery_level': + sm.update(timeout=0) + if sm.updated['carState']: + channel.send(json.dumps({'type': 'battery_level', 'value': int(sm['carState'].fuelGauge * 100)})) + if data['type'] == 'play_sound': + logger.info(f"Playing sound: {data['sound']}") + await play_sound(data['sound']) + if data['type'] == 'find_person': + request.app['mutable_vals']['find_person'] = data['value'] + + @pc.on("connectionstatechange") + async def on_connectionstatechange(): + log_info("Connection state is %s", pc.connectionState) + if pc.connectionState == "failed": + await pc.close() + pcs.discard(pc) + + @pc.on('track') + def on_track(track): + logger.info(f"Track received: {track.kind}") + if track.kind == "audio": + speaker.addTrack(track) + elif track.kind == "video": + blackhole.addTrack(track) + + @track.on("ended") + async def on_ended(): + log_info("Remote %s track ended", track.kind) + if track.kind == "audio": + await speaker.stop() + elif track.kind == "video": + await blackhole.stop() + + video_sender = pc.addTrack(EncodedBodyVideo()) + force_codec(pc, video_sender, forced_codec='video/H264') + _ = pc.addTrack(BodyMic()) + + await pc.setRemoteDescription(offer) + await speaker.start() + await blackhole.start() + answer = await pc.createAnswer() + await pc.setLocalDescription(answer) + + return web.Response( + content_type="application/json", + text=json.dumps( + {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type} + ), + ) + + +async def on_shutdown(app): + coros = [pc.close() for pc in pcs] + await asyncio.gather(*coros) + pcs.clear() + + +async def run(cmd): + proc = await asyncio.create_subprocess_shell( + cmd, + stdout=asyncio.subprocess.PIPE, + stderr=asyncio.subprocess.PIPE + ) + stdout, stderr = await proc.communicate() + logger.info("Created key and cert!") + if stdout: + logger.info(f'[stdout]\n{stdout.decode()}') + if stderr: + logger.info(f'[stderr]\n{stderr.decode()}') + + +def main(): + global pm, sm + pm = messaging.PubMaster(['testJoystick']) + sm = messaging.SubMaster(['carState', 'logMessage']) + # App needs to be HTTPS for microphone and audio autoplay to work on the browser + cert_path = TELEOPDIR + '/cert.pem' + key_path = TELEOPDIR + '/key.pem' + if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)): + asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \ + -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"')) + else: + logger.info("Certificate exists!") + ssl_context = ssl.SSLContext() + ssl_context.load_cert_chain(cert_path, key_path) + app = web.Application() + app['mutable_vals'] = {} + app.on_shutdown.append(on_shutdown) + app.router.add_post("/offer", offer) + app.router.add_get("/", index) + app.router.add_static('/static', TELEOPDIR + '/static') + app.on_startup.append(start_background_tasks) + app.on_cleanup.append(stop_background_tasks) + web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context) + + +if __name__ == "__main__": + main() diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 921decff3c..cfda056636 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -1,7 +1,5 @@ # Cabana - - Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai). ## Usage Instructions diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index a735dc438e..cdc809f2b4 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -27,17 +27,18 @@ assets_src = "assets/assets.qrc" cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) -prev_moc_path = cabana_env['QT_MOCHPREFIX'] -cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', +prev_moc_path = cabana_env['QT3_MOCHPREFIX'] +cabana_env['QT3_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', - 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) -def generate_dbc_json(target, source, env): - env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json') -cabana_env.Command('generate_dbc_json', [], generate_dbc_json) +generate_dbc = cabana_env.Command('generate_dbc_json', + [], + "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json") +cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"]) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 3a03ee0b70..6aac56cc78 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,7 +1,5 @@ #include "tools/cabana/binaryview.h" -#include - #include #include #include @@ -11,16 +9,12 @@ #include #include "tools/cabana/commands.h" -#include "tools/cabana/signalview.h" // BinaryView const int CELL_HEIGHT = 36; const int VERTICAL_HEADER_WIDTH = 30; - -inline int get_bit_index(const QModelIndex &index, bool little_endian) { - return index.row() * 8 + (little_endian ? 7 - index.column() : index.column()); -} +inline int get_bit_pos(const QModelIndex &index) { return flipBitPos(index.row() * 8 + index.column()); } BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); @@ -66,7 +60,7 @@ void BinaryView::addShortcuts() { QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated); QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - emit removeSignal(hovered_sig); + UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig)); hovered_sig = nullptr; } }); @@ -75,13 +69,9 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this); QObject::connect(shortcut_endian, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const cabana::Signal *hovered_sig_prev = hovered_sig; cabana::Signal s = *hovered_sig; s.is_little_endian = !s.is_little_endian; emit editSignal(hovered_sig, s); - - hovered_sig = nullptr; - highlight(hovered_sig_prev); } }); @@ -89,13 +79,9 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this); QObject::connect(shortcut_sign, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const cabana::Signal *hovered_sig_prev = hovered_sig; cabana::Signal s = *hovered_sig; s.is_signed = !s.is_signed; emit editSignal(hovered_sig, s); - - hovered_sig = nullptr; - highlight(hovered_sig_prev); } }); @@ -127,15 +113,6 @@ void BinaryView::highlight(const cabana::Signal *sig) { } } - if (sig && underMouse()) { - QString tooltip = tr(R"(%1
- Size:%2 LE:%3 SGD:%4 - )").arg(sig->name).arg(sig->size).arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); - QToolTip::showText(QCursor::pos(), tooltip, this, rect()); - } else { - QToolTip::showText(QCursor::pos(), "", this, rect()); - } - hovered_sig = sig; emit signalHovered(hovered_sig); } @@ -148,24 +125,24 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF QItemSelection selection; auto [start, size, is_lb] = getSelection(index); - for (int i = start; i < start + size; ++i) { - auto idx = model->bitIndex(i, is_lb); - selection.merge({idx, idx}, flags); + for (int i = 0; i < size; ++i) { + int pos = is_lb ? flipBitPos(start + i) : flipBitPos(start) + i; + selection << QItemSelectionRange{model->index(pos / 8, pos % 8)}; } selectionModel()->select(selection, flags); } void BinaryView::mousePressEvent(QMouseEvent *event) { - delegate->selection_color = (palette().color(QPalette::Active, QPalette::Highlight)); + resize_sig = nullptr; if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) { anchor_index = index; auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - int bit_idx = get_bit_index(anchor_index, true); + int bit_pos = get_bit_pos(anchor_index); for (auto s : item->sigs) { - if (bit_idx == s->lsb || bit_idx == s->msb) { - anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true); + if (bit_pos == s->lsb || bit_pos == s->msb) { + int idx = flipBitPos(bit_pos == s->lsb ? s->msb : s->lsb); + anchor_index = model->index(idx / 8, idx % 8); resize_sig = s; - delegate->selection_color = getColor(s); break; } } @@ -192,9 +169,10 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { auto release_index = indexAt(event->pos()); if (release_index.isValid() && anchor_index.isValid()) { if (selectionModel()->hasSelection()) { - auto [start_bit, size, is_lb] = getSelection(release_index); - resize_sig ? emit resizeSignal(resize_sig, start_bit, size) - : emit addSignal(start_bit, size, is_lb); + auto sig = resize_sig ? *resize_sig : cabana::Signal{}; + std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index); + resize_sig ? emit editSignal(resize_sig, sig) + : UndoStack::push(new AddSigCommand(model->msg_id, sig)); } else { auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); if (item && item->sigs.size() > 0) @@ -228,9 +206,12 @@ void BinaryView::refresh() { QSet BinaryView::getOverlappingSignals() const { QSet overlapping; - for (auto &item : model->items) { - if (item.sigs.size() > 1) - for (auto s : item.sigs) overlapping += s; + for (const auto &item : model->items) { + if (item.sigs.size() > 1) { + for (auto s : item.sigs) { + if (s->type == cabana::Signal::Type::Normal) overlapping += s; + } + } } return overlapping; } @@ -252,10 +233,11 @@ std::tuple BinaryView::getSelection(QModelIndex index) { is_lb = false; } - int cur_bit_idx = get_bit_index(index, is_lb); - int anchor_bit_idx = get_bit_index(anchor_index, is_lb); - auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx); - return {start_bit, end_bit - start_bit + 1, is_lb}; + int cur_bit_pos = get_bit_pos(index); + int anchor_bit_pos = get_bit_pos(anchor_index); + int start_bit = is_lb ? std::min(cur_bit_pos, anchor_bit_pos) : get_bit_pos(std::min(index, anchor_index)); + int size = is_lb ? std::abs(cur_bit_pos - anchor_bit_pos) + 1 : std::abs(flipBitPos(cur_bit_pos) - flipBitPos(anchor_bit_pos)) + 1; + return {start_bit, size, is_lb}; } // BinaryViewModel @@ -267,18 +249,21 @@ void BinaryViewModel::refresh() { row_count = dbc_msg->size; items.resize(row_count * column_count); for (auto sig : dbc_msg->getSignals()) { - auto [start, end] = getSignalRange(sig); - for (int j = start; j <= end; ++j) { - int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j; - int idx = column_count * (bit_index / 8) + bit_index % 8; + for (int j = 0; j < sig->size; ++j) { + int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j; + int idx = column_count * (pos / 8) + pos % 8; if (idx >= items.size()) { qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; break; } - if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; - if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; - items[idx].bg_color = getColor(sig); - items[idx].sigs.push_back(sig); + if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; + if (j == sig->size - 1) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; + + auto &sigs = items[idx].sigs; + sigs.push_back(sig); + if (sigs.size() > 1) { + std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) { return l->size > r->size; }); + } } } } else { @@ -345,6 +330,16 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i return {}; } +QVariant BinaryViewModel::data(const QModelIndex &index, int role) const { + if (role == Qt::ToolTipRole) { + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + if (item && !item->sigs.empty()) { + return signalToolTip(item->sigs.back()); + } + } + return {}; +} + // BinaryItemDelegate BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { @@ -353,15 +348,11 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa hex_font.setBold(true); } -bool BinaryItemDelegate::isSameColor(const QModelIndex &index, int dx, int dy) const { - QModelIndex index2 = index.sibling(index.row() + dy, index.column() + dx); - if (!index2.isValid()) { - return false; - } - auto color1 = ((const BinaryViewModel::Item *)index.internalPointer())->bg_color; - auto color2 = ((const BinaryViewModel::Item *)index2.internalPointer())->bg_color; - // Ignore alpha - return (color1.red() == color2.red()) && (color2.green() == color2.green()) && (color1.blue() == color2.blue()); +bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const { + if (!index.isValid()) return false; + auto model = (const BinaryViewModel*)(index.model()); + int idx = (index.row() + dy) * model->columnCount() + index.column() + dx; + return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false; } void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -370,28 +361,33 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->save(); if (index.column() == 8) { - painter->setFont(hex_font); - painter->fillRect(option.rect, item->bg_color); - } else if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, selection_color); - painter->setPen(option.palette.color(QPalette::BrightText)); - } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing - QColor bg = item->bg_color; - if (bin_view->hovered_sig && item->sigs.contains(bin_view->hovered_sig)) { - bg.setAlpha(255); - painter->fillRect(option.rect, bg.darker(125)); // 4/5x brightness - painter->setPen(option.palette.color(QPalette::BrightText)); - } else { - if (item->sigs.size() > 0) { - drawBorder(painter, option, index); - bg.setAlpha(std::max(50, bg.alpha())); - } - painter->fillRect(option.rect, bg); - painter->setPen(option.palette.color(QPalette::Text)); + if (item->valid) { + painter->setFont(hex_font); + painter->fillRect(option.rect, item->bg_color); } + } else if (option.state & QStyle::State_Selected) { + auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight); + painter->fillRect(option.rect, color); + painter->setPen(option.palette.color(QPalette::BrightText)); + } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing + if (item->sigs.size() > 0) { + for (auto &s : item->sigs) { + if (s == bin_view->hovered_sig) { + painter->fillRect(option.rect, s->color.darker(125)); // 4/5x brightness + } else { + drawSignalCell(painter, option, index, s); + } + } + } else if (item->valid) { + painter->fillRect(option.rect, item->bg_color); + } + auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text; + painter->setPen(option.palette.color(color_role)); } - if (!item->valid) { + if (item->sigs.size() > 1) { + painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::Dense7Pattern)); + } else if (!item->valid) { painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern)); } painter->drawText(option.rect, Qt::AlignCenter, item->val); @@ -403,44 +399,50 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } // Draw border on edge of signal -void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - auto item = (const BinaryViewModel::Item *)index.internalPointer(); - QColor border_color = item->bg_color; - border_color.setAlphaF(1.0); - - bool draw_left = !isSameColor(index, -1, 0); - bool draw_top = !isSameColor(index, 0, -1); - bool draw_right = !isSameColor(index, 1, 0); - bool draw_bottom = !isSameColor(index, 0, 1); +void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionViewItem &option, + const QModelIndex &index, const cabana::Signal *sig) const { + bool draw_left = !hasSignal(index, -1, 0, sig); + bool draw_top = !hasSignal(index, 0, -1, sig); + bool draw_right = !hasSignal(index, 1, 0, sig); + bool draw_bottom = !hasSignal(index, 0, 1, sig); const int spacing = 2; QRect rc = option.rect.adjusted(draw_left * 3, draw_top * spacing, draw_right * -3, draw_bottom * -spacing); QRegion subtract; if (!draw_top) { - if (!draw_left && !isSameColor(index, -1, -1)) { + if (!draw_left && !hasSignal(index, -1, -1, sig)) { subtract += QRect{rc.left(), rc.top(), 3, spacing}; - } else if (!draw_right && !isSameColor(index, 1, -1)) { + } else if (!draw_right && !hasSignal(index, 1, -1, sig)) { subtract += QRect{rc.right() - 2, rc.top(), 3, spacing}; } } if (!draw_bottom) { - if (!draw_left && !isSameColor(index, -1, 1)) { + if (!draw_left && !hasSignal(index, -1, 1, sig)) { subtract += QRect{rc.left(), rc.bottom() - (spacing - 1), 3, spacing}; - } else if (!draw_right && !isSameColor(index, 1, 1)) { + } else if (!draw_right && !hasSignal(index, 1, 1, sig)) { subtract += QRect{rc.right() - 2, rc.bottom() - (spacing - 1), 3, spacing}; } } + painter->setClipRegion(QRegion(rc).subtracted(subtract)); - painter->setPen(QPen(border_color, 1)); + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + QColor color = sig->color; + color.setAlpha(item->bg_color.alpha()); + // Mixing the signal colour with the Base background color to fade it + painter->fillRect(rc, option.palette.color(QPalette::Base)); + painter->fillRect(rc, color); + + // Draw edges + color = sig->color.darker(125); + painter->setPen(QPen(color, 1)); if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft()); if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight()); if (draw_bottom) painter->drawLine(rc.bottomLeft(), rc.bottomRight()); if (draw_top) painter->drawLine(rc.topLeft(), rc.topRight()); - painter->setClipRegion(QRegion(rc).subtracted(subtract)); if (!subtract.isEmpty()) { // fill gaps inside corners. - painter->setPen(QPen(border_color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); + painter->setPen(QPen(color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); for (auto &r : subtract) { painter->drawRect(r); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index f80b4520ed..161b2aad8a 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,6 +1,5 @@ #pragma once -#include #include #include #include @@ -13,12 +12,10 @@ class BinaryItemDelegate : public QStyledItemDelegate { public: BinaryItemDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - void setSelectionColor(const QColor &color) { selection_color = color; } - bool isSameColor(const QModelIndex &index, int dx, int dy) const; - void drawBorder(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index) const; + bool hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const; + void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const; QFont small_font, hex_font; - QColor selection_color; }; class BinaryViewModel : public QAbstractTableModel { @@ -28,10 +25,9 @@ public: void updateState(); void updateItem(int row, int col, const QString &val, const QColor &color); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } - inline QModelIndex bitIndex(int bit, bool is_lb) const { return index(bit / 8, is_lb ? (7 - bit % 8) : bit % 8); } QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override { return createIndex(row, column, (void *)&items[row * column_count + column]); } @@ -40,7 +36,7 @@ public: } struct Item { - QColor bg_color = QColor(102, 86, 169, 0); + QColor bg_color = QColor(102, 86, 169, 255); bool is_msb = false; bool is_lsb = false; QString val; @@ -68,9 +64,6 @@ public: signals: void signalClicked(const cabana::Signal *sig); void signalHovered(const cabana::Signal *sig); - void addSignal(int start_bit, int size, bool little_endian); - void resizeSignal(const cabana::Signal *sig, int from, int size); - void removeSignal(const cabana::Signal *sig); void editSignal(const cabana::Signal *origin_s, cabana::Signal &s); void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 6e354da315..49b8fcf6ca 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,7 +1,6 @@ #include #include -#include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" #include "tools/cabana/streamselector.h" @@ -16,6 +15,8 @@ int main(int argc, char *argv[]) { QApplication app(argc, argv); app.setApplicationDisplayName("Cabana"); app.setWindowIcon(QIcon(":cabana-icon.png")); + + UnixSignalHandler signalHandler; utils::setTheme(settings.theme); QCommandLineParser cmd_parser; @@ -35,17 +36,20 @@ int main(int argc, char *argv[]) { QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : ""; - std::unique_ptr op_prefix; - std::unique_ptr stream; - + AbstractStream *stream = nullptr; if (cmd_parser.isSet("stream")) { - stream.reset(new DeviceStream(&app, cmd_parser.value("zmq"))); + stream = new DeviceStream(&app, cmd_parser.value("zmq")); } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { PandaStreamConfig config = {}; if (cmd_parser.isSet("panda-serial")) { config.serial = cmd_parser.value("panda-serial"); } - stream.reset(new PandaStream(&app, config)); + try { + stream = new PandaStream(&app, config); + } catch (std::exception &e) { + qWarning() << e.what(); + return 0; + } } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { @@ -65,36 +69,29 @@ int main(int argc, char *argv[]) { } if (route.isEmpty()) { - AbstractStream *out_stream = nullptr; - StreamSelector dlg; - dlg.addStreamWidget(ReplayStream::widget(&out_stream)); - dlg.addStreamWidget(PandaStream::widget(&out_stream)); - dlg.addStreamWidget(DeviceStream::widget(&out_stream)); - if (!dlg.exec()) { - return 0; - } + StreamSelector dlg(&stream); + dlg.exec(); dbc_file = dlg.dbcFile(); - stream.reset(out_stream); } else { - // TODO: Remove when OpenpilotPrefix supports ZMQ -#ifndef __APPLE__ - op_prefix.reset(new OpenpilotPrefix()); -#endif auto replay_stream = new ReplayStream(&app); - stream.reset(replay_stream); if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; } + stream = replay_stream; } } MainWindow w; - - // Load DBC + if (!stream) { + stream = new DummyStream(&app); + } + stream->start(); if (!dbc_file.isEmpty()) { w.loadFile(dbc_file); } - w.show(); - return app.exec(); + + int ret = app.exec(); + delete can; + return ret; } diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index bd05107297..7ba2e87110 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -5,6 +5,7 @@ #include #include #include +#include #include #include #include @@ -17,6 +18,8 @@ #include "tools/cabana/chart/chartswidget.h" +// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) +const int AXIS_X_TOP_MARGIN = 4; static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { @@ -35,14 +38,14 @@ ChartView::ChartView(const std::pair &x_range, ChartsWidget *par setChart(chart); createToolButtons(); - // TODO: enable zoomIn/seekTo in live streaming mode. setRubberBand(QChartView::HorizontalRubberBand); setMouseTracking(true); setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); + signal_value_font.setPointSize(9); - QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); }); - QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); }); - QObject::connect(window()->windowHandle(), &QWindow::screenChanged, [this]() { resetChartCache(); }); + QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache); + QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache); + QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); @@ -103,14 +106,14 @@ void ChartView::setTheme(QChart::ChartTheme theme) { chart()->legend()->setLabelColor(palette().color(QPalette::Text)); } for (auto &s : sigs) { - s.series->setColor(getColor(s.sig)); + s.series->setColor(s.sig->color); } } void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSignal(msg_id, sig)) return; - QXYSeries *series = createSeries(series_type, getColor(sig)); + QXYSeries *series = createSeries(series_type, sig->color); sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); updateSeries(sig); updateSeriesPoints(); @@ -119,7 +122,7 @@ void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) { } bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const { - return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); + return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } void ChartView::removeIf(std::function predicate) { @@ -143,15 +146,16 @@ void ChartView::removeIf(std::function predicate) { } void ChartView::signalUpdated(const cabana::Signal *sig) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) { + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { updateTitle(); updateSeries(sig); } } void ChartView::msgUpdated(MessageId id) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; })) + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id.address == id.address; })) { updateTitle(); + } } void ChartView::manageSignals() { @@ -189,10 +193,16 @@ void ChartView::updatePlotArea(int left_pos, bool force) { qreal left, top, right, bottom; chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); - chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()}); + QSizeF legend_size = chart()->legend()->layout()->minimumSize(); + legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right()); + chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size}); + + // add top space for signal value + int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3; + adjust_top = std::max(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin)); + // add right space for x-axis label QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); x_label_size += QSizeF{5, 5}; - int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin); chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); chart()->layout()->invalidate(); resetChartCache(); @@ -203,9 +213,19 @@ void ChartView::updateTitle() { for (QLegendMarker *marker : chart()->legend()->markers()) { QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); } + + // Use CSS to draw titles in the WindowText color + auto tmp = palette().color(QPalette::WindowText); + auto titleColorCss = tmp.name(QColor::HexArgb); + // Draw message details in similar color, but slightly fade it to the background + tmp.setAlpha(180); + auto msgColorCss = tmp.name(QColor::HexArgb); + for (auto &s : sigs) { auto decoration = s.series->isVisible() ? "none" : "line-through"; - s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString())); + s.series->setName(QString("%3 %5 %6") + .arg(decoration, titleColorCss, s.sig->name, + msgColorCss, msgName(s.msg_id), s.msg_id.toString())); } split_chart_act->setEnabled(sigs.size() > 1); resetChartCache(); @@ -229,11 +249,11 @@ void ChartView::updatePlot(double cur, double min, double max) { void ChartView::updateSeriesPoints() { // Show points when zoomed in enough for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); - auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan); + auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan); if (begin != end) { int num_points = std::max((end - begin), 1); - QPointF right_pt = end == s.vals.end() ? s.vals.back() : *end; + QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end; double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points; if (series_type == SeriesType::Scatter) { @@ -249,37 +269,36 @@ void ChartView::updateSeriesPoints() { } } -void ChartView::updateSeries(const cabana::Signal *sig) { +void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { for (auto &s : sigs) { if (!sig || s.sig == sig) { - if (!can->liveStreaming()) { + if (clear) { s.vals.clear(); s.step_vals.clear(); s.last_value_mono_time = 0; } - s.series->setColor(getColor(s.sig)); + s.series->setColor(s.sig->color); const auto &msgs = can->events(s.msg_id); + s.vals.reserve(msgs.capacity()); + s.step_vals.reserve(msgs.capacity() * 2); + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) { return ts < e->mono_time; }); - int new_size = std::max(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100); - if (s.vals.capacity() <= new_size) { - s.vals.reserve(new_size * 2); - s.step_vals.reserve(new_size * 4); - } - const double route_start_time = can->routeStartTime(); for (auto end = msgs.cend(); first != end; ++first) { const CanEvent *e = *first; - double value = get_raw_value(e->dat, e->size, *s.sig); - double ts = e->mono_time / 1e9 - route_start_time; // seconds - s.vals.append({ts, value}); - if (!s.step_vals.empty()) { - s.step_vals.append({ts, s.step_vals.back().y()}); + double value = 0; + if (s.sig->getValue(e->dat, e->size, &value)) { + double ts = e->mono_time / 1e9 - route_start_time; // seconds + s.vals.append({ts, value}); + if (!s.step_vals.empty()) { + s.step_vals.append({ts, s.step_vals.back().y()}); + } + s.step_vals.append({ts, value}); + s.last_value_mono_time = e->mono_time; } - s.step_vals.append({ts, value}); - s.last_value_mono_time = e->mono_time; } if (!can->liveStreaming()) { s.segment_tree.build(s.vals); @@ -308,8 +327,8 @@ void ChartView::updateAxisY() { unit.clear(); } - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); s.min = std::numeric_limits::max(); s.max = std::numeric_limits::lowest(); if (can->liveStreaming()) { @@ -318,7 +337,7 @@ void ChartView::updateAxisY() { if (it->y() > s.max) s.max = it->y(); } } else { - auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.begin(), first), std::distance(s.vals.begin(), last)); + auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last)); s.min = min_y; s.max = max_y; } @@ -465,7 +484,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { if (rubber->width() <= 0) { // no rubber dragged, seek to mouse position can->seekTo(min); - } else if (rubber->width() > 10) { + } else if (rubber->width() > 10 && (max - min) > 0.01) { // Minimum range is 10 milliseconds. charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max})); } else { viewport()->update(); @@ -527,14 +546,14 @@ void ChartView::showTip(double sec) { } tooltip_x = chart()->mapToPosition({sec, 0}).x(); - qreal x = tooltip_x; - QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); + qreal x = -1; + QStringList text_list; for (auto &s : sigs) { if (s.series->isVisible()) { QString value = "--"; // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); - if (it != s.vals.rend() && it->x() >= axis_x->min()) { + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.crend() && it->x() >= axis_x->min()) { value = QString::number(it->y()); s.track_pt = *it; x = std::max(x, chart()->mapToPosition(*it).x()); @@ -546,7 +565,11 @@ void ChartView::showTip(double sec) { .arg(s.series->color().name(), name, value, min, max); } } + if (x < 0) { + x = tooltip_x; + } QPoint pt(x, chart()->plotArea().top()); + text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); QString text = "

" % text_list.join("
") % "

"; tip_label.showText(pt, text, this, visible_rect); viewport()->update(); @@ -643,14 +666,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) { } void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { - // draw time line - qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x(); - x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right()); - qreal y1 = chart()->plotArea().top() - 2; - qreal y2 = chart()->plotArea().bottom() + 2; - painter->setPen(QPen(chart()->titleBrush().color(), 2)); - painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); - + drawTimeline(painter); // draw track points painter->setPen(Qt::NoPen); qreal track_line_x = -1; @@ -663,16 +679,17 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } if (track_line_x > 0) { + auto plot_area = chart()->plotArea(); painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{track_line_x, y1}, QPointF{track_line_x, y2}); + painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()}); } // paint points. OpenGL mode lacks certain features (such as showing points) painter->setPen(Qt::NoPen); for (auto &s : sigs) { if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); painter->setBrush(s.series->color()); for (auto it = first; it != last; ++it) { painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); @@ -686,9 +703,8 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { painter->setPen(Qt::white); auto rubber_rect = rubber->geometry().normalized(); for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { - QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 1); - // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) - auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -4, 6, 4); + QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2); + auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN); pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); painter->fillRect(r, Qt::gray); painter->drawText(r, Qt::AlignCenter, sec); @@ -696,6 +712,48 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } +void ChartView::drawTimeline(QPainter *painter) { + const auto plot_area = chart()->plotArea(); + // draw line + qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right()); + painter->setPen(QPen(chart()->titleBrush().color(), 2)); + painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1}); + + // draw current time + QString time_str = QString::number(cur_sec, 'f', 2); + QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); + QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); + QPainterPath path; + path.addRoundedRect(time_str_rect, 3, 3); + painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray); + painter->setPen(palette().color(QPalette::BrightText)); + painter->setFont(axis_x->labelsFont()); + painter->drawText(time_str_rect, Qt::AlignCenter, time_str); + + // draw signal value + auto item_group = qgraphicsitem_cast(chart()->legend()->childItems()[0]); + assert(item_group != nullptr); + auto legend_markers = item_group->childItems(); + assert(legend_markers.size() == sigs.size()); + + painter->setFont(signal_value_font); + painter->setPen(chart()->legend()->labelColor()); + int i = 0; + for (auto &s : sigs) { + QString value = "--"; + if (s.series->isVisible()) { + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.crend() && it->x() >= axis_x->min()) { + value = s.sig->formatValue(it->y()); + } + } + QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); + QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); + QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width()); + painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val); + } +} + QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { QXYSeries *series = nullptr; if (type == SeriesType::Line) { @@ -743,7 +801,7 @@ void ChartView::setSeriesType(SeriesType type) { s.series->deleteLater(); } for (auto &s : sigs) { - auto series = createSeries(series_type, getColor(s.sig)); + auto series = createSeries(series_type, s.sig->color); series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); s.series = series; } diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index fda9271560..272ea0d193 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -27,7 +27,7 @@ public: ChartView(const std::pair &x_range, ChartsWidget *parent = nullptr); void addSignal(const MessageId &msg_id, const cabana::Signal *sig); bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const; - void updateSeries(const cabana::Signal *sig = nullptr); + void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true); void updatePlot(double cur, double min, double max); void setSeriesType(SeriesType type); void updatePlotArea(int left, bool force = false); @@ -56,7 +56,7 @@ private slots: void manageSignals(); void handleMarkerClicked(); void msgUpdated(MessageId id); - void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } + void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); } void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: @@ -80,6 +80,7 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; void drawBackground(QPainter *painter, const QRectF &rect) override; void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } + void drawTimeline(QPainter *painter); std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); QXYSeries *createSeries(SeriesType type, QColor color); @@ -104,6 +105,7 @@ private: QPixmap chart_pixmap; bool can_drop = false; double tooltip_x = -1; + QFont signal_value_font; ChartsWidget *charts_widget; friend class ChartsWidget; }; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index ffb354aa3a..ebc463af0e 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -60,18 +60,17 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom"))); reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - toolbar->addWidget(remove_all_btn = new ToolButton("x", tr("Remove all charts"))); + toolbar->addWidget(remove_all_btn = new ToolButton("x-square", tr("Remove all charts"))); toolbar->addWidget(dock_btn = new ToolButton("")); main_layout->addWidget(toolbar); // tabbar - tabbar = new QTabBar(this); + tabbar = new TabBar(this); tabbar->setAutoHide(true); tabbar->setExpanding(false); tabbar->setDrawBase(true); tabbar->setAcceptDrops(true); tabbar->setChangeCurrentOnDrag(true); - tabbar->setTabsClosable(true); tabbar->setUsesScrollButtons(true); main_layout->addWidget(tabbar); @@ -150,8 +149,9 @@ void ChartsWidget::updateTabBar() { void ChartsWidget::eventsMerged() { QFutureSynchronizer future_synchronizer; + bool clear = !can->liveStreaming(); for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr)); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear)); } } @@ -188,7 +188,7 @@ void ChartsWidget::updateState() { if (pos < 0 || pos > 0.8) { display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); } - double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond()); + double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds()); display_range.first = std::max(0.0, max_sec - max_chart_range); display_range.second = display_range.first + max_chart_range; } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) { @@ -264,6 +264,7 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo if (show && !chart) { chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart(); chart->addSignal(id, sig); + updateState(); } else if (!show && chart) { chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); } @@ -397,10 +398,11 @@ void ChartsWidget::removeAll() { tabbar->removeTab(1); } tab_charts.clear(); + zoomReset(); if (!charts.isEmpty()) { for (auto c : charts) { - c->deleteLater(); + delete c; } charts.clear(); updateToolBar(); diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 25e5b8e194..0d9f79062a 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include #include @@ -95,7 +94,7 @@ private: ToolButton *remove_all_btn; QList charts; std::unordered_map> tab_charts; - QTabBar *tabbar; + TabBar *tabbar; ChartsContainer *charts_container; QScrollArea *charts_scroll; uint32_t max_chart_range = 0; @@ -125,4 +124,3 @@ public: ChartsWidget *charts; std::pair prev_range, range; }; - diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc index 1aa8fc5016..50fe861a03 100644 --- a/tools/cabana/chart/signalselector.cc +++ b/tools/cabana/chart/signalselector.cc @@ -91,7 +91,7 @@ void SignalSelector::updateAvailableList(int index) { } void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { - QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); + QString text = QString("■ %1").arg(sig->color.name(), sig->name); if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); QLabel *label = new QLabel(text); diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 6d7b35f3a9..baedee8bb2 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -22,22 +22,31 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl if (first != last) { if (update_values) { values.clear(); - values.reserve(std::distance(first, last)); + if (values.capacity() < std::distance(first, last)) { + values.reserve(std::distance(first, last) * 2); + } min_val = std::numeric_limits::max(); max_val = std::numeric_limits::lowest(); for (auto it = first; it != last; ++it) { const CanEvent *e = *it; - double value = get_raw_value(e->dat, e->size, *sig); - values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value); - if (min_val > value) min_val = value; - if (max_val < value) max_val = value; + double value = 0; + if (sig->getValue(e->dat, e->size, &value)) { + values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value); + if (min_val > value) min_val = value; + if (max_val < value) max_val = value; + } } if (min_val == max_val) { min_val -= 1; max_val += 1; } } - render(getColor(sig), size); + } else { + values.clear(); + } + + if (!values.empty()) { + render(sig->color, size); } else { pixmap = QPixmap(); min_val = -1; @@ -49,7 +58,7 @@ void Sparkline::render(const QColor &color, QSize size) { const double xscale = (size.width() - 1) / (double)time_range; const double yscale = (size.height() - 3) / (max_val - min_val); points.clear(); - points.reserve(values.size()); + points.reserve(values.capacity()); for (auto &v : values) { points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale); } diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h index 69d4f4bc55..2061966ebb 100644 --- a/tools/cabana/chart/sparkline.h +++ b/tools/cabana/chart/sparkline.h @@ -10,6 +10,9 @@ class Sparkline { public: void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size); const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); } + inline double freq() const { + return values.empty() ? 0 : values.size() / std::max(values.back().x() - values.front().x(), 1.0); + } QPixmap pixmap; double min_val = 0; diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc index 3ee5f00978..f34d7e8dfe 100644 --- a/tools/cabana/chart/tiplabel.cc +++ b/tools/cabana/chart/tiplabel.cc @@ -9,6 +9,9 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) { setForegroundRole(QPalette::ToolTipText); setBackgroundRole(QPalette::ToolTipBase); + QFont font; + font.setPointSizeF(8.34563465); + setFont(font); auto palette = QToolTip::palette(); if (settings.theme != DARK_THEME) { palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base)); @@ -27,9 +30,9 @@ void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const if (!text.isEmpty()) { QSize extra(1, 1); resize(sizeHint() + extra); - QPoint tip_pos(pt.x() + 12, rect.top() + 2); + QPoint tip_pos(pt.x() + 8, rect.top() + 2); if (tip_pos.x() + size().width() >= rect.right()) { - tip_pos.rx() = pt.x() - size().width() - 12; + tip_pos.rx() = pt.x() - size().width() - 8; } if (rect.contains({tip_pos, size()})) { move(w->mapToGlobal(tip_pos)); diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index 337de1c702..cf48abb4c9 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -4,11 +4,12 @@ // EditMsgCommand -EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, QUndoCommand *parent) - : id(id), new_name(name), new_size(size), QUndoCommand(parent) { +EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent) + : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { old_name = msg->name; old_size = msg->size; + old_comment = msg->comment; setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address)); } else { setText(QObject::tr("new message %1:%2").arg(name).arg(id.address)); @@ -19,11 +20,11 @@ void EditMsgCommand::undo() { if (old_name.isEmpty()) dbc()->removeMsg(id); else - dbc()->updateMsg(id, old_name, old_size); + dbc()->updateMsg(id, old_name, old_size, old_comment); } void EditMsgCommand::redo() { - dbc()->updateMsg(id, new_name, new_size); + dbc()->updateMsg(id, new_name, new_size, new_comment); } // RemoveMsgCommand @@ -37,7 +38,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : void RemoveMsgCommand::undo() { if (!message.name.isEmpty()) { - dbc()->updateMsg(id, message.name, message.size); + dbc()->updateMsg(id, message.name, message.size, message.comment); for (auto s : message.getSignals()) dbc()->addSignal(id, *s); } @@ -55,28 +56,61 @@ AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUn setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); } -void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name); } -void AddSigCommand::redo() { dbc()->addSignal(id, signal); } +void AddSigCommand::undo() { + dbc()->removeSignal(id, signal.name); + if (msg_created) dbc()->removeMsg(id); +} + +void AddSigCommand::redo() { + if (auto msg = dbc()->msg(id); !msg) { + msg_created = true; + dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), ""); + } + signal.name = dbc()->newSignalName(id); + signal.max = std::pow(2, signal.size) - 1; + dbc()->addSignal(id, signal); +} // RemoveSigCommand RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent) - : id(id), signal(*sig), QUndoCommand(parent) { - setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address)); + : id(id), QUndoCommand(parent) { + sigs.push_back(*sig); + if (sig->type == cabana::Signal::Type::Multiplexor) { + for (const auto &s : dbc()->msg(id)->sigs) { + if (s->type == cabana::Signal::Type::Multiplexed) { + sigs.push_back(*s); + } + } + } + setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address)); } -void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); } -void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); } +void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); } +void RemoveSigCommand::redo() { for (const auto &s : sigs) dbc()->removeSignal(id, s.name); } // EditSignalCommand EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent) - : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { - setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address)); + : id(id), QUndoCommand(parent) { + sigs.push_back({*sig, new_sig}); + if (sig->type == cabana::Signal::Type::Multiplexor && new_sig.type == cabana::Signal::Type::Normal) { + // convert all multiplexed signals to normal signals + auto msg = dbc()->msg(id); + assert(msg); + for (const auto &s : msg->sigs) { + if (s->type == cabana::Signal::Type::Multiplexed) { + auto new_s = *s; + new_s.type = cabana::Signal::Type::Normal; + sigs.push_back({*s, new_s}); + } + } + } + setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address)); } -void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name, old_signal); } -void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name, new_signal); } +void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); } +void EditSignalCommand::redo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.first.name, s.second); } namespace UndoStack { diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 84d1a6e2a1..a1e667807e 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -8,13 +8,13 @@ class EditMsgCommand : public QUndoCommand { public: - EditMsgCommand(const MessageId &id, const QString &name, int size, QUndoCommand *parent = nullptr); + EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - QString old_name, new_name; + QString old_name, new_name, old_comment, new_comment; int old_size = 0, new_size = 0; }; @@ -37,6 +37,7 @@ public: private: const MessageId id; + bool msg_created = false; cabana::Signal signal = {}; }; @@ -48,7 +49,7 @@ public: private: const MessageId id; - cabana::Signal signal = {}; + QList sigs; }; class EditSignalCommand : public QUndoCommand { @@ -59,8 +60,7 @@ public: private: const MessageId id; - cabana::Signal old_signal = {}; - cabana::Signal new_signal = {}; + QList> sigs; // QList<{old_sig, new_sig}> }; namespace UndoStack { diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 46302ad789..691a1c4fb8 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -1,31 +1,174 @@ #include "tools/cabana/dbc/dbc.h" + #include "tools/cabana/util.h" uint qHash(const MessageId &item) { return qHash(item.source) ^ qHash(item.address); } -std::vector cabana::Msg::getSignals() const { - std::vector ret; - ret.reserve(sigs.size()); - for (auto &sig : sigs) ret.push_back(&sig); - std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); - return ret; +// cabana::Msg + +cabana::Msg::~Msg() { + for (auto s : sigs) { + delete s; + } } -void cabana::Signal::updatePrecision() { +cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) { + auto s = sigs.emplace_back(new cabana::Signal(sig)); + update(); + return s; +} + +cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) { + auto s = sig(sig_name); + if (s) { + *s = new_sig; + update(); + } + return s; +} + +void cabana::Msg::removeSignal(const QString &sig_name) { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; }); + if (it != sigs.end()) { + delete *it; + sigs.erase(it); + update(); + } +} + +cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) { + address = other.address; + name = other.name; + size = other.size; + comment = other.comment; + + for (auto s : sigs) delete s; + sigs.clear(); + for (auto s : other.sigs) { + sigs.push_back(new cabana::Signal(*s)); + } + + update(); + return *this; +} + +cabana::Signal *cabana::Msg::sig(const QString &sig_name) const { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; }); + return it != sigs.end() ? *it : nullptr; +} + +int cabana::Msg::indexOf(const cabana::Signal *sig) const { + for (int i = 0; i < sigs.size(); ++i) { + if (sigs[i] == sig) return i; + } + return -1; +} + +QString cabana::Msg::newSignalName() { + QString new_name; + for (int i = 1; /**/; ++i) { + new_name = QString("NEW_SIGNAL_%1").arg(i); + if (sig(new_name) == nullptr) break; + } + return new_name; +} + +void cabana::Msg::update() { + mask.assign(size, 0x00); + multiplexor = nullptr; + + // sort signals + std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) { + return std::tie(r->type, l->multiplex_value, l->start_bit, l->name) < + std::tie(l->type, r->multiplex_value, r->start_bit, r->name); + }); + + for (auto sig : sigs) { + if (sig->type == cabana::Signal::Type::Multiplexor) { + multiplexor = sig; + } + sig->update(); + + // update mask + int i = sig->msb / 8; + int bits = sig->size; + while (i >= 0 && i < size && bits > 0) { + int lsb = (int)(sig->lsb / 8) == i ? sig->lsb : i * 8; + int msb = (int)(sig->msb / 8) == i ? sig->msb : (i + 1) * 8 - 1; + + int sz = msb - lsb + 1; + int shift = (lsb - (i * 8)); + + mask[i] |= ((1ULL << sz) - 1) << shift; + + bits -= size; + i = sig->is_little_endian ? i - 1 : i + 1; + } + } + + for (auto sig : sigs) { + sig->multiplexor = sig->type == cabana::Signal::Type::Multiplexed ? multiplexor : nullptr; + if (!sig->multiplexor) { + if (sig->type == cabana::Signal::Type::Multiplexed) { + sig->type = cabana::Signal::Type::Normal; + } + sig->multiplex_value = 0; + } + } +} + +// cabana::Signal + +void cabana::Signal::update() { + updateMsbLsb(*this); + + float h = 19 * (float)lsb / 64.0; + h = fmod(h, 1.0); + size_t hash = qHash(name); + float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; + float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; + + color = QColor::fromHsvF(h, s, v); precision = std::max(num_decimals(factor), num_decimals(offset)); } -// helper functions +QString cabana::Signal::formatValue(double value) const { + // Show enum string + int64_t raw_value = round((value - offset) / factor); + for (const auto &[val, desc] : val_desc) { + if (std::abs(raw_value - val) < 1e-6) { + return desc; + } + } -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) - for (int j = 7; j >= 0; j--) - ret.push_back(j + i * 8); - return ret; -}(); + QString val_str = QString::number(value, 'f', precision); + if (!unit.isEmpty()) { + val_str += " " + unit; + } + return val_str; +} + +bool cabana::Signal::getValue(const uint8_t *data, size_t data_size, double *val) const { + if (multiplexor && get_raw_value(data, data_size, *multiplexor) != multiplex_value) { + return false; + } + *val = get_raw_value(data, data_size, *this); + return true; +} + +bool cabana::Signal::operator==(const cabana::Signal &other) const { + return name == other.name && size == other.size && + start_bit == other.start_bit && + msb == other.msb && lsb == other.lsb && + is_signed == other.is_signed && is_little_endian == other.is_little_endian && + factor == other.factor && offset == other.offset && + min == other.min && max == other.max && comment == other.comment && unit == other.unit && val_desc == other.val_desc && + multiplex_value == other.multiplex_value && type == other.type && receiver_name == other.receiver_name; +} + +// helper functions double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) { int64_t val = 0; @@ -49,34 +192,12 @@ double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal return val * sig.factor + sig.offset; } -bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) { - return l.name == r.name && l.size == r.size && - l.start_bit == r.start_bit && - l.msb == r.msb && l.lsb == r.lsb && - l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && - l.factor == r.factor && l.offset == r.offset && - l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; -} - -int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } -int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } - -void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) { - s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); - s.size = size; +void updateMsbLsb(cabana::Signal &s) { if (s.is_little_endian) { s.lsb = s.start_bit; s.msb = s.start_bit + s.size - 1; } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.lsb = flipBitPos(flipBitPos(s.start_bit) + s.size - 1); s.msb = s.start_bit; } } - -std::pair getSignalRange(const cabana::Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - -std::vector allDBCNames() { return get_dbc_names(); } diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index 8b1e5a16e9..6a3084d943 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,10 +1,10 @@ #pragma once -#include +#include #include #include -#include #include +#include #include "opendbc/can/common_dbc.h" @@ -43,42 +43,77 @@ struct std::hash { std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } }; -typedef QList> ValueDescription; +typedef QList> ValueDescription; namespace cabana { - struct Signal { - QString name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - QString min, max, unit; - QString comment; - ValueDescription val_desc; - int precision = 0; - void updatePrecision(); + +class Signal { +public: + Signal() = default; + Signal(const Signal &other) = default; + void update(); + bool getValue(const uint8_t *data, size_t data_size, double *val) const; + QString formatValue(double value) const; + bool operator==(const cabana::Signal &other) const; + inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); } + + enum class Type { + Normal = 0, + Multiplexed, + Multiplexor }; - struct Msg { - QString name; - uint32_t size; - QList sigs; + Type type = Type::Normal; + QString name; + int start_bit, msb, lsb, size; + double factor = 1.0; + double offset = 0; + bool is_signed; + bool is_little_endian; + double min, max; + QString unit; + QString comment; + QString receiver_name; + ValueDescription val_desc; + int precision = 0; + QColor color; - std::vector getSignals() const; - const cabana::Signal *sig(const QString &sig_name) const { - auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); - return it != sigs.end() ? &(*it) : nullptr; - } - }; + // Multiplexed + int multiplex_value = 0; + Signal *multiplexor = nullptr; +}; - bool operator==(const cabana::Signal &l, const cabana::Signal &r); - inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } -} +class Msg { +public: + Msg() = default; + Msg(const Msg &other) { *this = other; } + ~Msg(); + cabana::Signal *addSignal(const cabana::Signal &sig); + cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig); + void removeSignal(const QString &sig_name); + Msg &operator=(const Msg &other); + int indexOf(const cabana::Signal *sig) const; + cabana::Signal *sig(const QString &sig_name) const; + QString newSignalName(); + void update(); + inline const std::vector &getSignals() const { return sigs; } + + uint32_t address; + QString name; + uint32_t size; + QString comment; + QString transmitter; + std::vector sigs; + + std::vector mask; + cabana::Signal *multiplexor = nullptr; +}; + +} // namespace cabana // Helper functions double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig); -int bigEndianStartBitsIndex(int start_bit); -int bigEndianBitIndex(int index); -void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); -std::pair getSignalRange(const cabana::Signal *s); -std::vector allDBCNames(); +void updateMsbLsb(cabana::Signal &s); +inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; } +inline std::vector allDBCNames() { return get_dbc_names(); } +inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits::digits10); } diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 0534ce39ff..2f93c1543e 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -1,28 +1,22 @@ #include "tools/cabana/dbc/dbcfile.h" -#include - #include #include #include #include -#include -#include +#include #include - DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) { QFile file(dbc_file_name); if (file.open(QIODevice::ReadOnly)) { name_ = QFileInfo(dbc_file_name).baseName(); - + filename = dbc_file_name; // Remove auto save file extension if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) { - filename = dbc_file_name.left(dbc_file_name.length() - AUTO_SAVE_EXTENSION.length()); - } else { - filename = dbc_file_name; + filename.chop(AUTO_SAVE_EXTENSION.length()); } - open(file.readAll()); + parse(file.readAll()); } else { throw std::runtime_error("Failed to open file."); } @@ -30,45 +24,16 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") { // Open from clipboard - open(content); -} - -void DBCFile::open(const QString &content) { - std::istringstream stream(content.toStdString()); - auto dbc = const_cast(dbc_parse_from_stream(name_.toStdString(), stream)); - msgs.clear(); - for (auto &msg : dbc->msgs) { - auto &m = msgs[msg.address]; - m.name = msg.name.c_str(); - m.size = msg.size; - for (auto &s : msg.sigs) { - m.sigs.push_back({}); - auto &sig = m.sigs.last(); - sig.name = s.name.c_str(); - sig.start_bit = s.start_bit; - sig.msb = s.msb; - sig.lsb = s.lsb; - sig.size = s.size; - sig.is_signed = s.is_signed; - sig.factor = s.factor; - sig.offset = s.offset; - sig.is_little_endian = s.is_little_endian; - sig.updatePrecision(); - } - } - parseExtraInfo(content); - - delete dbc; + parse(content); } bool DBCFile::save() { - assert (!filename.isEmpty()); + assert(!filename.isEmpty()); if (writeContents(filename)) { cleanupAutoSaveFile(); return true; - } else { - return false; } + return false; } bool DBCFile::saveAs(const QString &new_filename) { @@ -77,11 +42,7 @@ bool DBCFile::saveAs(const QString &new_filename) { } bool DBCFile::autoSave() { - if (!filename.isEmpty()) { - return writeContents(filename + AUTO_SAVE_EXTENSION); - } else { - return false; - } + return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION); } void DBCFile::cleanupAutoSaveFile() { @@ -95,159 +56,68 @@ bool DBCFile::writeContents(const QString &fn) { if (file.open(QIODevice::WriteOnly)) { file.write(generateDBC().toUtf8()); return true; - } else { - return false; } + return false; } -cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) { - if (auto m = const_cast(msg(id.address))) { - m->sigs.push_back(sig); - return &m->sigs.last(); - } - - return nullptr; -} - - cabana::Signal *DBCFile::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { - if (auto m = const_cast(msg(id))) { - if (auto s = (cabana::Signal *)m->sig(sig_name)) { - *s = sig; - return s; - } - } - - return nullptr; -} - -cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); - if (it != m->sigs.end()) { - return &(*it); - } - } - return nullptr; - } - -void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); - if (it != m->sigs.end()) { - m->sigs.erase(it); - } - } -} - -void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size) { +void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { auto &m = msgs[id.address]; + m.address = id.address; m.name = name; m.size = size; + m.comment = comment; } -void DBCFile::removeMsg(const MessageId &id) { - msgs.erase(id.address); -} - -QString DBCFile::newMsgName(const MessageId &id) { - return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); -} - -QString DBCFile::newSignalName(const MessageId &id) { - auto m = msg(id); - assert(m != nullptr); - - QString name; - - for (int i = 1; /**/; ++i) { - name = QString("NEW_SIGNAL_%1").arg(i); - if (m->sig(name) == nullptr) break; - } - - return name; -} - -std::map DBCFile::getMessages() { - return msgs; -} - -const cabana::Msg *DBCFile::msg(const MessageId &id) const { - return msg(id.address); -} - -const cabana::Msg *DBCFile::msg(uint32_t address) const { +cabana::Msg *DBCFile::msg(uint32_t address) { auto it = msgs.find(address); return it != msgs.end() ? &it->second : nullptr; } -const cabana::Msg* DBCFile::msg(const QString &name) { - for (auto &[_, msg] : msgs) { - if (msg.name == name) { - return &msg; - } - } - - return nullptr; +cabana::Msg *DBCFile::msg(const QString &name) { + auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; }); + return it != msgs.end() ? &(it->second) : nullptr; } - -QStringList DBCFile::signalNames() const { - // Used for autocompletion - QStringList ret; - for (auto const& [_, msg] : msgs) { - for (auto sig: msg.getSignals()) { - ret << sig->name; - } - } - ret.sort(); - ret.removeDuplicates(); - return ret; +int DBCFile::signalCount() { + return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); }); } -int DBCFile::signalCount(const MessageId &id) const { - if (msgs.count(id.address) == 0) return 0; - return msgs.at(id.address).sigs.size(); -} - -int DBCFile::signalCount() const { - int total = 0; - for (auto const& [_, msg] : msgs) { - total += msg.sigs.size(); - } - return total; -} - -int DBCFile::msgCount() const { - return msgs.size(); -} - -QString DBCFile::name() const { - return name_.isEmpty() ? "untitled" : name_; -} - -bool DBCFile::isEmpty() const { - return (signalCount() == 0) && name_.isEmpty(); -} - -void DBCFile::parseExtraInfo(const QString &content) { +void DBCFile::parse(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); - static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); - static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); + static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)"); + static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)"); + static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))"); + + int line_num = 0; + QString line; + auto dbc_assert = [&line_num, &line, this](bool condition, const QString &msg = "") { + if (!condition) throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(msg).arg(line).toStdString()); + }; auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { auto m = (cabana::Msg *)msg(address); return m ? (cabana::Signal *)m->sig(name) : nullptr; }; + msgs.clear(); QTextStream stream((QString *)&content); - uint32_t address = 0; + cabana::Msg *current_msg = nullptr; + int multiplexor_cnt = 0; while (!stream.atEnd()) { - QString line = stream.readLine().trimmed(); + ++line_num; + line = stream.readLine().trimmed(); if (line.startsWith("BO_ ")) { - if (auto match = bo_regexp.match(line); match.hasMatch()) { - address = match.captured(1).toUInt(); - } + multiplexor_cnt = 0; + auto match = bo_regexp.match(line); + dbc_assert(match.hasMatch()); + auto address = match.captured(1).toUInt(); + dbc_assert(msgs.count(address) == 0, QString("Duplicate message address: %1").arg(address)); + current_msg = &msgs[address]; + current_msg->address = address; + current_msg->name = match.captured(2); + current_msg->size = match.captured(3).toULong(); + current_msg->transmitter = match.captured(4).trimmed(); } else if (line.startsWith("SG_ ")) { int offset = 0; auto match = sg_regexp.match(line); @@ -255,64 +125,115 @@ void DBCFile::parseExtraInfo(const QString &content) { match = sgm_regexp.match(line); offset = 1; } - if (match.hasMatch()) { - if (auto s = get_sig(address, match.captured(1))) { - s->min = match.captured(8 + offset); - s->max = match.captured(9 + offset); - s->unit = match.captured(10 + offset); + dbc_assert(match.hasMatch()); + dbc_assert(current_msg, "No Message"); + auto name = match.captured(1); + dbc_assert(current_msg->sig(name) == nullptr, "Duplicate signal name"); + cabana::Signal s{}; + if (offset == 1) { + auto indicator = match.captured(2); + if (indicator == "M") { + // Only one signal within a single message can be the multiplexer switch. + dbc_assert(++multiplexor_cnt < 2, "Multiple multiplexor"); + s.type = cabana::Signal::Type::Multiplexor; + } else { + s.type = cabana::Signal::Type::Multiplexed; + s.multiplex_value = indicator.mid(1).toInt(); } } + s.name = name; + s.start_bit = match.captured(offset + 2).toInt(); + s.size = match.captured(offset + 3).toInt(); + s.is_little_endian = match.captured(offset + 4).toInt() == 1; + s.is_signed = match.captured(offset + 5) == "-"; + s.factor = match.captured(offset + 6).toDouble(); + s.offset = match.captured(offset + 7).toDouble(); + s.min = match.captured(8 + offset).toDouble(); + s.max = match.captured(9 + offset).toDouble(); + s.unit = match.captured(10 + offset); + s.receiver_name = match.captured(11 + offset).trimmed(); + + current_msg->sigs.push_back(new cabana::Signal(s)); } else if (line.startsWith("VAL_ ")) { - if (auto match = val_regexp.match(line); match.hasMatch()) { - if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - QStringList desc_list = match.captured(3).trimmed().split('"'); - for (int i = 0; i < desc_list.size(); i += 2) { - auto val = desc_list[i].trimmed(); - if (!val.isEmpty() && (i + 1) < desc_list.size()) { - auto desc = desc_list[i+1].trimmed(); - s->val_desc.push_back({val, desc}); - } + auto match = val_regexp.match(line); + dbc_assert(match.hasMatch()); + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + QStringList desc_list = match.captured(3).trimmed().split('"'); + for (int i = 0; i < desc_list.size(); i += 2) { + auto val = desc_list[i].trimmed(); + if (!val.isEmpty() && (i + 1) < desc_list.size()) { + auto desc = desc_list[i + 1].trimmed(); + s->val_desc.push_back({val.toDouble(), desc}); } } } + } else if (line.startsWith("CM_ BO_")) { + if (!line.endsWith("\";")) { + int pos = stream.pos() - line.length() - 1; + line = content.mid(pos, content.indexOf("\";", pos)); + } + auto match = msg_comment_regexp.match(line); + dbc_assert(match.hasMatch()); + if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) { + m->comment = match.captured(2).trimmed(); + } } else if (line.startsWith("CM_ SG_ ")) { - if (auto match = sg_comment_regexp.match(line); match.hasMatch()) { - if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - s->comment = match.captured(3).trimmed(); - } + if (!line.endsWith("\";")) { + int pos = stream.pos() - line.length() - 1; + line = content.mid(pos, content.indexOf("\";", pos)); + } + auto match = sg_comment_regexp.match(line); + dbc_assert(match.hasMatch()); + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + s->comment = match.captured(3).trimmed(); } } } + + for (auto &[_, m] : msgs) { + m.update(); + } } QString DBCFile::generateDBC() { - QString dbc_string, signal_comment, val_desc; - for (auto &[address, m] : msgs) { - dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); + QString dbc_string, signal_comment, message_comment, val_desc; + for (const auto &[address, m] : msgs) { + dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter); + if (!m.comment.isEmpty()) { + message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment); + } for (auto sig : m.getSignals()) { - dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n") + QString multiplexer_indicator; + if (sig->type == cabana::Signal::Type::Multiplexor) { + multiplexer_indicator = "M "; + } else if (sig->type == cabana::Signal::Type::Multiplexed) { + multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value); + } + dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n") .arg(sig->name) + .arg(multiplexer_indicator) .arg(sig->start_bit) .arg(sig->size) .arg(sig->is_little_endian ? '1' : '0') .arg(sig->is_signed ? '-' : '+') - .arg(sig->factor, 0, 'g', std::numeric_limits::digits10) - .arg(sig->offset, 0, 'g', std::numeric_limits::digits10) - .arg(sig->min) - .arg(sig->max) - .arg(sig->unit); + .arg(doubleToString(sig->factor)) + .arg(doubleToString(sig->offset)) + .arg(doubleToString(sig->min)) + .arg(doubleToString(sig->max)) + .arg(sig->unit) + .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name); if (!sig->comment.isEmpty()) { signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); } if (!sig->val_desc.isEmpty()) { QStringList text; for (auto &[val, desc] : sig->val_desc) { - text << QString("%1 \"%2\"").arg(val, desc); + text << QString("%1 \"%2\"").arg(val).arg(desc); } val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); } } dbc_string += "\n"; } - return dbc_string + signal_comment + val_desc; + return dbc_string + message_comment + signal_comment + val_desc; } diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index e048dc5839..78a73d58e4 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -1,18 +1,12 @@ #pragma once #include -#include -#include #include -#include -#include -#include #include "tools/cabana/dbc/dbc.h" const QString AUTO_SAVE_EXTENSION = ".tmp"; - class DBCFile : public QObject { Q_OBJECT @@ -21,8 +15,6 @@ public: DBCFile(const QString &name, const QString &content, QObject *parent=nullptr); ~DBCFile() {} - void open(const QString &content); - bool save(); bool saveAs(const QString &new_filename); bool autoSave(); @@ -30,32 +22,23 @@ public: void cleanupAutoSaveFile(); QString generateDBC(); - cabana::Signal *addSignal(const MessageId &id, const cabana::Signal &sig); - cabana::Signal *updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); - cabana::Signal *getSignal(const MessageId &id, const QString &sig_name); - void removeSignal(const MessageId &id, const QString &sig_name); + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + inline void removeMsg(const MessageId &id) { msgs.erase(id.address); } - void updateMsg(const MessageId &id, const QString &name, uint32_t size); - void removeMsg(const MessageId &id); + inline const std::map &getMessages() const { return msgs; } + cabana::Msg *msg(uint32_t address); + cabana::Msg *msg(const QString &name); + inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - QString newMsgName(const MessageId &id); - QString newSignalName(const MessageId &id); - - std::map getMessages(); - const cabana::Msg *msg(const MessageId &id) const; - const cabana::Msg *msg(uint32_t address) const; - const cabana::Msg* msg(const QString &name); - QStringList signalNames() const; - int signalCount(const MessageId &id) const; - int signalCount() const; - int msgCount() const; - QString name() const; - bool isEmpty() const; + int signalCount(); + inline int msgCount() { return msgs.size(); } + inline QString name() { return name_.isEmpty() ? "untitled" : name_; } + inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); } QString filename; private: - void parseExtraInfo(const QString &content); + void parse(const QString &content); std::map msgs; QString name_; }; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 390ded8512..5736ac1e89 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -1,28 +1,16 @@ #include "tools/cabana/dbc/dbcmanager.h" -#include -#include -#include -#include -#include -#include - - -bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) { - for (int i = 0; i < dbc_files.size(); i++) { - auto [ss, dbc_file] = dbc_files[i]; - - // Check if file is already open, and merge sources - if (dbc_file->filename == dbc_file_name) { - dbc_files[i] = {ss | s, dbc_file}; - - emit DBCFileChanged(); - return true; - } - } +#include +#include +bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) { try { - dbc_files.push_back({s, new DBCFile(dbc_file_name, this)}); + auto it = std::find_if(dbc_files.begin(), dbc_files.end(), + [&](auto &f) { return f.second && f.second->filename == dbc_file_name; }); + auto file = (it != dbc_files.end()) ? it->second : std::make_shared(dbc_file_name, this); + for (auto s : sources) { + dbc_files[s] = file; + } } catch (std::exception &e) { if (error) *error = e.what(); return false; @@ -32,9 +20,12 @@ bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) return true; } -bool DBCManager::open(SourceSet s, const QString &name, const QString &content, QString *error) { +bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) { try { - dbc_files.push_back({s, new DBCFile(name, content, this)}); + auto file = std::make_shared(name, content, this); + for (auto s : sources) { + dbc_files[s] = file; + } } catch (std::exception &e) { if (error) *error = e.what(); return false; @@ -44,259 +35,158 @@ bool DBCManager::open(SourceSet s, const QString &name, const QString &content, return true; } -void DBCManager::close(SourceSet s) { - // Build new list of dbc files, removing the ones that match the sourceset - QList> new_dbc_files; - for (auto entry : dbc_files) { - if (entry.first == s) { - delete entry.second; - } else { - new_dbc_files.push_back(entry); - } +void DBCManager::close(const SourceSet &sources) { + for (auto s : sources) { + dbc_files[s] = nullptr; } - - dbc_files = new_dbc_files; emit DBCFileChanged(); } void DBCManager::close(DBCFile *dbc_file) { - assert(dbc_file != nullptr); - - // Build new list of dbc files, removing the one that matches dbc_file* - QList> new_dbc_files; - for (auto entry : dbc_files) { - if (entry.second == dbc_file) { - delete entry.second; - } else { - new_dbc_files.push_back(entry); - } + for (auto &[_, f] : dbc_files) { + if (f.get() == dbc_file) f = nullptr; } - - dbc_files = new_dbc_files; emit DBCFileChanged(); } void DBCManager::closeAll() { - if (dbc_files.isEmpty()) return; - - while (dbc_files.size()) { - DBCFile *dbc_file = dbc_files.back().second; - dbc_files.pop_back(); - delete dbc_file; - } + dbc_files.clear(); emit DBCFileChanged(); } -void DBCManager::removeSourcesFromFile(DBCFile *dbc_file, SourceSet s) { - assert(dbc_file != nullptr); - - // Build new list of dbc files, for the given dbc_file* remove s from the current sources - QList> new_dbc_files; - for (auto entry : dbc_files) { - if (entry.second == dbc_file) { - SourceSet ss = (entry.first == SOURCE_ALL) ? sources : entry.first; - ss -= s; - if (ss.empty()) { // Close file if no more sources remain - delete dbc_file; - } else { - new_dbc_files.push_back({ss, dbc_file}); - } - } else { - new_dbc_files.push_back(entry); - } - } - - dbc_files = new_dbc_files; - emit DBCFileChanged(); -} - - void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // Create new DBC? - auto [dbc_sources, dbc_file] = *sources_dbc_file; - - cabana::Signal *s = dbc_file->addSignal(id, sig); - - if (s != nullptr) { - for (uint8_t source : dbc_sources) { - emit signalAdded({.source = source, .address = id.address}, s); + if (auto m = msg(id)) { + if (auto s = m->addSignal(sig)) { + emit signalAdded(id, s); + emit maskUpdated(); } } } void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - - cabana::Signal *s = dbc_file->updateSignal(id, sig_name, sig); - - if (s != nullptr) { - emit signalUpdated(s); + if (auto m = msg(id)) { + if (auto s = m->updateSignal(sig_name, sig)) { + emit signalUpdated(s); + emit maskUpdated(); + } } } void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - - cabana::Signal *s = dbc_file->getSignal(id, sig_name); - - if (s != nullptr) { - emit signalRemoved(s); - dbc_file->removeSignal(id, sig_name); + if (auto m = msg(id)) { + if (auto s = m->sig(sig_name)) { + emit signalRemoved(s); + m->removeSignal(sig_name); + emit maskUpdated(); + } } } -void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [dbc_sources, dbc_file] = *sources_dbc_file; - - dbc_file->updateMsg(id, name, size); - - for (uint8_t source : dbc_sources) { - emit msgUpdated({.source = source, .address = id.address}); - } +void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { + auto dbc_file = findDBCFile(id); + assert(dbc_file); // This should be impossible + dbc_file->updateMsg(id, name, size, comment); + emit msgUpdated(id); } void DBCManager::removeMsg(const MessageId &id) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [dbc_sources, dbc_file] = *sources_dbc_file; - + auto dbc_file = findDBCFile(id); + assert(dbc_file); // This should be impossible dbc_file->removeMsg(id); - - for (uint8_t source : dbc_sources) { - emit msgRemoved({.source = source, .address = id.address}); - } + emit msgRemoved(id); + emit maskUpdated(); } QString DBCManager::newMsgName(const MessageId &id) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->newMsgName(id); + return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); } QString DBCManager::newSignalName(const MessageId &id) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->newSignalName(id); + auto m = msg(id); + return m ? m->newSignalName() : ""; } -std::map DBCManager::getMessages(uint8_t source) { - std::map ret; - - auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); - if (!sources_dbc_file) { - return ret; - } - - auto [_, dbc_file] = *sources_dbc_file; - - for (auto &[address, msg] : dbc_file->getMessages()) { - MessageId id = {.source = source, .address = address}; - ret[id] = msg; - } - return ret; +const std::vector &DBCManager::mask(const MessageId &id) { + static std::vector empty_mask; + auto m = msg(id); + return m ? m->mask : empty_mask; } -const cabana::Msg *DBCManager::msg(const MessageId &id) const { - auto sources_dbc_file = findDBCFile(id); - if (!sources_dbc_file) { - return nullptr; - } - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->msg(id); +const std::map &DBCManager::getMessages(uint8_t source) { + static std::map empty_msgs; + auto dbc_file = findDBCFile(source); + return dbc_file ? dbc_file->getMessages() : empty_msgs; } -const cabana::Msg* DBCManager::msg(uint8_t source, const QString &name) { - auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); - if (!sources_dbc_file) { - return nullptr; - } - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->msg(name); +cabana::Msg *DBCManager::msg(const MessageId &id) { + auto dbc_file = findDBCFile(id); + return dbc_file ? dbc_file->msg(id) : nullptr; } -QStringList DBCManager::signalNames() const { +cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) { + auto dbc_file = findDBCFile(source); + return dbc_file ? dbc_file->msg(name) : nullptr; +} + +QStringList DBCManager::signalNames() { + // Used for autocompletion QStringList ret; - - for (auto &[_, dbc_file] : dbc_files) { - ret << dbc_file->signalNames(); + for (auto &f : allDBCFiles()) { + for (auto &[_, m] : f->getMessages()) { + for (auto sig : m.getSignals()) { + ret << sig->name; + } + } } - ret.sort(); ret.removeDuplicates(); return ret; } -int DBCManager::signalCount(const MessageId &id) const { - auto sources_dbc_file = findDBCFile(id); - if (!sources_dbc_file) { - return 0; - } - - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->signalCount(id); +int DBCManager::signalCount(const MessageId &id) { + auto m = msg(id); + return m ? m->sigs.size() : 0; } -int DBCManager::signalCount() const { - int ret = 0; - - for (auto &[_, dbc_file] : dbc_files) { - ret += dbc_file->signalCount(); - } - - return ret; +int DBCManager::signalCount() { + auto files = allDBCFiles(); + return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); }); } -int DBCManager::msgCount() const { - int ret = 0; - - for (auto &[_, dbc_file] : dbc_files) { - ret += dbc_file->msgCount(); - } - - return ret; +int DBCManager::msgCount() { + auto files = allDBCFiles(); + return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); }); } -int DBCManager::dbcCount() const { - return dbc_files.size(); +int DBCManager::dbcCount() { + return allDBCFiles().size(); } -int DBCManager::nonEmptyDBCCount() const { - int cnt = 0; - for (auto &[_, dbc_file] : dbc_files) { - if (!dbc_file->isEmpty()) { - cnt++; - } - } - return cnt; +int DBCManager::nonEmptyDBCCount() { + auto files = allDBCFiles(); + return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); }); } -void DBCManager::updateSources(const SourceSet &s) { - sources = s; -} - -std::optional> DBCManager::findDBCFile(const uint8_t source) const { +DBCFile *DBCManager::findDBCFile(const uint8_t source) { // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found - - for (auto &[source_set, dbc_file] : dbc_files) { - if (source_set.contains(source)) return {{source_set, dbc_file}}; - } - for (auto &[source_set, dbc_file] : dbc_files) { - if (source_set == SOURCE_ALL) return {{sources, dbc_file}}; - } - return {}; + auto it = dbc_files.count(source) ? dbc_files.find(source) : dbc_files.find(-1); + return it != dbc_files.end() ? it->second.get() : nullptr; } -std::optional> DBCManager::findDBCFile(const MessageId &id) const { - return findDBCFile(id.source); +std::set DBCManager::allDBCFiles() { + std::set files; + for (const auto &[_, f] : dbc_files) { + if (f) files.insert(f.get()); + } + return files; +} + +const SourceSet DBCManager::sources(const DBCFile *dbc_file) const { + SourceSet sources; + for (auto &[s, f] : dbc_files) { + if (f.get() == dbc_file) sources.insert(s); + } + return sources; } DBCManager *dbc() { diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 96d9380dbd..f20d4888e2 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -1,65 +1,54 @@ #pragma once +#include #include -#include +#include -#include -#include -#include -#include -#include -#include - -#include "tools/cabana/dbc/dbc.h" #include "tools/cabana/dbc/dbcfile.h" -typedef QSet SourceSet; -const SourceSet SOURCE_ALL = {}; +typedef std::set SourceSet; +const SourceSet SOURCE_ALL = {-1}; +const int INVALID_SOURCE = 0xff; +inline bool operator<(const std::shared_ptr &l, const std::shared_ptr &r) { return l.get() < r.get(); } class DBCManager : public QObject { Q_OBJECT public: - DBCManager(QObject *parent) {} + DBCManager(QObject *parent) : QObject(parent) {} ~DBCManager() {} - bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr); - bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr); - void close(SourceSet s); + bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr); + bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr); + void close(const SourceSet &sources); void close(DBCFile *dbc_file); void closeAll(); - void removeSourcesFromFile(DBCFile *dbc_file, SourceSet s); void addSignal(const MessageId &id, const cabana::Signal &sig); void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); - void updateMsg(const MessageId &id, const QString &name, uint32_t size); + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); void removeMsg(const MessageId &id); QString newMsgName(const MessageId &id); QString newSignalName(const MessageId &id); + const std::vector& mask(const MessageId &id); - std::map getMessages(uint8_t source); - const cabana::Msg *msg(const MessageId &id) const; - const cabana::Msg* msg(uint8_t source, const QString &name); + const std::map &getMessages(uint8_t source); + cabana::Msg *msg(const MessageId &id); + cabana::Msg* msg(uint8_t source, const QString &name); - QStringList signalNames() const; - int signalCount(const MessageId &id) const; - int signalCount() const; - int msgCount() const; - int dbcCount() const; - int nonEmptyDBCCount() const; + QStringList signalNames(); + int signalCount(const MessageId &id); + int signalCount(); + int msgCount(); + int dbcCount(); + int nonEmptyDBCCount(); - std::optional> findDBCFile(const uint8_t source) const; - std::optional> findDBCFile(const MessageId &id) const; - - QList> dbc_files; - -private: - SourceSet sources; - -public slots: - void updateSources(const SourceSet &s); + const SourceSet sources(const DBCFile *dbc_file) const; + DBCFile *findDBCFile(const uint8_t source); + inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); } + std::set allDBCFiles(); signals: void signalAdded(MessageId id, const cabana::Signal *sig); @@ -68,6 +57,10 @@ signals: void msgUpdated(MessageId id); void msgRemoved(MessageId id); void DBCFileChanged(); + void maskUpdated(); + +private: + std::map> dbc_files; }; DBCManager *dbc(); @@ -77,16 +70,10 @@ inline QString msgName(const MessageId &id) { return msg ? msg->name : UNTITLED; } -inline QString toString(SourceSet ss) { - if (ss == SOURCE_ALL) { - return "all"; - } else { - QStringList ret; - QList source_list = ss.values(); - std::sort(source_list.begin(), source_list.end()); - for (auto s : source_list) { - ret << QString::number(s); - } - return ret.join(", "); +inline QString toString(const SourceSet &ss) { + QStringList ret; + for (auto s : ss) { + ret << (s == -1 ? QString("all") : QString::number(s)); } + return ret.join(", "); } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index dd12d4c8a3..2f6e9cbfe8 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -5,6 +5,7 @@ #include #include "tools/cabana/commands.h" +#include "tools/cabana/mainwin.h" // DetailWidget @@ -13,8 +14,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart main_layout->setContentsMargins(0, 0, 0, 0); // tabbar - tabbar = new QTabBar(this); - tabbar->setTabsClosable(true); + tabbar = new TabBar(this); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); @@ -64,12 +64,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg); QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg); - QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal); - QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); }); QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal); - QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal); QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart); QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart); QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight); @@ -130,7 +127,9 @@ void DetailWidget::refresh() { QStringList warnings; auto msg = dbc()->msg(msg_id); if (msg) { - if (msg->size != can->lastMessage(msg_id).dat.size()) { + if (msg_id.source == INVALID_SOURCE) { + warnings.push_back(tr("No messages received.")); + } else if (msg->size != can->lastMessage(msg_id).dat.size()) { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } for (auto s : binary_view->getOverlappingSignals()) { @@ -165,7 +164,8 @@ void DetailWidget::editMsg() { int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); EditMessageDialog dlg(msg_id, msgName(msg_id), size, this); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), + dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed())); } } @@ -192,6 +192,11 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit size_spin->setValue(size); form_layout->addRow(tr("Size"), size_spin); + form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this)); + if (auto msg = dbc()->msg(msg_id)) { + comment_edit->setText(msg->comment); + } + btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); validateName(name_edit->text()); form_layout->addRow(btn_box); @@ -217,7 +222,7 @@ void EditMessageDialog::validateName(const QString &text) { // CenterWidget -CenterWidget::CenterWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { +CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->addWidget(welcome_widget = createWelcomeWidget()); @@ -227,7 +232,7 @@ void CenterWidget::setMessage(const MessageId &msg_id) { if (!detail_widget) { delete welcome_widget; welcome_widget = nullptr; - layout()->addWidget(detail_widget = new DetailWidget(charts, this)); + layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this)); } detail_widget->setMessage(msg_id); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 074ce3b4d3..10c6a6c46e 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -3,6 +3,7 @@ #include #include #include +#include #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/binaryview.h" @@ -10,6 +11,7 @@ #include "tools/cabana/historylog.h" #include "tools/cabana/signalview.h" +class MainWindow; class EditMessageDialog : public QDialog { public: EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent); @@ -19,6 +21,7 @@ public: QString original_name; QDialogButtonBox *btn_box; QLineEdit *name_edit; + QTextEdit *comment_edit; QLabel *error_label; QSpinBox *size_spin; }; @@ -41,7 +44,7 @@ private: QLabel *time_label, *warning_icon, *warning_label; ElidedLabel *name_label; QWidget *warning_widget; - QTabBar *tabbar; + TabBar *tabbar; QTabWidget *tab_widget; QToolButton *remove_btn; LogsWidget *history_log; @@ -54,7 +57,7 @@ private: class CenterWidget : public QWidget { Q_OBJECT public: - CenterWidget(ChartsWidget* charts, QWidget *parent); + CenterWidget(QWidget *parent); void setMessage(const MessageId &msg_id); void clear(); @@ -62,5 +65,4 @@ private: QWidget *createWelcomeWidget(); DetailWidget *detail_widget = nullptr; QWidget *welcome_widget = nullptr; - ChartsWidget *charts; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 4c193666dc..cf9dea88db 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -63,7 +63,10 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i return "Data"; } } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { - return QBrush(getColor(sigs[section - 1])); + // Alpha-blend the signal color with the background to ensure contrast + QColor sigColor = sigs[section - 1]->color; + sigColor.setAlpha(128); + return QBrush(sigColor); } } return {}; @@ -122,7 +125,7 @@ std::deque HistoryLogModel::fetchData(InputIt first, I for (; first != last && (*first)->mono_time > min_time; ++first) { const CanEvent *e = *first; for (int i = 0; i < sigs.size(); ++i) { - values[i] = get_raw_value(e->dat, e->size, *sigs[i]); + sigs[i]->getValue(e->dat, e->size, &values[i]); } if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { auto &m = msgs.emplace_back(); @@ -150,7 +153,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, freq); + hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); it->colors = hex_colors.colors; } } @@ -163,7 +166,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events.cend(), 0); if (update_colors) { for (auto it = msgs.begin(); it != msgs.end(); ++it) { - hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, freq); + hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); it->colors = hex_colors.colors; } } @@ -223,7 +226,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { display_type_cb->setToolTip(tr("Display signal value or raw hex value")); comp_box->addItems({">", "=", "!=", "<"}); value_edit->setClearButtonEnabled(true); - value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); + value_edit->setValidator(new DoubleValidator(this)); dynamic_mode->setChecked(true); dynamic_mode->setEnabled(!can->liveStreaming()); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 1f8c157f21..2dea698f68 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -62,7 +62,7 @@ public: uint64_t last_fetch_time = 0; std::function filter_cmp = nullptr; std::deque messages; - std::vector sigs; + std::vector sigs; bool dynamic_mode = true; bool display_signals_mode = true; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 891bfc4bb1..fa91095706 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -6,7 +6,6 @@ #include #include #include -#include #include #include #include @@ -18,7 +17,7 @@ #include "tools/cabana/commands.h" #include "tools/cabana/streamselector.h" -#include "tools/cabana/streams/replaystream.h" +#include "tools/cabana/tools/findsignal.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { @@ -28,12 +27,14 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const MainWindow::MainWindow() : QMainWindow() { createDockWindows(); - center_widget = new CenterWidget(charts_widget, this); - setCentralWidget(center_widget); + setCentralWidget(center_widget = new CenterWidget(this)); createActions(); createStatusBar(); createShortcuts(); + // save default window state to allow resetting it + default_state = saveState(); + // restore states restoreGeometry(settings.geometry); if (isMaximized()) { @@ -55,12 +56,9 @@ MainWindow::MainWindow() : QMainWindow() { main_win = this; qInstallMessageHandler(qLogMessageHandler); - for (const QString &fn : {"./dbc/car_fingerprint_to_dbc.json", "./tools/cabana/dbc/car_fingerprint_to_dbc.json"}) { - QFile json_file(fn); - if (json_file.open(QIODevice::ReadOnly)) { - fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); - break; - } + QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json"); + if (json_file.open(QIODevice::ReadOnly)) { + fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } setStyleSheet(QString(R"(QMainWindow::separator { @@ -70,27 +68,24 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); - QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); - QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); - QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); - QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); - QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); - QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateSources); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); + QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream); + QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted); } void MainWindow::createActions() { + // File menu QMenu *file_menu = menuBar()->addMenu(tr("&File")); - if (!can->liveStreaming()) { - file_menu->addAction(tr("Open Route..."), this, &MainWindow::openRoute); - file_menu->addSeparator(); - } + file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream); + close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream); + close_stream_act->setEnabled(false); + file_menu->addSeparator(); - file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New); - file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open); + file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New); + file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open); manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files")); @@ -109,7 +104,8 @@ void MainWindow::createActions() { auto dbc_names = allDBCNames(); std::sort(dbc_names.begin(), dbc_names.end()); for (const auto &name : dbc_names) { - load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); + QString dbc_name = QString::fromStdString(name); + load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); }); } file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); }); @@ -129,6 +125,7 @@ void MainWindow::createActions() { file_menu->addSeparator(); file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit); + // Edit Menu QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo")); undo_act->setShortcuts(QKeySequence::Undo); @@ -139,29 +136,48 @@ void MainWindow::createActions() { edit_menu->addSeparator(); QMenu *commands_menu = edit_menu->addMenu(tr("Command &List")); - auto undo_view = new QUndoView(UndoStack::instance()); - undo_view->setWindowTitle(tr("Command List")); QWidgetAction *commands_act = new QWidgetAction(this); - commands_act->setDefaultWidget(undo_view); + commands_act->setDefaultWidget(new QUndoView(UndoStack::instance())); commands_menu->addAction(commands_act); - QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); - tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + // View Menu + QMenu *view_menu = menuBar()->addMenu(tr("&View")); + auto act = view_menu->addAction(tr("Full Screen"), this, &MainWindow::toggleFullScreen, QKeySequence::FullScreen); + addAction(act); + view_menu->addSeparator(); + view_menu->addAction(messages_dock->toggleViewAction()); + view_menu->addAction(video_dock->toggleViewAction()); + view_menu->addSeparator(); + view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); }); + // Tools Menu + tools_menu = menuBar()->addMenu(tr("&Tools")); + tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal); + + // Help Menu QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents); help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt); } void MainWindow::createDockWindows() { - // left panel + messages_dock = new QDockWidget(tr("MESSAGES"), this); + messages_dock->setObjectName("MessagesPanel"); + messages_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea); + messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable); + addDockWidget(Qt::LeftDockWidgetArea, messages_dock); + + video_dock = new QDockWidget("", this); + video_dock->setObjectName(tr("VideoPanel")); + video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); + video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable); + addDockWidget(Qt::RightDockWidgetArea, video_dock); +} + +void MainWindow::createDockWidgets() { messages_widget = new MessagesWidget(this); - QDockWidget *dock = new QDockWidget(tr("MESSAGES"), this); - dock->setObjectName("MessagesPanel"); - dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea); - dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); - dock->setWidget(messages_widget); - addDockWidget(Qt::LeftDockWidgetArea, dock); + messages_dock->setWidget(messages_widget); // right panel charts_widget = new ChartsWidget(this); @@ -174,22 +190,14 @@ void MainWindow::createDockWindows() { video_splitter = new QSplitter(Qt::Vertical, this); video_widget = new VideoWidget(this); video_splitter->addWidget(video_widget); - QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); + QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange); video_splitter->addWidget(charts_container); video_splitter->setStretchFactor(1, 1); video_splitter->restoreState(settings.video_splitter_state); - if (can->liveStreaming() || video_splitter->sizes()[0] == 0) { - // display video at minimum size. - video_splitter->setSizes({1, 1}); - } - - video_dock = new QDockWidget(can->routeName(), this); - video_dock->setObjectName(tr("VideoPanel")); - video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); - video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); + video_splitter->handle(1)->setEnabled(!can->liveStreaming()); video_dock->setWidget(video_splitter); - addDockWidget(Qt::RightDockWidgetArea, video_dock); + QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); } void MainWindow::createStatusBar() { @@ -208,8 +216,6 @@ void MainWindow::createStatusBar() { void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); - shortcut = new QShortcut(QKeySequence(QKeySequence::FullScreen), this, nullptr, nullptr, Qt::ApplicationShortcut); - QObject::connect(shortcut, &QShortcut::activated, this, &MainWindow::toggleFullScreen); // TODO: add more shortcuts here. } @@ -245,51 +251,45 @@ void MainWindow::DBCFileChanged() { updateLoadSaveMenus(); } -void MainWindow::openRoute() { - StreamSelector dlg(this); - dlg.addStreamWidget(ReplayStream::widget(&can)); +void MainWindow::openStream() { + AbstractStream *stream = nullptr; + StreamSelector dlg(&stream, this); if (dlg.exec()) { - center_widget->clear(); - charts_widget->removeAll(); + if (!dlg.dbcFile().isEmpty()) { + loadFile(dlg.dbcFile()); + } + stream->start(); statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); - } else if (dlg.failed()) { - close(); } } -void MainWindow::newFile() { - remindSaveChanges(); - dbc()->closeAll(); - dbc()->open(SOURCE_ALL, "", ""); - updateLoadSaveMenus(); -} - -void MainWindow::openFile() { - remindSaveChanges(); - QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); - if (!fn.isEmpty()) { - loadFile(fn); +void MainWindow::closeStream() { + AbstractStream *stream = new DummyStream(this); + stream->start(); + if (dbc()->nonEmptyDBCCount() > 0) { + emit dbc()->DBCFileChanged(); } + statusBar()->showMessage(tr("stream closed")); } -void MainWindow::openFileForSource(SourceSet s) { - QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); - if (!fn.isEmpty()) { - loadFile(fn, s, false); - } -} - -void MainWindow::newFileForSource(SourceSet s) { - remindSaveChanges(); - - dbc()->close(s); +void MainWindow::newFile(SourceSet s) { + closeFile(s); dbc()->open(s, "", ""); } -void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) { +void MainWindow::openFile(SourceSet s) { + remindSaveChanges(); + QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); if (!fn.isEmpty()) { - QString dbc_fn = fn; + loadFile(fn, s); + } +} +void MainWindow::loadFile(const QString &fn, SourceSet s) { + if (!fn.isEmpty()) { + closeFile(s); + + QString dbc_fn = fn; // Prompt user to load auto saved file if it exists. if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); @@ -299,16 +299,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) { } } - auto dbc_name = QFileInfo(fn).baseName(); QString error; - - if (close_all) { - dbc()->closeAll(); - } - - dbc()->close(s); - bool ret = dbc()->open(s, dbc_fn, &error); - if (ret) { + if (dbc()->open(s, dbc_fn, &error)) { updateRecentFiles(fn); statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); } else { @@ -316,84 +308,81 @@ void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) { msg_box.setDetailedText(error); msg_box.exec(); } - - updateLoadSaveMenus(); - } -} - -void MainWindow::openOpendbcFile() { - if (auto action = qobject_cast(sender())) { - remindSaveChanges(); - loadDBCFromOpendbc(action->text()); } } void MainWindow::openRecentFile() { if (auto action = qobject_cast(sender())) { - remindSaveChanges(); loadFile(action->data().toString()); } } void MainWindow::loadDBCFromOpendbc(const QString &name) { - remindSaveChanges(); - QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name); - - dbc()->closeAll(); - dbc()->open(SOURCE_ALL, opendbc_file_path); - - updateLoadSaveMenus(); + loadFile(opendbc_file_path); } void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { - remindSaveChanges(); + closeFile(s); + QString dbc_str = QGuiApplication::clipboard()->text(); QString error; - - if (close_all) { - dbc()->closeAll(); - } - - dbc()->close(s); bool ret = dbc()->open(s, "", dbc_str, &error); if (ret && dbc()->msgCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format.")); - if (!error.isEmpty()) { - msg_box.setDetailedText(error); - } + msg_box.setDetailedText(error); msg_box.exec(); } } -void MainWindow::loadDBCFromFingerprint() { +void MainWindow::changingStream() { + center_widget->clear(); + delete messages_widget; + delete video_splitter; +} + +void MainWindow::streamStarted() { + bool has_stream = dynamic_cast(can) == nullptr; + close_stream_act->setEnabled(has_stream); + tools_menu->setEnabled(has_stream); + createDockWidgets(); + + video_dock->setWindowTitle(can->routeName()); + if (can->liveStreaming() || video_splitter->sizes()[0] == 0) { + // display video at minimum size. + video_splitter->setSizes({1, 1}); + } // Don't overwrite already loaded DBC - if (dbc()->msgCount()) { - return; + if (!dbc()->msgCount()) { + newFile(); } - remindSaveChanges(); - auto fingerprint = can->carFingerprint(); - if (can->liveStreaming()) { - video_dock->setWindowTitle(can->routeName()); - } else { - video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); - } - if (!fingerprint.isEmpty()) { - auto dbc_name = fingerprint_to_dbc[fingerprint]; - if (dbc_name != QJsonValue::Undefined) { - loadDBCFromOpendbc(dbc_name.toString()); - return; + QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); + QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged); + QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus); +} + +void MainWindow::eventsMerged() { + if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) { + video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2") + .arg(can->routeName()) + .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); + // Don't overwrite already loaded DBC + if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) { + auto dbc_name = fingerprint_to_dbc[car_fingerprint]; + if (dbc_name != QJsonValue::Undefined) { + // Prevent dialog that load autosaved file from blocking replay->start(). + QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); }); + } } } - newFile(); } void MainWindow::save() { // Save all open DBC files - for (auto &[s, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (dbc_file->isEmpty()) continue; saveFile(dbc_file); } @@ -401,16 +390,15 @@ void MainWindow::save() { void MainWindow::saveAs() { // Save as all open DBC files. Should not be called with more than 1 file open - for (auto &[s, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (dbc_file->isEmpty()) continue; saveFileAs(dbc_file); } } - void MainWindow::autoSave() { if (!UndoStack::instance()->isClean()) { - for (auto &[_, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (!dbc_file->filename.isEmpty()) { dbc_file->autoSave(); } @@ -419,17 +407,24 @@ void MainWindow::autoSave() { } void MainWindow::cleanupAutoSaveFile() { - for (auto &[_, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { dbc_file->cleanupAutoSaveFile(); } } +void MainWindow::closeFile(SourceSet s) { + remindSaveChanges(); + if (s == SOURCE_ALL) { + dbc()->closeAll(); + } else { + dbc()->close(s); + } +} + void MainWindow::closeFile(DBCFile *dbc_file) { assert(dbc_file != nullptr); remindSaveChanges(); - dbc()->close(dbc_file); - // Ensure we always have at least one file open if (dbc()->dbcCount() == 0) { newFile(); @@ -438,43 +433,19 @@ void MainWindow::closeFile(DBCFile *dbc_file) { void MainWindow::saveFile(DBCFile *dbc_file) { assert(dbc_file != nullptr); - - SourceSet s; - for (auto &[s_, dbc_file_] : dbc()->dbc_files) { - if (dbc_file_ == dbc_file) { - s = s_; - break; - } - } - if (!dbc_file->filename.isEmpty()) { dbc_file->save(); - updateRecentFiles(dbc_file->filename); + updateLoadSaveMenus(); } else if (!dbc_file->isEmpty()) { - QString fn = QFileDialog::getSaveFileName(this, tr("Save File (bus: %1)").arg(toString(s)), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); - if (!fn.isEmpty()) { - dbc_file->saveAs(fn); - updateRecentFiles(fn); - } + saveFileAs(dbc_file); } - UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved"), 2000); - updateLoadSaveMenus(); } void MainWindow::saveFileAs(DBCFile *dbc_file) { - assert(dbc_file != nullptr); - - SourceSet s; - for (auto &[s_, dbc_file_] : dbc()->dbc_files) { - if (dbc_file_ == dbc_file) { - s = s_; - break; - } - } - - QString fn = QFileDialog::getSaveFileName(this, tr("Save File (bus: %1)").arg(toString(s)), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); + QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file))); + QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { dbc_file->saveAs(fn); updateRecentFiles(fn); @@ -482,17 +453,9 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) { } } -void MainWindow::removeBusFromFile(DBCFile *dbc_file, uint8_t source) { - assert(dbc_file != nullptr); - SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; - dbc()->removeSourcesFromFile(dbc_file, ss); - updateLoadSaveMenus(); -} - - void MainWindow::saveToClipboard() { // Copy all open DBC files to clipboard. Should not be called with more than 1 file open - for (auto &[s, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (dbc_file->isEmpty()) continue; saveFileToClipboard(dbc_file); } @@ -504,116 +467,53 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } -void MainWindow::updateSources(const SourceSet &s) { - sources = s; - updateLoadSaveMenus(); -} - void MainWindow::updateLoadSaveMenus() { int cnt = dbc()->nonEmptyDBCCount(); - save_dbc->setEnabled(cnt > 0); - if (cnt > 1) { save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount())); } else { save_dbc->setText(tr("Save DBC...")); } - + save_dbc->setEnabled(cnt > 0); save_dbc_as->setEnabled(cnt == 1); // TODO: Support clipboard for multiple files copy_dbc_to_clipboard->setEnabled(cnt == 1); - - QList sources_sorted = sources.toList(); - std::sort(sources_sorted.begin(), sources_sorted.end()); - manage_dbcs_menu->clear(); + manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); - for (uint8_t source : sources_sorted) { + for (int source : can->sources) { if (source >= 64) continue; // Sent and blocked buses are handled implicitly SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; QMenu *bus_menu = new QMenu(this); - - // New - QAction *new_action = new QAction(this); - new_action->setText(tr("New DBC File...")); - QObject::connect(new_action, &QAction::triggered, [=]() { newFileForSource(ss); }); - bus_menu->addAction(new_action); - - // Open - QAction *open_action = new QAction(this); - open_action->setText(tr("Open DBC File...")); - QObject::connect(open_action, &QAction::triggered, [=]() { openFileForSource(ss); }); - bus_menu->addAction(open_action); - - // Open - QAction *load_clipboard_action = new QAction(this); - load_clipboard_action->setText(tr("Load DBC From Clipboard...")); - QObject::connect(load_clipboard_action, &QAction::triggered, [=]() { loadFromClipboard(ss, false); }); - bus_menu->addAction(load_clipboard_action); + bus_menu->addAction(tr("New DBC File..."), [=]() { newFile(ss); }); + bus_menu->addAction(tr("Open DBC File..."), [=]() { openFile(ss); }); + bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); }); // Show sub-menu for each dbc for this source. - QStringList bus_menu_fns; - for (auto it : dbc()->dbc_files) { - auto &[src, dbc_file] = it; - if (!src.contains(source) && (src != SOURCE_ALL)) { - continue; - } - - QString fn = dbc_file->filename.isEmpty() ? "untitled" : QFileInfo(dbc_file->filename).baseName(); - // QMenu *manage_menu = bus_menu; - + QString file_name = "No DBCs loaded"; + if (auto dbc_file = dbc()->findDBCFile(source)) { bus_menu->addSeparator(); - QAction *fn_action = new QAction(this); - fn_action->setText(fn + " (" + toString(src) + ")"); - fn_action->setEnabled(false); - bus_menu->addAction(fn_action); + bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false); + bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); }); + bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); }); + bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); }); + bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); }); + bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); }); - // Save - QAction *save_action = new QAction(this); - save_action->setText(tr("Save...")); - bus_menu->addAction(save_action); - QObject::connect(save_action, &QAction::triggered, [=](){ saveFile(it.second); }); - - // Save as - QAction *save_as_action = new QAction(this); - save_as_action->setText(tr("Save As...")); - bus_menu->addAction(save_as_action); - QObject::connect(save_as_action, &QAction::triggered, [=](){ saveFileAs(it.second); }); - - // Copy to clipboard - QAction *save_clipboard_action = new QAction(this); - save_clipboard_action->setText(tr("Copy to Clipboard...")); - bus_menu->addAction(save_clipboard_action); - QObject::connect(save_clipboard_action, &QAction::triggered, [=](){ saveFileToClipboard(it.second); }); - - // Remove from this bus - QAction *remove_action = new QAction(this); - remove_action->setText(tr("Remove from this bus...")); - bus_menu->addAction(remove_action); - QObject::connect(remove_action, &QAction::triggered, [=](){ removeBusFromFile(it.second, source); }); - - // Close/Remove from all buses - QAction *close_action = new QAction(this); - close_action->setText(tr("Remove from all buses...")); - bus_menu->addAction(close_action); - QObject::connect(close_action, &QAction::triggered, [=](){ closeFile(it.second); }); - - bus_menu_fns << fn; + file_name = dbc_file->name(); } manage_dbcs_menu->addMenu(bus_menu); - QString bus_menu_title = bus_menu_fns.size() ? bus_menu_fns.join(", ") : "No DBCs loaded"; - bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(bus_menu_title)); + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name)); } QStringList title; - for (auto &[src, dbc_file] : dbc()->dbc_files) { - QString fn = dbc_file->filename.isEmpty() ? "untitled" : QFileInfo(dbc_file->filename).baseName(); - title.push_back(tr("(%1) %2").arg(toString(src)).arg(fn)); + for (auto f : dbc()->allDBCFiles()) { + title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); } setWindowFilePath(title.join(" | ")); } @@ -646,9 +546,8 @@ void MainWindow::updateRecentFileActions() { void MainWindow::remindSaveChanges() { bool discard_changes = false; while (!UndoStack::instance()->isClean() && !discard_changes) { - int ret = (QMessageBox::question(this, tr("Unsaved Changes"), - tr("You have unsaved changes. Press ok to save them, cancel to discard."), - QMessageBox::Ok | QMessageBox::Cancel)); + QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard."); + int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel)); if (ret == QMessageBox::Ok) { save(); } else { @@ -719,6 +618,12 @@ void MainWindow::findSimilarBits() { dlg->show(); } +void MainWindow::findSignal() { + FindSignalDlg *dlg = new FindSignalDlg(this); + QObject::connect(dlg, &FindSignalDlg::openMessage, messages_widget, &MessagesWidget::selectMessage); + dlg->show(); +} + void MainWindow::onlineHelp() { if (auto help = findChild()) { help->close(); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 5e76d86e5c..bbbe8730cb 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -21,20 +22,22 @@ public: MainWindow(); void dockCharts(bool dock); void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } - void loadFile(const QString &fn, SourceSet s = SOURCE_ALL, bool close_all = true); + void loadFile(const QString &fn, SourceSet s = SOURCE_ALL); + ChartsWidget *charts_widget = nullptr; public slots: - void openRoute(); - void newFile(); - void openFile(); + void openStream(); + void closeStream(); + void changingStream(); + void streamStarted(); + + void newFile(SourceSet s = SOURCE_ALL); + void openFile(SourceSet s = SOURCE_ALL); void openRecentFile(); - void openOpendbcFile(); void loadDBCFromOpendbc(const QString &name); - void loadDBCFromFingerprint(); void save(); void saveAs(); void saveToClipboard(); - void updateSources(const SourceSet &s); signals: void showMessage(const QString &msg, int timeout); @@ -42,14 +45,12 @@ signals: protected: void remindSaveChanges(); + void closeFile(SourceSet s = SOURCE_ALL); void closeFile(DBCFile *dbc_file); void saveFile(DBCFile *dbc_file); void saveFileAs(DBCFile *dbc_file); void saveFileToClipboard(DBCFile *dbc_file); - void removeBusFromFile(DBCFile *dbc_file, uint8_t source); void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true); - void openFileForSource(SourceSet s); - void newFileForSource(SourceSet s); void autoSave(); void cleanupAutoSaveFile(); void updateRecentFiles(const QString &fn); @@ -63,34 +64,40 @@ protected: void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); void findSimilarBits(); + void findSignal(); void undoStackCleanChanged(bool clean); void undoStackIndexChanged(int index); void onlineHelp(); void toggleFullScreen(); void updateStatus(); void updateLoadSaveMenus(); + void createDockWidgets(); + void eventsMerged(); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; - MessagesWidget *messages_widget; + QDockWidget *messages_dock; + MessagesWidget *messages_widget = nullptr; CenterWidget *center_widget; - ChartsWidget *charts_widget; QWidget *floating_window = nullptr; QVBoxLayout *charts_layout; QProgressBar *progress_bar; QLabel *status_label; QJsonDocument fingerprint_to_dbc; - QSplitter *video_splitter;; + QSplitter *video_splitter = nullptr; enum { MAX_RECENT_FILES = 15 }; QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; QMenu *manage_dbcs_menu = nullptr; + QMenu *tools_menu = nullptr; + QAction *close_stream_act = nullptr; QAction *save_dbc = nullptr; QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; + QString car_fingerprint; int prev_undostack_index = 0; int prev_undostack_count = 0; - SourceSet sources; + QByteArray default_state; friend class OnlineHelp; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index e74b852617..fe4c7afb03 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,43 +1,57 @@ #include "tools/cabana/messageswidget.h" - #include #include #include +#include #include +#include "tools/cabana/commands.h" + MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0 ,0, 0, 0); - // message filter QHBoxLayout *title_layout = new QHBoxLayout(); - title_layout->addWidget(filter = new QLineEdit(this)); - QRegularExpression re("\\S+"); - filter->setValidator(new QRegularExpressionValidator(re, this)); - filter->setClearButtonEnabled(true); - filter->setPlaceholderText(tr("filter messages")); - title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines Bytes"), this)); + num_msg_label = new QLabel(this); + title_layout->addSpacing(10); + title_layout->addWidget(num_msg_label); + + title_layout->addStretch(); + title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this)); multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines")); multiple_lines_bytes->setChecked(settings.multiple_lines_bytes); + QPushButton *clear_filters = new QPushButton(tr("&Clear Filters")); + clear_filters->setEnabled(false); + title_layout->addWidget(clear_filters); main_layout->addLayout(title_layout); // message table view = new MessageView(this); model = new MessageListModel(this); + header = new MessageViewHeader(this); auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes); + view->setItemDelegate(delegate); + view->setHeader(header); view->setModel(model); + view->setHeader(header); view->setSortingEnabled(true); - view->sortByColumn(0, Qt::AscendingOrder); + view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder); view->setAllColumnsShowFocus(true); view->setEditTriggers(QAbstractItemView::NoEditTriggers); view->setItemsExpandable(false); view->setIndentation(0); view->setRootIsDecorated(false); + // Must be called before setting any header parameters to avoid overriding restoreHeaderState(settings.message_header_state); - view->header()->setSectionsMovable(true); + view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed); + view->header()->setStretchLastSection(true); + + // Header context menu + view->header()->setContextMenuPolicy(Qt::CustomContextMenu); + QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent); main_layout->addWidget(view); @@ -47,21 +61,33 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { suppress_clear = new QPushButton(); suppress_layout->addWidget(suppress_add); suppress_layout->addWidget(suppress_clear); + QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this); + suppress_defined_signals->setChecked(settings.suppress_defined_signals); + suppress_layout->addWidget(suppress_defined_signals); main_layout->addLayout(suppress_layout); // signals/slots - QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString); + QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings); + QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap &filters) { + clear_filters->setEnabled(!filters.isEmpty()); + }); + QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); + QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters); QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) { settings.multiple_lines_bytes = (state == Qt::Checked); delegate->setMultipleLines(settings.multiple_lines_bytes); view->setUniformRowHeights(!settings.multiple_lines_bytes); - model->sortMessages(); + + // Reset model to force recalculation of the width of the bytes column + model->forceResetModel(); + }); + QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) { + settings.suppress_defined_signals = (state == Qt::Checked); + emit settings.changed(); }); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); - QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); - QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); - QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified); QObject::connect(model, &MessageListModel::modelReset, [this]() { if (current_msg_id) { selectMessage(*current_msg_id); @@ -98,9 +124,15 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { )")); } +void MessagesWidget::dbcModified() { + num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount())); + model->dbcModified(); +} + void MessagesWidget::selectMessage(const MessageId &msg_id) { - if (int row = model->msgs.indexOf(msg_id); row != -1) { - view->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); + auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id); + if (it != model->msgs.cend()) { + view->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0)); } } @@ -114,21 +146,18 @@ void MessagesWidget::updateSuppressedButtons() { } } -void MessagesWidget::reset() { - current_msg_id = std::nullopt; - view->selectionModel()->clear(); - model->reset(); - filter->clear(); - updateSuppressedButtons(); -} - - // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal && role == Qt::DisplayRole) { - static const QString titles[] = {"Name", "Bus", "ID", "Freq", "Count", "Bytes"}; - return titles[section]; + switch (section) { + case Column::NAME: return tr("Name"); + case Column::SOURCE: return tr("Bus"); + case Column::ADDRESS: return tr("ID"); + case Column::FREQ: return tr("Freq"); + case Column::COUNT: return tr("Count"); + case Column::DATA: return tr("Bytes"); + } } return {}; } @@ -147,12 +176,12 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { switch (index.column()) { - case 0: return msgName(id); - case 1: return id.source; - case 2: return QString::number(id.address, 16); - case 3: return getFreq(can_data); - case 4: return can_data.count; - case 5: return toHex(can_data.dat); + case Column::NAME: return msgName(id); + case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A" ; + case Column::ADDRESS: return QString::number(id.address, 16); + case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A"; + case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A"; + case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A"; } } else if (role == ColorsRole) { QVector colors = can_data.colors; @@ -164,83 +193,153 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } return QVariant::fromValue(colors); - } else if (role == BytesRole && index.column() == 5) { + } else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) { return can_data.dat; + } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) { + auto msg = dbc()->msg(id); + auto tooltip = msg ? msg->name : UNTITLED; + if (msg && !msg->comment.isEmpty()) tooltip += "
" + msg->comment + ""; + return tooltip; } return {}; } -void MessageListModel::setFilterString(const QString &string) { - auto contains = [](const MessageId &id, const QString &txt) { - auto cs = Qt::CaseInsensitive; - if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true; - // Search by signal name - if (const auto msg = dbc()->msg(id)) { - for (auto s : msg->getSignals()) { - if (s->name.contains(txt, cs)) return true; - } - } - return false; - }; - - filter_str = string; - msgs.clear(); - for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { - if (filter_str.isEmpty() || contains(it.key(), filter_str)) { - msgs.push_back(it.key()); - } - } - sortMessages(); +void MessageListModel::setFilterStrings(const QMap &filters) { + filter_str = filters; + fetchData(); } -void MessageListModel::sortMessages() { - beginResetModel(); - if (sort_column == 0) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { +void MessageListModel::dbcModified() { + dbc_address.clear(); + for (const auto &[_, m] : dbc()->getMessages(-1)) { + dbc_address.insert(m.address); + } + fetchData(); +} + +void MessageListModel::sortMessages(std::vector &new_msgs) { + if (sort_column == Column::NAME) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{msgName(l), l}; auto rr = std::pair{msgName(r), r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 1) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::SOURCE) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{l.source, l}; auto rr = std::pair{r.source, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 2) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::ADDRESS) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{l.address, l}; auto rr = std::pair{r.address, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 3) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::FREQ) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).freq, l}; auto rr = std::pair{can->lastMessage(r).freq, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 4) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::COUNT) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).count, l}; auto rr = std::pair{can->lastMessage(r).count, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } - endResetModel(); } -void MessageListModel::msgsReceived(const QHash *new_msgs) { - int prev_row_count = msgs.size(); - if (filter_str.isEmpty() && msgs.size() != can->last_msgs.size()) { - msgs = can->last_msgs.keys(); +static bool parseRange(const QString &filter, uint32_t value, int base = 10) { + // Parse out filter string into a range (e.g. "1" -> {1, 1}, "1-3" -> {1, 3}, "1-" -> {1, inf}) + unsigned int min = std::numeric_limits::min(); + unsigned int max = std::numeric_limits::max(); + auto s = filter.split('-'); + bool ok = s.size() >= 1 && s.size() <= 2; + if (ok && !s[0].isEmpty()) min = s[0].toUInt(&ok, base); + if (ok && s.size() == 1) { + max = min; + } else if (ok && s.size() == 2 && !s[1].isEmpty()) { + max = s[1].toUInt(&ok, base); } - if (msgs.size() != prev_row_count) { - sortMessages(); - return; + return ok && value >= min && value <= max; +} + +bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap &filters) { + bool match = true; + for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) { + const QString &txt = it.value(); + QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption); + switch (it.key()) { + case Column::NAME: { + const auto msg = dbc()->msg(id); + match = re.match(msg ? msg->name : UNTITLED).hasMatch(); + match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); }); + break; + } + case Column::SOURCE: + match = parseRange(txt, id.source); + break; + case Column::ADDRESS: { + match = re.match(QString::number(id.address, 16)).hasMatch(); + match |= parseRange(txt, id.address, 16); + break; + } + case Column::FREQ: + // TODO: Hide stale messages? + match = parseRange(txt, data.freq); + break; + case Column::COUNT: + match = parseRange(txt, data.count); + break; + case Column::DATA: { + match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive); + match |= re.match(QString(data.dat.toHex())).hasMatch(); + match |= re.match(QString(data.dat.toHex(' '))).hasMatch(); + break; + } + } + } + return match; +} + +void MessageListModel::fetchData() { + std::vector new_msgs; + new_msgs.reserve(can->last_msgs.size() + dbc_address.size()); + + auto address = dbc_address; + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { + if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) { + new_msgs.push_back(it.key()); + } + address.remove(it.key().address); + } + + // merge all DBC messages + for (auto &addr : address) { + MessageId id{.source = INVALID_SOURCE, .address = addr}; + if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) { + new_msgs.push_back(id); + } + } + + sortMessages(new_msgs); + + if (msgs != new_msgs) { + beginResetModel(); + msgs = std::move(new_msgs); + endResetModel(); + } +} + +void MessageListModel::msgsReceived(const QHash *new_msgs, bool has_new_ids) { + if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) { + fetchData(); } for (int i = 0; i < msgs.size(); ++i) { if (new_msgs->contains(msgs[i])) { - for (int col = 3; col < columnCount(); ++col) + for (int col = Column::FREQ; col < columnCount(); ++col) emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole}); } } @@ -250,7 +349,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { if (column != columnCount() - 1) { sort_column = column; sort_order = order; - sortMessages(); + fetchData(); } } @@ -272,11 +371,8 @@ void MessageListModel::clearSuppress() { suppressed_bytes.clear(); } -void MessageListModel::reset() { +void MessageListModel::forceResetModel() { beginResetModel(); - filter_str = ""; - msgs.clear(); - clearSuppress(); endResetModel(); } @@ -315,7 +411,99 @@ void MessageView::updateBytesSectionSize() { } } int width = delegate->widthForBytes(max_bytes); - if (header()->sectionSize(5) != width) { - header()->resizeSection(5, width); + if (header()->sectionSize(MessageListModel::Column::DATA) != width) { + header()->resizeSection(MessageListModel::Column::DATA, width); } } + +void MessageView::headerContextMenuEvent(const QPoint &pos) { + QMenu *menu = new QMenu(this); + int cur_index = header()->logicalIndexAt(pos); + + QAction *action; + for (int visual_index = 0; visual_index < header()->count(); visual_index++) { + int logical_index = header()->logicalIndex(visual_index); + QString column_name = model()->headerData(logical_index, Qt::Horizontal).toString(); + + // Hide show action + if (header()->isSectionHidden(logical_index)) { + action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); }); + } else { + action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); }); + } + + // Can't hide the name column + action->setEnabled(logical_index > 0); + + // Make current column bold + if (logical_index == cur_index) { + QFont font = action->font(); + font.setBold(true); + action->setFont(font); + } + } + + menu->popup(header()->mapToGlobal(pos)); +} + +MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) { + QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions); + QObject::connect(this, &QHeaderView::sectionMoved, this, &MessageViewHeader::updateHeaderPositions); +} + +void MessageViewHeader::updateFilters() { + QMap filters; + for (int i = 0; i < count(); i++) { + if (editors[i]) { + QString filter = editors[i]->text(); + if (!filter.isEmpty()) { + filters[i] = filter; + } + } + } + emit filtersUpdated(filters); +} + +void MessageViewHeader::clearFilters() { + for (QLineEdit *editor : editors) { + editor->clear(); + } +} + +void MessageViewHeader::updateHeaderPositions() { + QSize sz = QHeaderView::sizeHint(); + for (int i = 0; i < count(); i++) { + if (editors[i]) { + int h = editors[i]->sizeHint().height(); + editors[i]->move(sectionViewportPosition(i), sz.height()); + editors[i]->resize(sectionSize(i), h); + editors[i]->setHidden(isSectionHidden(i)); + } + } +} + +void MessageViewHeader::updateGeometries() { + for (int i = 0; i < count(); i++) { + if (!editors[i]) { + QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString(); + editors[i] = new QLineEdit(this); + editors[i]->setClearButtonEnabled(true); + editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name)); + + QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters); + } + } + setViewportMargins(0, 0, 0, editors[0] ? editors[0]->sizeHint().height() : 0); + + QHeaderView::updateGeometries(); + updateHeaderPositions(); +} + + +QSize MessageViewHeader::sizeHint() const { + QSize sz = QHeaderView::sizeHint(); + if (editors[0]) { + sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1); + } + return sz; +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 2dc0d1d316..2e165f5b7c 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -2,8 +2,11 @@ #include #include +#include #include +#include #include +#include #include #include @@ -14,23 +17,38 @@ class MessageListModel : public QAbstractTableModel { Q_OBJECT public: + + enum Column { + NAME = 0, + SOURCE, + ADDRESS, + FREQ, + COUNT, + DATA, + }; + MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 6; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; - void setFilterString(const QString &string); - void msgsReceived(const QHash *new_msgs = nullptr); - void sortMessages(); + void setFilterStrings(const QMap &filters); + void msgsReceived(const QHash *new_msgs, bool has_new_ids); + void fetchData(); void suppress(); void clearSuppress(); - void reset(); - QList msgs; + void forceResetModel(); + void dbcModified(); + std::vector msgs; QSet> suppressed_bytes; private: - QString filter_str; + void sortMessages(std::vector &new_msgs); + bool matchMessage(const MessageId &id, const CanData &data, const QMap &filters); + + QMap filter_str; + QSet dbc_address; int sort_column = 0; Qt::SortOrder sort_order = Qt::AscendingOrder; }; @@ -43,6 +61,30 @@ public: void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {} void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override; void updateBytesSectionSize(); + void headerContextMenuEvent(const QPoint &pos); +}; + +class MessageViewHeader : public QHeaderView { + // https://stackoverflow.com/a/44346317 + + Q_OBJECT +public: + MessageViewHeader(QWidget *parent); + void updateHeaderPositions(); + + void updateGeometries() override; + QSize sizeHint() const override; + +public slots: + void clearFilters(); + +signals: + void filtersUpdated(const QMap &filters); + +private: + void updateFilters(); + + QMap editors; }; class MessagesWidget : public QWidget { @@ -54,17 +96,20 @@ public: QByteArray saveHeaderState() const { return view->header()->saveState(); } bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); } void updateSuppressedButtons(); - void reset(); + +public slots: + void dbcModified(); signals: void msgSelectionChanged(const MessageId &message_id); protected: MessageView *view; + MessageViewHeader *header; std::optional current_msg_id; - QLineEdit *filter; QCheckBox *multiple_lines_bytes; MessageListModel *model; QPushButton *suppress_add; QPushButton *suppress_clear; + QLabel *num_msg_label; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index f759324988..d0cada680a 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -38,6 +38,7 @@ void Settings::save() { s.setValue("log_livestream", log_livestream); s.setValue("log_path", log_path); s.setValue("drag_direction", drag_direction); + s.setValue("suppress_defined_signals", suppress_defined_signals); } void Settings::load() { @@ -61,6 +62,7 @@ void Settings::load() { log_livestream = s.value("log_livestream", true).toBool(); log_path = s.value("log_path").toString(); drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt(); + suppress_defined_signals = s.value("suppress_defined_signals", false).toBool(); if (log_path.isEmpty()) { log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/"; } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 11548ef5cc..b8a3797f86 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -36,6 +36,7 @@ public: int sparkline_range = 15; // 15 seconds bool multiple_lines_bytes = true; bool log_livestream = true; + bool suppress_defined_signals = false; QString log_path; QString last_dir; QString last_route_dir; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 32b0a39408..ce10576ffe 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -1,11 +1,9 @@ #include "tools/cabana/signalview.h" -#include #include #include #include #include -#include #include #include #include @@ -18,6 +16,12 @@ // SignalModel +static QString signalTypeToString(cabana::Signal::Type type) { + if (type == cabana::Signal::Type::Multiplexor) return "Multiplexor Signal"; + else if (type == cabana::Signal::Type::Multiplexed) return "Multiplexed Signal"; + else return "Normal Signal"; +} + SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh); QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged); @@ -30,7 +34,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig}; parent_item->children.insert(pos, item); - QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; + QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info", + "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; for (int i = 0; i < std::size(titles); ++i) { item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}); } @@ -87,6 +92,9 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { if (index.column() == 1 && item->type != Item::Sig && item->type != Item::ExtraInfo) { flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable; } + if (item->type == Item::MultiplexValue && item->sig->type != cabana::Signal::Type::Multiplexed) { + flags &= ~Qt::ItemIsEnabled; + } return flags; } @@ -124,16 +132,18 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { case Item::Sig: return item->sig_val; case Item::Name: return item->sig->name; case Item::Size: return item->sig->size; - case Item::Offset: return QString::number(item->sig->offset, 'f', 6); - case Item::Factor: return QString::number(item->sig->factor, 'f', 6); + case Item::SignalType: return signalTypeToString(item->sig->type); + case Item::MultiplexValue: return item->sig->multiplex_value; + case Item::Offset: return doubleToString(item->sig->offset); + case Item::Factor: return doubleToString(item->sig->factor); case Item::Unit: return item->sig->unit; case Item::Comment: return item->sig->comment; - case Item::Min: return item->sig->min; - case Item::Max: return item->sig->max; + case Item::Min: return doubleToString(item->sig->min); + case Item::Max: return doubleToString(item->sig->max); case Item::Desc: { QStringList val_desc; for (auto &[val, desc] : item->sig->val_desc) { - val_desc << QString("%1 \"%2\"").arg(val, desc); + val_desc << QString("%1 \"%2\"").arg(val).arg(desc); } return val_desc.join(" "); } @@ -146,7 +156,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) { return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); } else if (role == Qt::ToolTipRole && item->type == Item::Sig) { - return (index.column() == 0) ? item->sig->name : item->sig_val; + return (index.column() == 0) ? signalToolTip(item->sig) : QString(); } } return {}; @@ -160,18 +170,19 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; + case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break; + case Item::MultiplexValue: s.multiplex_value = value.toInt(); break; case Item::Endian: s.is_little_endian = value.toBool(); break; case Item::Signed: s.is_signed = value.toBool(); break; case Item::Offset: s.offset = value.toDouble(); break; case Item::Factor: s.factor = value.toDouble(); break; case Item::Unit: s.unit = value.toString(); break; case Item::Comment: s.comment = value.toString(); break; - case Item::Min: s.min = value.toString(); break; - case Item::Max: s.max = value.toString(); break; + case Item::Min: s.min = value.toDouble(); break; + case Item::Max: s.max = value.toDouble(); break; case Item::Desc: s.val_desc = value.value(); break; default: return false; } - s.updatePrecision(); bool ret = saveSignal(item->sig, s); emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); return ret; @@ -201,74 +212,44 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) } if (s.is_little_endian != origin_s->is_little_endian) { - int start = std::floor(s.start_bit / 8); - if (s.is_little_endian) { - int end = std::floor((s.start_bit - s.size + 1) / 8); - s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit); - } else { - int end = std::floor((s.start_bit + s.size - 1) / 8); - s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit); - } + s.start_bit = flipBitPos(s.start_bit); } - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } - UndoStack::push(new EditSignalCommand(msg_id, origin_s, s)); return true; } -void SignalModel::addSignal(int start_bit, int size, bool little_endian) { - auto msg = dbc()->msg(msg_id); - if (!msg) { - QString name = dbc()->newMsgName(msg_id); - UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); - msg = dbc()->msg(msg_id); - } - - cabana::Signal sig = {.name = dbc()->newSignalName(msg_id), .is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)}; - updateSigSizeParamsFromRange(sig, start_bit, size); - UndoStack::push(new AddSigCommand(msg_id, sig)); -} - -void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) { - cabana::Signal s = *sig; - updateSigSizeParamsFromRange(s, start_bit, size); - saveSignal(sig, s); -} - -void SignalModel::removeSignal(const cabana::Signal *sig) { - UndoStack::push(new RemoveSigCommand(msg_id, sig)); - if (dbc()->signalCount(msg_id) == 0) { - UndoStack::push(new RemoveMsgCommand(msg_id)); - } -} - void SignalModel::handleMsgChanged(MessageId id) { - if (id == msg_id) { + if (id.address == msg_id.address) { refresh(); } } void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { if (id == msg_id) { - int i = 0; - for (; i < root->children.size(); ++i) { - if (sig->start_bit < root->children[i]->sig->start_bit) break; + if (filter_str.isEmpty()) { + int i = dbc()->msg(msg_id)->indexOf(sig); + beginInsertRows({}, i, i); + insertItem(root.get(), i, sig); + endInsertRows(); + } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) { + refresh(); } - beginInsertRows({}, i, i); - insertItem(root.get(), i, sig); - endInsertRows(); } } void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); + + if (filter_str.isEmpty()) { + // move row when the order changes. + int to = dbc()->msg(msg_id)->indexOf(sig); + if (to != row) { + beginMoveRows({}, row, row, {}, to > row ? to + 1 : to); + root->children.move(row, to); + endMoveRows(); + } + } } } @@ -284,8 +265,8 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { name_validator = new NameValidator(this); - double_validator = new QDoubleValidator(this); - double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system + double_validator = new DoubleValidator(this); + label_font.setPointSize(8); minmax_font.setPixelSize(10); } @@ -293,29 +274,20 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { int width = option.widget->size().width() / 2; if (index.column() == 0) { + int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8; auto text = index.data(Qt::DisplayRole).toString(); + auto item = (SignalModel::Item *)index.internalPointer(); + if (item->type == SignalModel::Item::Sig && item->sig->type != cabana::Signal::Type::Normal) { + text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value); + spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2; + } auto it = width_cache.find(text); if (it == width_cache.end()) { - int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8; - it = width_cache.insert(text, option.fontMetrics.width(text) + spacing); + it = width_cache.insert(text, option.fontMetrics.width(text)); } - width = std::min(option.widget->size().width() / 3.0, it.value()); + width = std::min(option.widget->size().width() / 3.0, it.value() + spacing); } - return {width, QApplication::fontMetrics().height()}; -} - -bool SignalItemDelegate::helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) { - if (event && event->type() == QEvent::ToolTip && index.isValid()) { - auto item = (SignalModel::Item *)index.internalPointer(); - if (item->type == SignalModel::Item::Sig && index.column() == 1) { - QRect rc = option.rect.adjusted(0, 0, -option.rect.width() * 0.4, 0); - if (rc.contains(event->pos())) { - event->setAccepted(false); - return false; - } - } - } - return QStyledItemDelegate::helpEvent(event, view, option, index); + return {width, option.fontMetrics.height()}; } void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -335,7 +307,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op if (item && item->type == SignalModel::Item::Sig) { painter->setRenderHint(QPainter::Antialiasing); if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, option.palette.highlight()); + painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight)); } int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; @@ -348,15 +320,28 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op path.addRoundedRect(icon_rect, 3, 3); painter->setPen(item->highlight ? Qt::white : Qt::black); painter->setFont(label_font); - painter->fillPath(path, getColor(item->sig).darker(item->highlight ? 125 : 0)); + painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0)); painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1)); r.setLeft(icon_rect.right() + h_margin * 2); + // multiplexer indicator + if (item->sig->type != cabana::Signal::Type::Normal) { + QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value); + QRect indicator_rect{r.x(), r.y(), option.fontMetrics.width(indicator), r.height()}; + painter->setBrush(Qt::gray); + painter->setPen(Qt::NoPen); + painter->drawRoundedRect(indicator_rect, 3, 3); + painter->setPen(Qt::white); + painter->drawText(indicator_rect, Qt::AlignCenter, indicator); + r.setLeft(indicator_rect.right() + h_margin * 2); + } + + // name auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width()); painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); painter->setFont(option.font); painter->drawText(r, option.displayAlignment, text); - } else if (index.column() == 1) { + } else if (index.column() == 1 && !item->sparkline.pixmap.isNull()) { // sparkline QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio(); painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap); @@ -374,8 +359,15 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min); QFontMetrics fm(minmax_font); value_adjust = std::max(fm.width(min), fm.width(max)) + 5; + } else if (item->sig->type == cabana::Signal::Type::Multiplexed) { + // display freq of multiplexed signal + painter->setFont(label_font); + QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2); + painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq); + QFontMetrics fm(label_font); + value_adjust = fm.width(freq) + 10; } - // value + // signal value painter->setFont(option.font); rect.adjust(value_adjust, 0, -button_size.width(), 0); auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width()); @@ -389,10 +381,11 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || - item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) { + item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue || + item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) { QLineEdit *e = new QLineEdit(parent); e->setFrame(false); - e->setValidator(index.row() == 0 ? name_validator : double_validator); + e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator); if (item->type == SignalModel::Item::Name) { QCompleter *completer = new QCompleter(dbc()->signalNames()); @@ -407,6 +400,15 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie spin->setFrame(false); spin->setRange(1, 64); return spin; + } else if (item->type == SignalModel::Item::SignalType) { + QComboBox *c = new QComboBox(parent); + c->addItem(signalTypeToString(cabana::Signal::Type::Normal), (int)cabana::Signal::Type::Normal); + if (!dbc()->msg(((SignalModel *)index.model())->msg_id)->multiplexor) { + c->addItem(signalTypeToString(cabana::Signal::Type::Multiplexor), (int)cabana::Signal::Type::Multiplexor); + } else if (item->sig->type != cabana::Signal::Type::Multiplexor) { + c->addItem(signalTypeToString(cabana::Signal::Type::Multiplexed), (int)cabana::Signal::Type::Multiplexed); + } + return c; } else if (item->type == SignalModel::Item::Desc) { ValueDescriptionDlg dlg(item->sig->val_desc, parent); dlg.setWindowTitle(item->sig->name); @@ -418,6 +420,15 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie return QStyledItemDelegate::createEditor(parent, option, index); } +void SignalItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const { + auto item = (SignalModel::Item *)index.internalPointer(); + if (item->type == SignalModel::Item::SignalType) { + model->setData(index, ((QComboBox*)editor)->currentData().toInt()); + return; + } + QStyledItemDelegate::setModelData(editor, model, index); +} + // SignalView SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QFrame(parent) { @@ -456,10 +467,14 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), tree->setHeaderHidden(true); tree->setMouseTracking(true); tree->setExpandsOnDoubleClick(false); + tree->setEditTriggers(QAbstractItemView::AllEditTriggers); tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents); tree->header()->setStretchLastSection(true); tree->setMinimumHeight(300); - tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); + + // Use a distinctive background for the whole row containing a QSpinBox or QLineEdit + QString nodeBgColor = palette().color(QPalette::AlternateBase).name(QColor::HexArgb); + tree->setStyleSheet(QString("QSpinBox{background-color:%1;border:none;} QLineEdit{background-color:%1;}").arg(nodeBgColor)); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -476,11 +491,11 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); }); QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); - QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState); + QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalView::handleSignalAdded); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated); QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); }); QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); }); + QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState); setWhatsThis(tr(R"( Signal view
@@ -513,7 +528,7 @@ void SignalView::rowsChanged() { tree->setIndexWidget(index, w); auto sig = model->getItem(index)->sig; - QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); }); + QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); }); QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) { emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); }); @@ -580,6 +595,12 @@ void SignalView::setSparklineRange(int value) { updateState(); } +void SignalView::handleSignalAdded(MessageId id, const cabana::Signal *sig) { + if (id.address == model->msg_id.address) { + selectSignal(sig); + } +} + void SignalView::handleSignalUpdated(const cabana::Signal *sig) { if (int row = model->signalRow(sig); row != -1) { auto item = model->getItem(model->index(row, 1)); @@ -590,48 +611,42 @@ void SignalView::handleSignalUpdated(const cabana::Signal *sig) { } void SignalView::updateState(const QHash *msgs) { - if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id))) return; - const auto &last_msg = can->lastMessage(model->msg_id); + if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return; + for (auto item : model->root->children) { - double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig); - item->sig_val = QString::number(value, 'f', item->sig->precision); - // Show unit - if (!item->sig->unit.isEmpty()) { - item->sig_val += " " + item->sig->unit; - } - // Show enum string - for (auto &[val, desc] : item->sig->val_desc) { - if (std::abs(value - val.toInt()) < 1e-6) { - item->sig_val = desc; - } + double value = 0; + if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) { + item->sig_val = item->sig->formatValue(value); } max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val)); } - // update visible sparkline - QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height()); - int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5); - int value_width = std::min(max_value_width, size.width() * 0.35); - size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2}; - QModelIndex top = tree->indexAt(QPoint(0, 0)); - QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft()); - int start_row = top.parent().isValid() ? top.parent().row() + 1 : top.row(); - int end_row = model->rowCount() - 1; - if (bottom.isValid()) { - end_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row(); - } - QFutureSynchronizer synchronizer; - for (int i = start_row; i <= end_row; ++i) { - auto item = model->getItem(model->index(i, 1)); - auto &s = item->sparkline; - if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) { - synchronizer.addFuture(QtConcurrent::run( - &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size)); + if (top.isValid()) { + // update visible sparkline + int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row(); + int last_visible_row = model->rowCount() - 1; + QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft()); + if (bottom.isValid()) { + last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row(); + } + + QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height()); + int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5); + int value_width = std::min(max_value_width, size.width() * 0.35); + size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2}; + + QFutureSynchronizer synchronizer; + for (int i = first_visible_row; i <= last_visible_row; ++i) { + auto item = model->getItem(model->index(i, 1)); + auto &s = item->sparkline; + if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) { + synchronizer.addFuture(QtConcurrent::run( + &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size)); + } } } - synchronizer.waitForFinished(); for (int i = 0; i < model->rowCount(); ++i) { emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole}); @@ -643,11 +658,6 @@ void SignalView::resizeEvent(QResizeEvent* event) { QFrame::resizeEvent(event); } -void SignalView::leaveEvent(QEvent *event) { - emit highlight(nullptr); - QWidget::leaveEvent(event); -} - // ValueDescriptionDlg ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, QWidget *parent) : QDialog(parent) { @@ -670,7 +680,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q int row = 0; for (auto &[val, desc] : descriptions) { - table->setItem(row, 0, new QTableWidgetItem(val)); + table->setItem(row, 0, new QTableWidgetItem(QString::number(val))); table->setItem(row, 1, new QTableWidgetItem(desc)); ++row; } @@ -700,7 +710,7 @@ void ValueDescriptionDlg::save() { QString val = table->item(i, 0)->text().trimmed(); QString desc = table->item(i, 1)->text().trimmed(); if (!val.isEmpty() && !desc.isEmpty()) { - val_desc.push_back({val, desc}); + val_desc.push_back({val.toDouble(), desc}); } } QDialog::accept(); @@ -710,7 +720,7 @@ QWidget *ValueDescriptionDlg::Delegate::createEditor(QWidget *parent, const QSty QLineEdit *edit = new QLineEdit(parent); edit->setFrame(false); if (index.column() == 0) { - edit->setValidator(new QIntValidator(edit)); + edit->setValidator(new DoubleValidator(parent)); } return edit; } diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 02741234a6..9541ac8a3b 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -15,7 +15,7 @@ class SignalModel : public QAbstractItemModel { Q_OBJECT public: struct Item { - enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, ExtraInfo, Unit, Comment, Min, Max, Desc }; + enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc }; ~Item() { qDeleteAll(children); } inline int row() { return parent->children.indexOf(this); } @@ -41,10 +41,7 @@ public: bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override; void setMessage(const MessageId &id); void setFilter(const QString &txt); - void addSignal(int start_bit, int size, bool little_endian); bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s); - void resizeSignal(const cabana::Signal *sig, int start_bit, int size); - void removeSignal(const cabana::Signal *sig); Item *getItem(const QModelIndex &index) const; int signalRow(const cabana::Signal *sig) const; void showExtraInfo(const QModelIndex &index); @@ -85,8 +82,8 @@ public: void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const; QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override; QValidator *name_validator, *double_validator; QFont label_font, minmax_font; @@ -113,10 +110,10 @@ signals: private: void rowsChanged(); - void leaveEvent(QEvent *event) override; void resizeEvent(QResizeEvent* event) override; void updateToolBar(); void setSparklineRange(int value); + void handleSignalAdded(MessageId id, const cabana::Signal *sig); void handleSignalUpdated(const cabana::Signal *sig); void updateState(const QHash *msgs = nullptr); @@ -131,6 +128,10 @@ private: // Bypass the slow call to QTreeView::dataChanged. QAbstractItemView::dataChanged(topLeft, bottomRight, roles); } + void leaveEvent(QEvent *event) override { + emit ((SignalView *)parentWidget())->highlight(nullptr); + QTreeView::leaveEvent(event); + } }; int max_value_width = 0; TreeView *tree; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 88c56dce43..7cd210d8f1 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,32 +1,65 @@ #include "tools/cabana/streams/abstractstream.h" + #include AbstractStream *can = nullptr; -AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { - can = this; - new_msgs = std::make_unique>(); +StreamNotifier *StreamNotifier::instance() { + static StreamNotifier notifier; + return ¬ifier; +} + +AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash()), QObject(parent) { + assert(parent != nullptr); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); + QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); + QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks); + QObject::connect(this, &AbstractStream::streamStarted, [this]() { + emit StreamNotifier::instance()->changingStream(); + delete can; + can = this; + emit StreamNotifier::instance()->streamStarted(); + }); +} + +void AbstractStream::updateMasks() { + std::lock_guard lk(mutex); + masks.clear(); + if (settings.suppress_defined_signals) { + for (auto s : sources) { + if (auto f = dbc()->findDBCFile(s)) { + for (const auto &[address, m] : f->getMessages()) { + masks[{.source = (uint8_t)s, .address = address}] = m.mask; + } + } + } + } } void AbstractStream::updateMessages(QHash *messages) { auto prev_src_size = sources.size(); + auto prev_msg_size = last_msgs.size(); for (auto it = messages->begin(); it != messages->end(); ++it) { const auto &id = it.key(); last_msgs[id] = it.value(); sources.insert(id.source); } if (sources.size() != prev_src_size) { + updateMasks(); emit sourcesUpdated(sources); } emit updated(); - emit msgsReceived(messages); + emit msgsReceived(messages, prev_msg_size != last_msgs.size()); delete messages; processing = false; } void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) { - all_msgs[id].compute((const char*)data, size, sec, getSpeed()); + std::lock_guard lk(mutex); + auto mask_it = masks.find(id); + std::vector *mask = mask_it == masks.end() ? nullptr : &mask_it->second; + all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask); if (!new_msgs->contains(id)) { new_msgs->insert(id, {}); } @@ -34,7 +67,7 @@ void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t bool AbstractStream::postEvents() { // delay posting CAN message if UI thread is busy - if (!processing) { + if (processing == false) { processing = true; for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) { it.value() = all_msgs[it.key()]; @@ -48,6 +81,12 @@ bool AbstractStream::postEvents() { return false; } +const std::vector &AbstractStream::events(const MessageId &id) const { + static std::vector empty_events; + auto it = events_.find(id); + return it != events_.end() ? it->second : empty_events; +} + const CanData &AbstractStream::lastMessage(const MessageId &id) { static CanData empty_data = {}; auto it = last_msgs.find(id); @@ -66,34 +105,44 @@ void AbstractStream::updateLastMsgsTo(double sec) { auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) { return e->mono_time > ts; }); + auto mask_it = masks.find(id); + std::vector *mask = mask_it == masks.end() ? nullptr : &mask_it->second; if (it != ev.crend()) { double ts = (*it)->mono_time / 1e9 - routeStartTime(); auto &m = all_msgs[id]; - m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed()); + m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); m.count = std::distance(it, ev.crend()); m.freq = m.count / std::max(1.0, ts); } } + + // deep copy all_msgs to last_msgs to avoid multi-threading issue. last_msgs = all_msgs; + last_msgs.detach(); // use a timer to prevent recursive calls QTimer::singleShot(0, [this]() { emit updated(); - emit msgsReceived(&last_msgs); + emit msgsReceived(&last_msgs, true); }); } -void AbstractStream::parseEvents(std::unordered_map> &msgs, - std::vector::const_iterator first, std::vector::const_iterator last) { +void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) { size_t memory_size = 0; + size_t events_cnt = 0; for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size(); + ++events_cnt; } } } + if (memory_size == 0) return; char *ptr = memory_blocks.emplace_back(new char[memory_size]).get(); + std::unordered_map> new_events_map; + std::vector new_events; + new_events.reserve(events_cnt); for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { uint64_t ts = (*it)->mono_time; @@ -106,31 +155,28 @@ void AbstractStream::parseEvents(std::unordered_mapsize = dat.size(); memcpy(e->dat, (uint8_t *)dat.begin(), e->size); - msgs[{.source = e->src, .address = e->address}].push_back(e); - all_events_.push_back(e); + new_events_map[{.source = e->src, .address = e->address}].push_back(e); + new_events.push_back(e); ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size; } } } -} -void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append) { - if (first == last) return; - - if (append) { - parseEvents(events_, first, last); - } else { - std::unordered_map> new_events; - parseEvents(new_events, first, last); - for (auto &[id, new_e] : new_events) { - auto &e = events_[id]; - auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) { - return l->mono_time < r->mono_time; - }); - e.insert(it, new_e.cbegin(), new_e.cend()); - } + bool append = new_events.front()->mono_time > lastest_event_ts; + for (auto &[id, new_e] : new_events_map) { + auto &e = events_[id]; + auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) { + return l->mono_time < r->mono_time; + }); + e.insert(pos, new_e.cbegin(), new_e.cend()); } - total_sec = (all_events_.back()->mono_time - all_events_.front()->mono_time) / 1e9; + + auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) { + return l->mono_time < r->mono_time; + }); + all_events_.insert(pos, new_events.cbegin(), new_events.cend()); + + lastest_event_ts = all_events_.back()->mono_time; emit eventsMerged(); } @@ -150,15 +196,16 @@ static inline QColor blend(const QColor &a, const QColor &b) { return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); } -void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, uint32_t in_freq) { +void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const std::vector *mask, uint32_t in_freq) { ts = current_sec; ++count; - freq = in_freq == 0 ? count / std::max(1.0, current_sec) : in_freq; + const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime()); + freq = in_freq == 0 ? count / std::max(1.0, sec_to_first_event) : in_freq; if (dat.size() != size) { dat.resize(size); bit_change_counts.resize(size); colors = QVector(size, QColor(0, 0, 0, 0)); - last_change_t = QVector(size, ts); + last_change_t.assign(size, ts); last_delta.resize(size); same_delta_counter.resize(size); } else { @@ -168,8 +215,9 @@ void CanData::compute(const char *can_data, const int size, double current_sec, const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER; for (int i = 0; i < size; ++i) { - const uint8_t last = dat[i]; - const uint8_t cur = can_data[i]; + const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff; + const uint8_t last = dat[i] & mask_byte; + const uint8_t cur = can_data[i] & mask_byte; const int delta = cur - last; if (last != cur) { diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 644aa133d4..fb42a58e24 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -13,17 +13,17 @@ #include "tools/replay/replay.h" struct CanData { - void compute(const char *dat, const int size, double current_sec, double playback_speed, uint32_t in_freq = 0); + void compute(const char *dat, const int size, double current_sec, double playback_speed, const std::vector *mask, uint32_t in_freq = 0); double ts = 0.; uint32_t count = 0; double freq = 0; QByteArray dat; QVector colors; - QVector last_change_t; - QVector> bit_change_counts; - QVector last_delta; - QVector same_delta_counter; + std::vector last_change_t; + std::vector> bit_change_counts; + std::vector last_delta; + std::vector same_delta_counter; }; struct CanEvent { @@ -40,14 +40,14 @@ class AbstractStream : public QObject { public: AbstractStream(QObject *parent); virtual ~AbstractStream() {}; + virtual void start() = 0; inline bool liveStreaming() const { return route() == nullptr; } - inline double lastEventSecond() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } virtual double routeStartTime() const { return 0; } virtual double currentSec() const = 0; - double totalSeconds() const { return total_sec; } + virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } const CanData &lastMessage(const MessageId &id); virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual const Route *route() const { return nullptr; } @@ -55,9 +55,9 @@ public: virtual double getSpeed() { return 1; } virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} - const std::deque &allEvents() const { return all_events_; } - const std::deque &events(const MessageId &id) const { return events_.at(id); } - virtual const std::vector> getTimeline() { return {}; } + const std::vector &allEvents() const { return all_events_; } + const std::vector &events(const MessageId &id) const; + virtual const std::vector> getTimeline() { return {}; } signals: void paused(); @@ -66,7 +66,7 @@ signals: void streamStarted(); void eventsMerged(); void updated(); - void msgsReceived(const QHash *); + void msgsReceived(const QHash *new_msgs, bool has_new_ids); void sourcesUpdated(const SourceSet &s); public: @@ -74,25 +74,26 @@ public: SourceSet sources; protected: - void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append); + void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last); bool postEvents(); - uint64_t lastEventMonoTime() const { return all_events_.empty() ? 0 : all_events_.back()->mono_time; } + uint64_t lastEventMonoTime() const { return lastest_event_ts; } void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size); void updateMessages(QHash *); - void parseEvents(std::unordered_map> &msgs, std::vector::const_iterator first, std::vector::const_iterator last); + void updateMasks(); void updateLastMsgsTo(double sec); - double total_sec = 0; + uint64_t lastest_event_ts = 0; std::atomic processing = false; std::unique_ptr> new_msgs; QHash all_msgs; - std::unordered_map> events_; - std::deque all_events_; + std::unordered_map> events_; + std::vector all_events_; std::deque> memory_blocks; + std::mutex mutex; + std::unordered_map> masks; }; class AbstractOpenStreamWidget : public QWidget { - Q_OBJECT public: AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} virtual bool open() = 0; @@ -102,5 +103,24 @@ protected: AbstractStream **stream = nullptr; }; +class DummyStream : public AbstractStream { + Q_OBJECT +public: + DummyStream(QObject *parent) : AbstractStream(parent) {} + QString routeName() const override { return tr("No Stream"); } + void start() override { emit streamStarted(); } + double currentSec() const override { return 0; } +}; + +class StreamNotifier : public QObject { + Q_OBJECT +public: + StreamNotifier(QObject *parent = nullptr) : QObject(parent) {} + static StreamNotifier* instance(); +signals: + void streamStarted(); + void changingStream(); +}; + // A global pointer referring to the unique AbstractStream object extern AbstractStream *can; diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 5bbe527773..5631f64d68 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -9,13 +9,10 @@ // DeviceStream DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) { - startStreamThread(); } void DeviceStream::streamThread() { - if (!zmq_address.isEmpty()) { - setenv("ZMQ", "1", 1); - } + zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1); std::unique_ptr context(Context::create()); std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 466537e9b8..91c88c97ca 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,12 +1,30 @@ #include "tools/cabana/streams/livestream.h" -#include +struct LiveStream::Logger { + Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {} + + void write(const char *data, const size_t size) { + int n = (seconds_since_epoch() - start_ts) / 60.0; + if (std::exchange(segment_num, n) != segment_num) { + QString dir = QString("%1/%2--%3") + .arg(settings.log_path) + .arg(QDateTime::fromSecsSinceEpoch(start_ts).toString("yyyy-MM-dd--hh-mm-ss")) + .arg(n); + util::create_directories(dir.toStdString(), 0755); + fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out)); + } + + fs->write(data, size); + } + + std::unique_ptr fs; + int segment_num; + uint64_t start_ts; +}; LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { if (settings.log_livestream) { - std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString(); - util::create_directories(path, 0755); - fs.reset(new std::ofstream(path + "/rlog", std::ios::binary | std::ios::out)); + logger = std::make_unique(); } stream_thread = new QThread(this); @@ -21,11 +39,9 @@ void LiveStream::startUpdateTimer() { timer_id = update_timer.timerId(); } -void LiveStream::startStreamThread() { - // delay the start of the thread to avoid calling startStreamThread - // in the constructor when other classes' slots have not been connected to - // the signals of the livestream. - QTimer::singleShot(0, [this]() { stream_thread->start(); }); +void LiveStream::start() { + emit streamStarted(); + stream_thread->start(); startUpdateTimer(); } @@ -38,8 +54,8 @@ LiveStream::~LiveStream() { // called in streamThread void LiveStream::handleEvent(const char *data, const size_t size) { - if (fs) { - fs->write(data, size); + if (logger) { + logger->write(data, size); } std::lock_guard lk(lock); @@ -52,7 +68,7 @@ void LiveStream::timerEvent(QTimerEvent *event) { { // merge events received from live stream thread. std::lock_guard lk(lock); - mergeEvents(receivedEvents.cbegin(), receivedEvents.cend(), true); + mergeEvents(receivedEvents.cbegin(), receivedEvents.cend()); receivedEvents.clear(); receivedMessages.clear(); } @@ -67,12 +83,10 @@ void LiveStream::timerEvent(QTimerEvent *event) { void LiveStream::updateEvents() { static double prev_speed = 1.0; - static uint64_t prev_newest_event_ts = all_events_.back()->mono_time; if (first_update_ts == 0) { first_update_ts = nanos_since_boot(); first_event_ts = current_event_ts = all_events_.back()->mono_time; - emit streamStarted(); } if (paused_ || prev_speed != speed_) { @@ -82,16 +96,13 @@ void LiveStream::updateEvents() { return; } - uint64_t last_event_ts = all_events_.back()->mono_time; - bool at_the_end = current_event_ts == prev_newest_event_ts; - if (!at_the_end) { - last_event_ts = first_event_ts + (nanos_since_boot() - first_update_ts) * speed_; - } - + uint64_t last_ts = post_last_event && speed_ == 1.0 + ? all_events_.back()->mono_time + : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_; auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) { return ts < e->mono_time; }); - auto last = std::upper_bound(first, all_events_.cend(), last_event_ts, [](uint64_t ts, auto e) { + auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) { return ts < e->mono_time; }); @@ -102,14 +113,13 @@ void LiveStream::updateEvents() { current_event_ts = e->mono_time; } postEvents(); - prev_newest_event_ts = all_events_.back()->mono_time; } void LiveStream::seekTo(double sec) { sec = std::max(0.0, sec); first_update_ts = nanos_since_boot(); - first_event_ts = std::min(sec * 1e9 + begin_event_ts, lastEventMonoTime()); - current_event_ts = first_event_ts; + current_event_ts = first_event_ts = std::min(sec * 1e9 + begin_event_ts, lastEventMonoTime()); + post_last_event = (first_event_ts == lastEventMonoTime()); emit seekedTo((current_event_ts - begin_event_ts) / 1e9); } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 197ac64e3e..b4816d090f 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -10,6 +10,7 @@ class LiveStream : public AbstractStream { public: LiveStream(QObject *parent); virtual ~LiveStream(); + void start() override; inline double routeStartTime() const override { return begin_event_ts / 1e9; } inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; } void setSpeed(float speed) override { speed_ = speed; } @@ -20,7 +21,6 @@ public: protected: virtual void streamThread() = 0; - void startStreamThread(); void handleEvent(const char *data, const size_t size); private: @@ -42,7 +42,6 @@ private: std::vector receivedEvents; std::deque receivedMessages; - std::unique_ptr fs; int timer_id; QBasicTimer update_timer; @@ -50,6 +49,10 @@ private: uint64_t current_event_ts = 0; uint64_t first_event_ts = 0; uint64_t first_update_ts = 0; + bool post_last_event = true; double speed_ = 1; bool paused_ = false; + + struct Logger; + std::unique_ptr logger; }; diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index 6eab40a652..e19b2450bd 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -1,9 +1,26 @@ #include "tools/cabana/streams/pandastream.h" -#include +#include #include +#include #include +#include "selfdrive/ui/qt/util.h" + +// TODO: remove clearLayout +static void clearLayout(QLayout* layout) { + while (layout->count() > 0) { + QLayoutItem* item = layout->takeAt(0); + if (QWidget* widget = item->widget()) { + widget->deleteLater(); + } + if (QLayout* childLayout = item->layout()) { + clearLayout(childLayout); + } + delete item; + } +} + PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { if (config.serial.isEmpty()) { auto serials = Panda::list(); @@ -17,7 +34,6 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co if (!connect()) { throw std::runtime_error("Failed to connect to panda"); } - startStreamThread(); } bool PandaStream::connect() { @@ -97,16 +113,105 @@ OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWi main_layout->addStretch(1); QFormLayout *form_layout = new QFormLayout(); - form_layout->addRow(tr("Serial"), serial_edit = new QLineEdit(this)); - serial_edit->setPlaceholderText(tr("Leave empty to use default serial")); + QHBoxLayout *serial_layout = new QHBoxLayout(); + serial_edit = new QComboBox(); + serial_edit->setFixedWidth(300); + serial_layout->addWidget(serial_edit); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setFixedWidth(100); + serial_layout->addWidget(refresh); + form_layout->addRow(tr("Serial"), serial_layout); main_layout->addLayout(form_layout); + + config_layout = new QFormLayout(); + main_layout->addLayout(config_layout); + main_layout->addStretch(1); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials); + QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm); + + // Populate serials + refreshSerials(); + buildConfigForm(); +} + +void OpenPandaWidget::refreshSerials() { + serial_edit->clear(); + for (auto serial : Panda::list()) { + serial_edit->addItem(QString::fromStdString(serial)); + } +} + +void OpenPandaWidget::buildConfigForm() { + clearLayout(config_layout); + QString serial = serial_edit->currentText(); + + bool has_fd = false; + bool has_panda = !serial.isEmpty(); + + if (has_panda) { + try { + Panda panda = Panda(serial.toStdString()); + has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); + } catch (const std::exception& e) { + has_panda = false; + } + } + + if (has_panda) { + config.serial = serial; + config.bus_config.resize(3); + for (int i = 0; i < config.bus_config.size(); i++) { + QHBoxLayout *bus_layout = new QHBoxLayout; + + // CAN Speed + bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):"))); + QComboBox *can_speed = new QComboBox; + for (int j = 0; j < std::size(speeds); j++) { + can_speed->addItem(QString::number(speeds[j])); + + if (data_speeds[j] == config.bus_config[i].can_speed_kbps) { + can_speed->setCurrentIndex(j); + } + } + QObject::connect(can_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];}); + bus_layout->addWidget(can_speed); + + // CAN-FD Speed + if (has_fd) { + QCheckBox *enable_fd = new QCheckBox("CAN-FD"); + bus_layout->addWidget(enable_fd); + bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):"))); + QComboBox *data_speed = new QComboBox; + for (int j = 0; j < std::size(data_speeds); j++) { + data_speed->addItem(QString::number(data_speeds[j])); + + if (data_speeds[j] == config.bus_config[i].data_speed_kbps) { + data_speed->setCurrentIndex(j); + } + } + + data_speed->setEnabled(false); + bus_layout->addWidget(data_speed); + + QObject::connect(data_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];}); + QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled); + QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;}); + } + + config_layout->addRow(tr("Bus %1:").arg(i), bus_layout); + } + } else { + config.serial = ""; + config_layout->addWidget(new QLabel(tr("No panda found"))); + } } bool OpenPandaWidget::open() { try { - PandaStreamConfig config = {.serial = serial_edit->text()}; *stream = new PandaStream(qApp, config); } catch (std::exception &e) { QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index df7ccded51..f726c5cfb6 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -1,8 +1,15 @@ #pragma once +#include +#include +#include + #include "tools/cabana/streams/livestream.h" #include "selfdrive/boardd/panda.h" +const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; +const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; + struct BusConfig { int can_speed_kbps = 500; int data_speed_kbps = 2000; @@ -40,5 +47,10 @@ public: QString title() override { return tr("&Panda"); } private: - QLineEdit *serial_edit; + void refreshSerials(); + void buildConfigForm(); + + QComboBox *serial_edit; + QFormLayout *config_layout; + PandaStreamConfig config = {}; }; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 68e46c77da..2e580c0f0d 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -6,18 +6,17 @@ #include #include -#include "common/prefix.h" - ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { + unsetenv("ZMQ"); + // TODO: Remove when OpenpilotPrefix supports ZMQ +#ifndef __APPLE__ + op_prefix = std::make_unique(); +#endif QObject::connect(&settings, &Settings::changed, [this]() { if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); }); } -ReplayStream::~ReplayStream() { - if (replay) replay->stop(); -} - static bool event_filter(const Event *e, void *opaque) { return ((ReplayStream *)opaque)->eventFilter(e); } @@ -25,26 +24,25 @@ static bool event_filter(const Event *e, void *opaque) { void ReplayStream::mergeSegments() { for (auto &[n, seg] : replay->segments()) { if (seg && seg->isLoaded() && !processed_segments.count(n)) { - const auto &events = seg->log->events; - bool append = processed_segments.empty() || *processed_segments.rbegin() < n; processed_segments.insert(n); - mergeEvents(events.cbegin(), events.cend(), append); + const auto &events = seg->log->events; + mergeEvents(events.cbegin(), events.cend()); } } } bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { - replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); + replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); - QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted); QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); - if (replay->load()) { - replay->start(); - return true; - } - return false; + return replay->load(); +} + +void ReplayStream::start() { + emit streamStarted(); + replay->start(); } bool ReplayStream::eventFilter(const Event *event) { @@ -57,11 +55,12 @@ bool ReplayStream::eventFilter(const Event *event) { const auto dat = c.getDat(); updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size()); } - double ts = millis_since_boot(); - if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { - if (postEvents()) { - prev_update_ts = ts; - } + } + + double ts = millis_since_boot(); + if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + if (postEvents()) { + prev_update_ts = ts; } } return true; @@ -79,8 +78,6 @@ AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) { // OpenReplayWidget -static std::unique_ptr op_prefix; - OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { // TODO: get route list from api.comma.ai QGridLayout *grid_layout = new QGridLayout(); @@ -119,26 +116,17 @@ bool OpenReplayWidget::open() { route = route.mid(idx + 1); } - bool ret = false; bool is_valid_format = Route::parseRoute(route).str.size() > 0; if (!is_valid_format) { QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); } else { - // TODO: Remove when OpenpilotPrefix supports ZMQ -#ifndef __APPLE__ - op_prefix.reset(new OpenpilotPrefix()); -#endif uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA}; - ReplayStream *replay_stream = *stream ? (ReplayStream *)*stream : new ReplayStream(qApp); - ret = replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()]); - if (!ret) { - if (replay_stream != *stream) { - delete replay_stream; - } - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); + auto replay_stream = std::make_unique(qApp); + if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) { + *stream = replay_stream.release(); } else { - *stream = replay_stream; + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); } } - return ret; + return *stream != nullptr; } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 5b8e018fc9..eddcf514f7 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -1,5 +1,6 @@ #pragma once +#include "common/prefix.h" #include "tools/cabana/streams/abstractstream.h" class ReplayStream : public AbstractStream { @@ -7,12 +8,13 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); - ~ReplayStream(); + void start() override; bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); - void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }; + void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } inline QString routeName() const override { return replay->route()->name(); } inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } + double totalSeconds() const override { return replay->totalSeconds(); } inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const override { return replay->currentSeconds(); } @@ -21,13 +23,14 @@ public: inline float getSpeed() const { return replay->getSpeed(); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; - inline const std::vector> getTimeline() override { return replay->getTimeline(); } + inline const std::vector> getTimeline() override { return replay->getTimeline(); } static AbstractOpenStreamWidget *widget(AbstractStream **stream); private: void mergeSegments(); std::unique_ptr replay = nullptr; std::set processed_segments; + std::unique_ptr op_prefix; }; class OpenReplayWidget : public AbstractOpenStreamWidget { diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index bfd6ff24d9..6da44ecd1a 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -6,13 +6,19 @@ #include #include -StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { +#include "tools/cabana/streams/devicestream.h" +#include "tools/cabana/streams/pandastream.h" +#include "tools/cabana/streams/replaystream.h" + +StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Open stream")); QVBoxLayout *main_layout = new QVBoxLayout(this); + QWidget *w = new QWidget(this); + QVBoxLayout *layout = new QVBoxLayout(w); tab = new QTabWidget(this); tab->setTabBarAutoHide(true); - main_layout->addWidget(tab); + layout->addWidget(tab); QHBoxLayout *dbc_layout = new QHBoxLayout(); dbc_file = new QLineEdit(this); @@ -22,20 +28,29 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { dbc_layout->addWidget(new QLabel(tr("dbc File"))); dbc_layout->addWidget(dbc_file); dbc_layout->addWidget(file_btn); - main_layout->addLayout(dbc_layout); + layout->addLayout(dbc_layout); QFrame *line = new QFrame(this); line->setFrameStyle(QFrame::HLine | QFrame::Sunken); - main_layout->addWidget(line); + layout->addWidget(line); + main_layout->addWidget(w); auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); main_layout->addWidget(btn_box); + addStreamWidget(ReplayStream::widget(stream)); + addStreamWidget(PandaStream::widget(stream)); + addStreamWidget(DeviceStream::widget(stream)); + QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() { - success = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); - if (success) { + btn_box->button(QDialogButtonBox::Open)->setEnabled(false); + w->setEnabled(false); + if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) { accept(); + } else { + btn_box->button(QDialogButtonBox::Open)->setEnabled(true); + w->setEnabled(true); } }); QObject::connect(file_btn, &QPushButton::clicked, [this]() { diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h index ecd0e8530c..19b438d55a 100644 --- a/tools/cabana/streamselector.h +++ b/tools/cabana/streamselector.h @@ -10,13 +10,11 @@ class StreamSelector : public QDialog { Q_OBJECT public: - StreamSelector(QWidget *parent = nullptr); + StreamSelector(AbstractStream **stream, QWidget *parent = nullptr); void addStreamWidget(AbstractOpenStreamWidget *w); QString dbcFile() const { return dbc_file->text(); } - inline bool failed() const { return !success; } private: QLineEdit *dbc_file; QTabWidget *tab; - bool success = true; }; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index a3921d727b..a3d014dd2c 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -7,16 +7,16 @@ #include "tools/cabana/streams/abstractstream.h" // demo route, first segment -const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; +const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2"; TEST_CASE("DBCFile::generateDBC") { - QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "toyota_new_mc_pt_generated"); + QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can"); DBCFile dbc_origin(fn); DBCFile dbc_from_generated("", dbc_origin.generateDBC()); REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); - auto msgs = dbc_origin.getMessages(); - auto new_msgs = dbc_from_generated.getMessages(); + auto &msgs = dbc_origin.getMessages(); + auto &new_msgs = dbc_from_generated.getMessages(); for (auto &[id, m] : msgs) { auto &new_m = new_msgs.at(id); REQUIRE(m.name == new_m.name); @@ -69,3 +69,61 @@ TEST_CASE("Parse can messages") { } } } + +TEST_CASE("Parse dbc") { + QString content = R"( +BO_ 160 message_1: 8 EON + SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX + SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX + +BO_ 162 message_1: 8 XXX + SG_ signal_1 M : 0|12@1+ (1,0) [0|4095] "unit" XXX + SG_ signal_2 M4 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX + +VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault"; + +CM_ BO_ 160 "message comment" ; +CM_ SG_ 160 signal_1 "signal comment"; +CM_ SG_ 160 signal_2 "multiple line comment +1 +2 +";)"; + + DBCFile file("", content); + auto msg = file.msg(160); + REQUIRE(msg != nullptr); + REQUIRE(msg->name == "message_1"); + REQUIRE(msg->size == 8); + REQUIRE(msg->comment == "message comment"); + REQUIRE(msg->sigs.size() == 2); + REQUIRE(msg->transmitter == "EON"); + REQUIRE(file.msg("message_1") != nullptr); + + auto sig_1 = msg->sigs[0]; + REQUIRE(sig_1->name == "signal_1"); + REQUIRE(sig_1->start_bit == 0); + REQUIRE(sig_1->size == 12); + REQUIRE(sig_1->min == 0); + REQUIRE(sig_1->max == 4095); + REQUIRE(sig_1->unit == "unit"); + REQUIRE(sig_1->comment == "signal comment"); + REQUIRE(sig_1->receiver_name == "XXX"); + REQUIRE(sig_1->val_desc.size() == 3); + REQUIRE(sig_1->val_desc[0] == std::pair{0, "disabled"}); + REQUIRE(sig_1->val_desc[1] == std::pair{1.2, "initializing"}); + REQUIRE(sig_1->val_desc[2] == std::pair{2, "fault"}); + + auto &sig_2 = msg->sigs[1]; + REQUIRE(sig_2->comment == "multiple line comment\n1\n2"); + + // multiplexed signals + msg = file.msg(162); + REQUIRE(msg != nullptr); + REQUIRE(msg->sigs.size() == 2); + REQUIRE(msg->sigs[0]->type == cabana::Signal::Type::Multiplexor); + REQUIRE(msg->sigs[1]->type == cabana::Signal::Type::Multiplexed); + REQUIRE(msg->sigs[1]->multiplex_value == 4); + REQUIRE(msg->sigs[1]->start_bit == 12); + REQUIRE(msg->sigs[1]->size == 1); + REQUIRE(msg->sigs[1]->receiver_name == "XXX"); +} diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc new file mode 100644 index 0000000000..fceb823bbb --- /dev/null +++ b/tools/cabana/tools/findsignal.cc @@ -0,0 +1,267 @@ +#include "tools/cabana/tools/findsignal.h" + +#include +#include +#include +#include +#include +#include +#include + +// FindSignalModel + +QVariant FindSignalModel::headerData(int section, Qt::Orientation orientation, int role) const { + static QString titles[] = {"Id", "Start Bit, size", "(time, value)"}; + if (role != Qt::DisplayRole) return {}; + return orientation == Qt::Horizontal ? titles[section] : QString::number(section + 1); +} + +QVariant FindSignalModel::data(const QModelIndex &index, int role) const { + if (role == Qt::DisplayRole) { + const auto &s = filtered_signals[index.row()]; + switch (index.column()) { + case 0: return s.id.toString(); + case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size); + case 2: return s.values.join(" "); + } + } + return {}; +} + +void FindSignalModel::search(std::function cmp) { + beginResetModel(); + + std::mutex lock; + const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals; + filtered_signals.clear(); + filtered_signals.reserve(prev_sigs.size()); + QtConcurrent::blockingMap(prev_sigs, [&](auto &s) { + const auto &events = can->events(s.id); + auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + auto last = events.cend(); + if (last_time < std::numeric_limits::max()) { + last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + } + + auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); + if (it != last) { + auto values = s.values; + values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); + std::lock_guard lk(lock); + filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); + } + }); + histories.push_back(filtered_signals); + + endResetModel(); +} + +void FindSignalModel::undo() { + if (!histories.isEmpty()) { + beginResetModel(); + histories.pop_back(); + filtered_signals.clear(); + if (!histories.isEmpty()) filtered_signals = histories.back(); + endResetModel(); + } +} + +void FindSignalModel::reset() { + beginResetModel(); + histories.clear(); + filtered_signals.clear(); + initial_signals.clear(); + endResetModel(); +} + +// FindSignalDlg +FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { + setWindowTitle(tr("Find Signal")); + setAttribute(Qt::WA_DeleteOnClose); + QVBoxLayout *main_layout = new QVBoxLayout(this); + + // Messages group + message_group = new QGroupBox(tr("Messages"), this); + QFormLayout *message_layout = new QFormLayout(message_group); + message_layout->addRow(tr("Bus"), bus_edit = new QLineEdit()); + bus_edit->setPlaceholderText(tr("comma-seperated values. Leave blank for all")); + message_layout->addRow(tr("Address"), address_edit = new QLineEdit()); + address_edit->setPlaceholderText(tr("comma-seperated hex values. Leave blank for all")); + QHBoxLayout *hlayout = new QHBoxLayout(); + hlayout->addWidget(first_time_edit = new QLineEdit("0")); + hlayout->addWidget(new QLabel("-")); + hlayout->addWidget(last_time_edit = new QLineEdit("MAX")); + hlayout->addWidget(new QLabel("seconds")); + hlayout->addStretch(0); + message_layout->addRow(tr("Time"), hlayout); + + // Signal group + properties_group = new QGroupBox(tr("Signal")); + QFormLayout *property_layout = new QFormLayout(properties_group); + property_layout->setFieldGrowthPolicy(QFormLayout::FieldsStayAtSizeHint); + + hlayout = new QHBoxLayout(); + hlayout->addWidget(min_size = new QSpinBox); + hlayout->addWidget(new QLabel("-")); + hlayout->addWidget(max_size = new QSpinBox); + hlayout->addWidget(litter_endian = new QCheckBox(tr("Little endian"))); + hlayout->addWidget(is_signed = new QCheckBox(tr("Signed"))); + hlayout->addStretch(0); + min_size->setRange(1, 64); + max_size->setRange(1, 64); + min_size->setValue(8); + max_size->setValue(8); + litter_endian->setChecked(true); + property_layout->addRow(tr("Size"), hlayout); + property_layout->addRow(tr("Factor"), factor_edit = new QLineEdit("1.0")); + property_layout->addRow(tr("Offset"), offset_edit = new QLineEdit("0.0")); + + // find group + QGroupBox *find_group = new QGroupBox(tr("Find signal"), this); + QVBoxLayout *vlayout = new QVBoxLayout(find_group); + hlayout = new QHBoxLayout(); + hlayout->addWidget(new QLabel(tr("Value"))); + hlayout->addWidget(compare_cb = new QComboBox(this)); + hlayout->addWidget(value1 = new QLineEdit); + hlayout->addWidget(to_label = new QLabel("-")); + hlayout->addWidget(value2 = new QLineEdit); + hlayout->addWidget(undo_btn = new QPushButton(tr("Undo prev find"), this)); + hlayout->addWidget(search_btn = new QPushButton(tr("Find"))); + hlayout->addWidget(reset_btn = new QPushButton(tr("Reset"), this)); + vlayout->addLayout(hlayout); + + compare_cb->addItems({"=", ">", ">=", "!=", "<", "<=", "between"}); + value1->setFocus(Qt::OtherFocusReason); + value2->setVisible(false); + to_label->setVisible(false); + undo_btn->setEnabled(false); + reset_btn->setEnabled(false); + + auto double_validator = new DoubleValidator(this); + for (auto edit : {value1, value2, factor_edit, offset_edit, first_time_edit, last_time_edit}) { + edit->setValidator(double_validator); + } + + vlayout->addWidget(view = new QTableView(this)); + view->setContextMenuPolicy(Qt::CustomContextMenu); + view->horizontalHeader()->setStretchLastSection(true); + view->horizontalHeader()->setSelectionMode(QAbstractItemView::NoSelection); + view->setSelectionBehavior(QAbstractItemView::SelectRows); + view->setModel(model = new FindSignalModel(this)); + + hlayout = new QHBoxLayout(); + hlayout->addWidget(message_group); + hlayout->addWidget(properties_group); + main_layout->addLayout(hlayout); + main_layout->addWidget(find_group); + main_layout->addWidget(stats_label = new QLabel()); + + setMinimumSize({700, 650}); + QObject::connect(search_btn, &QPushButton::clicked, this, &FindSignalDlg::search); + QObject::connect(undo_btn, &QPushButton::clicked, model, &FindSignalModel::undo); + QObject::connect(model, &QAbstractItemModel::modelReset, this, &FindSignalDlg::modelReset); + QObject::connect(reset_btn, &QPushButton::clicked, model, &FindSignalModel::reset); + QObject::connect(view, &QTableView::customContextMenuRequested, this, &FindSignalDlg::customMenuRequested); + QObject::connect(view, &QTableView::doubleClicked, [this](const QModelIndex &index) { + if (index.isValid()) emit openMessage(model->filtered_signals[index.row()].id); + }); + QObject::connect(compare_cb, qOverload(&QComboBox::currentIndexChanged), [=](int index) { + to_label->setVisible(index == compare_cb->count() - 1); + value2->setVisible(index == compare_cb->count() - 1); + }); +} + +void FindSignalDlg::search() { + if (model->histories.isEmpty()) { + setInitialSignals(); + } + auto v1 = value1->text().toDouble(); + auto v2 = value2->text().toDouble(); + std::function cmp = nullptr; + switch (compare_cb->currentIndex()) { + case 0: cmp = [v1](double v) { return v == v1;}; break; + case 1: cmp = [v1](double v) { return v > v1;};break; + case 2: cmp = [v1](double v) { return v >= v1;};break; + case 3: cmp = [v1](double v) { return v != v1;}; break; + case 4: cmp = [v1](double v) { return v < v1;}; break; + case 5: cmp = [v1](double v) { return v <= v1;}; break; + case 6: cmp = [v1, v2](double v) { return v >= v1 && v <= v2;}; break; + } + properties_group->setEnabled(false); + message_group->setEnabled(false); + search_btn->setEnabled(false); + stats_label->setVisible(false); + search_btn->setText("Finding ...."); + QTimer::singleShot(0, [=]() { model->search(cmp); }); +} + +void FindSignalDlg::setInitialSignals() { + QSet buses; + for (auto bus : bus_edit->text().trimmed().split(",")) { + bus = bus.trimmed(); + if (!bus.isEmpty()) buses.insert(bus.toUShort()); + } + + QSet addresses; + for (auto addr : address_edit->text().trimmed().split(",")) { + addr = addr.trimmed(); + if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16)); + } + + cabana::Signal sig{}; + sig.is_little_endian = litter_endian->isChecked(); + sig.is_signed = is_signed->isChecked(); + sig.factor = factor_edit->text().toDouble(); + sig.offset = offset_edit->text().toDouble(); + + auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble()); + uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9; + model->last_time = std::numeric_limits::max(); + if (last_sec > 0) { + model->last_time = (can->routeStartTime() + last_sec) * 1e9; + } + model->initial_signals.clear(); + + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { + if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) { + const auto &events = can->events(it.key()); + auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; }); + if (e != events.cend()) { + const int total_size = it.value().dat.size() * 8; + for (int size = min_size->value(); size <= max_size->value(); ++size) { + for (int start = 0; start <= total_size - size; ++start) { + FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig}; + s.sig.start_bit = start; + s.sig.size = size; + updateMsbLsb(s.sig); + s.value = get_raw_value((*e)->dat, (*e)->size, s.sig); + model->initial_signals.push_back(s); + } + } + } + } + } +} + +void FindSignalDlg::modelReset() { + properties_group->setEnabled(model->histories.isEmpty()); + message_group->setEnabled(model->histories.isEmpty()); + search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next")); + reset_btn->setEnabled(!model->histories.isEmpty()); + undo_btn->setEnabled(model->histories.size() > 1); + search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty()); + stats_label->setVisible(true); + stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size())); +} + +void FindSignalDlg::customMenuRequested(const QPoint &pos) { + if (auto index = view->indexAt(pos); index.isValid()) { + QMenu menu(this); + menu.addAction(tr("Create Signal")); + if (menu.exec(view->mapToGlobal(pos))) { + auto &s = model->filtered_signals[index.row()]; + UndoStack::push(new AddSigCommand(s.id, s.sig)); + emit openMessage(s.id); + } + } +} diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h new file mode 100644 index 0000000000..f046bdf7e3 --- /dev/null +++ b/tools/cabana/tools/findsignal.h @@ -0,0 +1,60 @@ +#pragma once + +#include +#include +#include +#include + +#include "tools/cabana/commands.h" +#include "tools/cabana/settings.h" + +class FindSignalModel : public QAbstractTableModel { +public: + struct SearchSignal { + MessageId id = {}; + uint64_t mono_time = 0; + cabana::Signal sig = {}; + double value = 0.; + QStringList values; + }; + + FindSignalModel(QObject *parent) : QAbstractTableModel(parent) {} + QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; } + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); } + void search(std::function cmp); + void reset(); + void undo(); + + QList filtered_signals; + QList initial_signals; + QList> histories; + uint64_t last_time = std::numeric_limits::max(); +}; + +class FindSignalDlg : public QDialog { + Q_OBJECT +public: + FindSignalDlg(QWidget *parent); + +signals: + void openMessage(const MessageId &id); + +private: + void search(); + void modelReset(); + void setInitialSignals(); + void customMenuRequested(const QPoint &pos); + + QLineEdit *value1, *value2, *factor_edit, *offset_edit; + QLineEdit *bus_edit, *address_edit, *first_time_edit, *last_time_edit; + QComboBox *compare_cb; + QSpinBox *min_size, *max_size; + QCheckBox *litter_endian, *is_signed; + QPushButton *search_btn, *reset_btn, *undo_btn; + QGroupBox *properties_group, *message_group; + QTableView *view; + QLabel *to_label, *stats_label; + FindSignalModel *model; +}; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 9d81ebd5d0..72429104a5 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -20,22 +20,16 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi QHBoxLayout *src_layout = new QHBoxLayout(); src_bus_combo = new QComboBox(this); find_bus_combo = new QComboBox(this); - SourceSet bus_set; - for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { - bus_set << it.key().source; - } for (auto cb : {src_bus_combo, find_bus_combo}) { - for (uint8_t bus : bus_set) { + for (uint8_t bus : can->sources) { cb->addItem(QString::number(bus), bus); } - cb->model()->sort(0); - cb->setCurrentIndex(0); } msg_cb = new QComboBox(this); // TODO: update when src_bus_combo changes - for (auto &[id, msg] : dbc()->getMessages(0)) { - msg_cb->addItem(msg.name, id.address); + for (auto &[address, msg] : dbc()->getMessages(-1)) { + msg_cb->addItem(msg.name, address); } msg_cb->model()->sort(0); msg_cb->setCurrentIndex(0); diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 7bae2a7bb4..31a4486772 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,10 +1,16 @@ #include "tools/cabana/util.h" +#include +#include +#include +#include + +#include +#include #include -#include +#include #include #include -#include #include "selfdrive/ui/qt/util.h" @@ -48,12 +54,6 @@ MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2); } -void MessageBytesDelegate::setMultipleLines(bool v) { - if (std::exchange(multiple_lines, v) != multiple_lines) { - std::fill_n(size_cache, std::size(size_cache), QSize{}); - } -} - int MessageBytesDelegate::widthForBytes(int n) const { int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; return n * byte_size.width() + h_margin * 2; @@ -67,30 +67,8 @@ QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const Q } int n = data.toByteArray().size(); assert(n >= 0 && n <= 64); - - QSize size = size_cache[n]; - if (size.isEmpty()) { - if (!multiple_lines) { - size.setWidth(widthForBytes(n)); - size.setHeight(byte_size.height() + 2 * v_margin); - } else { - size.setWidth(widthForBytes(8)); - size.setHeight(byte_size.height() * std::max(1, n / 8) + 2 * v_margin); - } - size_cache[n] = size; - } - return size; -} - -bool MessageBytesDelegate::helpEvent(QHelpEvent *e, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) { - if (e->type() == QEvent::ToolTip && index.column() == 0) { - if (view->visualRect(index).width() < QStyledItemDelegate::sizeHint(option, index).width()) { - QToolTip::showText(e->globalPos(), index.data(Qt::DisplayRole).toString(), view); - return true; - } - } - QToolTip::hideText(); - return false; + return !multiple_lines ? QSize{widthForBytes(n), byte_size.height() + 2 * v_margin} + : QSize{widthForBytes(8), byte_size.height() * std::max(1, n / 8) + 2 * v_margin}; } void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -105,7 +83,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, option.palette.highlight()); + painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight)); } const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin}; @@ -131,17 +109,63 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & painter->setPen(old_pen); } -QColor getColor(const cabana::Signal *sig) { - float h = 19 * (float)sig->lsb / 64.0; - h = fmod(h, 1.0); +// TabBar - size_t hash = qHash(sig->name); - float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; - float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; - - return QColor::fromHsvF(h, s, v); +int TabBar::addTab(const QString &text) { + int index = QTabBar::addTab(text); + QToolButton *btn = new ToolButton("x", tr("Close Tab")); + int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn); + int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn); + btn->setFixedSize({width, height}); + setTabButton(index, QTabBar::RightSide, btn); + QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked); + return index; } +void TabBar::closeTabClicked() { + QObject *object = sender(); + for (int i = 0; i < count(); ++i) { + if (tabButton(i, QTabBar::RightSide) == object) { + emit tabCloseRequested(i); + break; + } + } +} + +// UnixSignalHandler + +UnixSignalHandler::UnixSignalHandler(QObject *parent) : QObject(nullptr) { + if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) { + qFatal("Couldn't create TERM socketpair"); + } + + sn = new QSocketNotifier(sig_fd[1], QSocketNotifier::Read, this); + connect(sn, &QSocketNotifier::activated, this, &UnixSignalHandler::handleSigTerm); + std::signal(SIGINT, signalHandler); + std::signal(SIGTERM, UnixSignalHandler::signalHandler); +} + +UnixSignalHandler::~UnixSignalHandler() { + ::close(sig_fd[0]); + ::close(sig_fd[1]); +} + +void UnixSignalHandler::signalHandler(int s) { + ::write(sig_fd[0], &s, sizeof(s)); +} + +void UnixSignalHandler::handleSigTerm() { + sn->setEnabled(false); + int tmp; + ::read(sig_fd[1], &tmp, sizeof(tmp)); + + printf("\nexiting...\n"); + qApp->closeAllWindows(); + qApp->exit(); +} + +// NameValidator + NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {} QValidator::State NameValidator::validate(QString &input, int &pos) const { @@ -149,6 +173,13 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { return QRegExpValidator::validate(input, pos); } +DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) { + // Match locale of QString::toDouble() instead of system + QLocale locale(QLocale::C); + locale.setNumberOptions(QLocale::RejectGroupSeparator); + setLocale(locale); +} + namespace utils { QPixmap icon(const QString &id) { bool dark_theme = settings.theme == DARK_THEME; @@ -190,8 +221,8 @@ void setTheme(int theme) { new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0")); new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777")); new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777")); - new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));; - new_palette.setColor(QPalette::Light, QColor("#3c3f41")); + new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777")); + new_palette.setColor(QPalette::Light, QColor("#777777")); new_palette.setColor(QPalette::Dark, QColor("#353535")); } else { new_palette = style->standardPalette(); @@ -217,10 +248,16 @@ QString toHex(uint8_t byte) { int num_decimals(double num) { const QString string = QString::number(num); - const QStringList split = string.split('.'); - if (split.size() == 1) { - return 0; - } else { - return split[1].size(); - } + auto dot_pos = string.indexOf('.'); + return dot_pos == -1 ? 0 : string.size() - dot_pos - 1; +} + +QString signalToolTip(const cabana::Signal *sig) { + return QObject::tr(R"( + %1
+ Start Bit: %2 Size: %3
+ MSB: %4 LSB: %5
+ Little Endian: %6 Signed: %7 + )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb) + .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); } diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 5a3d129a76..76238569f0 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -2,13 +2,13 @@ #include -#include #include #include #include -#include +#include #include #include +#include #include #include #include @@ -21,7 +21,7 @@ class LogSlider : public QSlider { Q_OBJECT public: - LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {} void setRange(double min, double max) { log_min = factor * std::log10(min); @@ -67,35 +67,37 @@ public: MessageBytesDelegate(QObject *parent, bool multiple_lines = false); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; - bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; - void setMultipleLines(bool v); - int widthForBytes(int n) const; bool multipleLines() const { return multiple_lines; } + void setMultipleLines(bool v) { multiple_lines = v; } + int widthForBytes(int n) const; private: QFont fixed_font; QSize byte_size = {}; bool multiple_lines = false; - mutable QSize size_cache[65] = {}; }; inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } QString toHex(uint8_t byte); -QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT - public: NameValidator(QObject *parent=nullptr); QValidator::State validate(QString &input, int &pos) const override; }; +class DoubleValidator : public QDoubleValidator { + Q_OBJECT +public: + DoubleValidator(QObject *parent = nullptr); +}; + namespace utils { QPixmap icon(const QString &id); void setTheme(int theme); inline QString formatSeconds(int seconds) { - return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); + return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } } @@ -122,4 +124,32 @@ private: int theme; }; +class TabBar : public QTabBar { + Q_OBJECT + +public: + TabBar(QWidget *parent) : QTabBar(parent) {} + int addTab(const QString &text); + +private: + void closeTabClicked(); +}; + +class UnixSignalHandler : public QObject { + Q_OBJECT + +public: + UnixSignalHandler(QObject *parent = nullptr); + ~UnixSignalHandler(); + static void signalHandler(int s); + +public slots: + void handleSigTerm(); + +private: + inline static int sig_fd[2] = {}; + QSocketNotifier *sn; +}; + int num_decimals(double num); +QString signalToolTip(const cabana::Signal *sig); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 53a88972c8..46642e5244 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,10 +1,12 @@ #include "tools/cabana/videowidget.h" #include +#include #include #include #include #include +#include #include #include @@ -20,18 +22,6 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; -bool sortTimelineBasedOnEventPriority(const std::tuple &left, const std::tuple &right){ - const static std::map timelinePriority = { - { TimelineType::None, 0 }, - { TimelineType::Engaged, 10 }, - { TimelineType::AlertInfo, 20 }, - { TimelineType::AlertWarning, 30 }, - { TimelineType::AlertCritical, 40 }, - { TimelineType::UserFlag, 35 } - }; - return timelinePriority.at(std::get<2>(left)) < timelinePriority.at(std::get<2>(right)); -} - VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); auto main_layout = new QVBoxLayout(this); @@ -50,7 +40,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { for (float speed : {0.1, 0.5, 1., 2.}) { QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); btn->setCheckable(true); - QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); }); + QObject::connect(btn, &QPushButton::clicked, [speed]() { can->setSpeed(speed); }); control_layout->addWidget(btn); group->addButton(btn); if (speed == 1.0) btn->setChecked(true); @@ -100,51 +90,47 @@ QWidget *VideoWidget::createCameraWidget() { l->addLayout(stacked); // slider controls - slider_layout = new QHBoxLayout(); - time_label = new QLabel("00:00"); - slider_layout->addWidget(time_label); + auto slider_layout = new QHBoxLayout(); + slider_layout->addWidget(time_label = new QLabel("00:00")); slider = new Slider(this); slider->setSingleStep(0); slider_layout->addWidget(slider); - end_time_label = new QLabel(this); - slider_layout->addWidget(end_time_label); + slider_layout->addWidget(end_time_label = new QLabel(this)); l->addLayout(slider_layout); - QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); - QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); }); + + setMaximumTime(can->totalSeconds()); + QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); }); + QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); }); + QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); - QObject::connect(can, &AbstractStream::eventsMerged, [this]() { - end_time_label->setText(utils::formatSeconds(can->totalSeconds())); - slider->setRange(0, can->totalSeconds() * 1000); - }); return w; } -void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { +void VideoWidget::setMaximumTime(double sec) { + maximum_time = sec; + end_time_label->setText(utils::formatSeconds(sec)); + slider->setTimeRange(0, sec); +} + +void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) { if (can->liveStreaming()) return; if (!is_zoomed) { min = 0; - max = can->totalSeconds(); + max = maximum_time; } end_time_label->setText(utils::formatSeconds(max)); - slider->setRange(min * 1000, max * 1000); + slider->setTimeRange(min, max); } void VideoWidget::updateState() { if (!slider->isSliderDown()) { - slider->setValue(can->currentSec() * 1000); - } - std::lock_guard lk(slider->thumbnail_lock); - uint64_t mono_time = (can->currentSec() + can->routeStartTime()) * 1e9; - auto it = slider->alerts.lower_bound(mono_time); - if (it != slider->alerts.end() && (it->first - mono_time) < 1e9) { - alert_label->showAlert(it->second); - } else { - alert_label->showAlert({}); + slider->setCurrentSecond(can->currentSec()); } + alert_label->showAlert(slider->alertInfo(can->currentSec())); } void VideoWidget::updatePlayBtnState() { @@ -153,38 +139,61 @@ void VideoWidget::updatePlayBtnState() { } // Slider -Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(parent), QSlider(Qt::Horizontal, parent) { - timer.callOnTimeout([this]() { + +Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) { + setMouseTracking(true); + auto timer = new QTimer(this); + timer->callOnTimeout([this]() { timeline = can->getTimeline(); - std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority); + std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); }); update(); }); - setMouseTracking(true); - QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted); + timer->start(2000); + QObject::connect(can, &AbstractStream::eventsMerged, [this]() { + if (!qlog_future) { + qlog_future = std::make_unique>(QtConcurrent::run(this, &Slider::parseQLog)); + } + }); } Slider::~Slider() { - abort_load_thumbnail = true; - thumnail_future.waitForFinished(); + abort_parse_qlog = true; + if (qlog_future) { + qlog_future->waitForFinished(); + } } -void Slider::streamStarted() { - abort_load_thumbnail = true; - thumnail_future.waitForFinished(); - abort_load_thumbnail = false; - thumbnails.clear(); - timeline.clear(); - timer.start(2000); - thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); +AlertInfo Slider::alertInfo(double seconds) { + std::lock_guard lk(thumbnail_lock); + uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; + auto alert_it = alerts.lower_bound(mono_time); + bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8); + return has_alert ? alert_it->second : AlertInfo{}; } -void Slider::loadThumbnails() { +QPixmap Slider::thumbnail(double seconds) { + std::lock_guard lk(thumbnail_lock); + uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; + auto it = thumbnails.lowerBound(mono_time); + return it != thumbnails.end() ? it.value() : QPixmap(); +} + +void Slider::setTimeRange(double min, double max) { + assert(min < max); + setRange(min * factor, max * factor); +} + +void Slider::parseQLog() { const auto &segments = can->route()->segments(); - for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { + for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) { LogReader log; std::string qlog = it->second.qlog.toStdString(); - if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { - for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { + if (it == segments.rbegin() && !log.events.empty()) { + double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime(); + emit updateMaximumTime(max_time); + } + for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) { if ((*ev)->which == cereal::Event::Which::THUMBNAIL) { auto thumb = (*ev)->event.getThumbnail(); auto data = thumb.getThumbnail(); @@ -195,7 +204,8 @@ void Slider::loadThumbnails() { } } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) { auto cs = (*ev)->event.getControlsState(); - if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0) { + if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 && + cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) { std::lock_guard lk(thumbnail_lock); alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()}); } @@ -205,30 +215,18 @@ void Slider::loadThumbnails() { } } -void Slider::sliderChange(QAbstractSlider::SliderChange change) { - if (change == QAbstractSlider::SliderValueChange) { - int x = width() * ((value() - minimum()) / double(maximum() - minimum())); - if (x != slider_x) { - slider_x = x; - update(); - } - } else { - QAbstractSlider::sliderChange(change); - } -} - void Slider::paintEvent(QPaintEvent *ev) { QPainter p(this); QRect r = rect().adjusted(0, 4, 0, -4); p.fillRect(r, timeline_colors[(int)TimelineType::None]); - double min = minimum() / 1000.0; - double max = maximum() / 1000.0; + double min = minimum() / factor; + double max = maximum() / factor; for (auto [begin, end, type] : timeline) { if (begin > max || end < min) continue; - r.setLeft(((std::max(min, (double)begin) - min) / (max - min)) * width()); - r.setRight(((std::min(max, (double)end) - min) / (max - min)) * width()); + r.setLeft(((std::max(min, begin) - min) / (max - min)) * width()); + r.setRight(((std::min(max, end) - min) / (max - min)) * width()); p.fillRect(r, timeline_colors[(int)type]); } @@ -251,22 +249,16 @@ void Slider::mousePressEvent(QMouseEvent *e) { } void Slider::mouseMoveEvent(QMouseEvent *e) { - QPixmap thumb; - AlertInfo alert; - double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0; - { - std::lock_guard lk(thumbnail_lock); - uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; - auto it = thumbnails.lowerBound(mono_time); - if (it != thumbnails.end()) thumb = it.value(); - auto alert_it = alerts.lower_bound(mono_time); - if (alert_it != alerts.end() && (alert_it->first - mono_time) < 1e9) { - alert = alert_it->second; - } + int pos = std::clamp(e->pos().x(), 0, width()); + double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor; + QPixmap thumb = thumbnail(seconds); + if (!thumb.isNull()) { + int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); + int y = -thumb.height(); + thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alertInfo(seconds)); + } else { + thumbnail_label.hide(); } - int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); - int y = -thumb.height(); - thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert); QSlider::mouseMoveEvent(e); } @@ -293,24 +285,20 @@ InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint } void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) { - pixmap = pm; second = sec; + pixmap = pm; alert_info = alert; - setVisible(!pm.isNull()); - if (isVisible()) { - resize(pm.size()); - move(pt); - update(); - } + resize(pm.size()); + move(pt); + setVisible(true); + update(); } void InfoLabel::showAlert(const AlertInfo &alert) { alert_info = alert; pixmap = {}; setVisible(!alert_info.text1.isEmpty()); - if (isVisible()) { - update(); - } + update(); } void InfoLabel::paintEvent(QPaintEvent *event) { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 960053f9a3..670e866534 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -3,12 +3,10 @@ #include #include -#include #include #include #include #include -#include #include "selfdrive/ui/qt/widgets/cameraview.h" #include "tools/cabana/streams/abstractstream.h" @@ -36,26 +34,30 @@ class Slider : public QSlider { public: Slider(QWidget *parent); ~Slider(); + double currentSecond() const { return value() / factor; } + void setCurrentSecond(double sec) { setValue(sec * factor); } + void setTimeRange(double min, double max); + AlertInfo alertInfo(double sec); + QPixmap thumbnail(double sec); + +signals: + void updateMaximumTime(double); private: void mousePressEvent(QMouseEvent *e) override; void mouseMoveEvent(QMouseEvent *e) override; bool event(QEvent *event) override; - void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; - void streamStarted(); - void loadThumbnails(); + void parseQLog(); - int slider_x = -1; - std::vector> timeline; + const double factor = 1000.0; + std::vector> timeline; std::mutex thumbnail_lock; - std::atomic abort_load_thumbnail = false; + std::atomic abort_parse_qlog = false; QMap thumbnails; std::map alerts; - QFuture thumnail_future; + std::unique_ptr> qlog_future; InfoLabel thumbnail_label; - QTimer timer; - friend class VideoWidget; }; class VideoWidget : public QFrame { @@ -63,7 +65,8 @@ class VideoWidget : public QFrame { public: VideoWidget(QWidget *parnet = nullptr); - void rangeChanged(double min, double max, bool is_zommed); + void updateTimeRange(double min, double max, bool is_zommed); + void setMaximumTime(double sec); protected: void updateState(); @@ -71,9 +74,9 @@ protected: QWidget *createCameraWidget(); CameraWidget *cam_widget; + double maximum_time = 0; QLabel *end_time_label; QLabel *time_label; - QHBoxLayout *slider_layout; QPushButton *play_btn; InfoLabel *alert_label; Slider *slider; diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index cab11493f2..495397d242 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -13,8 +13,16 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType W, H = 1928, 1208 V4L2_BUF_FLAG_KEYFRAME = 8 -def decoder(addr, sock_name, vipc_server, vst, nvidia): - print("start decoder for %s" % sock_name) +ENCODE_SOCKETS = { + VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData", + VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData", + VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData", +} + +def decoder(addr, vipc_server, vst, nvidia, debug=False): + sock_name = ENCODE_SOCKETS[vst] + if debug: + print("start decoder for %s" % sock_name) if nvidia: os.environ["NV_LOW_LATENCY"] = "3" # both bLowLatency and CUVID_PKT_ENDOFPICTURE sys.path += os.environ["LD_LIBRARY_PATH"].split(":") @@ -40,11 +48,12 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): msgs = messaging.drain_sock(sock, wait_for_one=True) for evt in msgs: evta = getattr(evt, evt.which()) - if evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1): + if debug and evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1): print("DROP PACKET!") last_idx = evta.idx.encodeId if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME): - print("waiting for iframe") + if debug: + print("waiting for iframe") continue time_q.append(time.monotonic()) network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6 @@ -62,14 +71,16 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): if nvidia: rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8)) if rawSurface.Empty(): - print("DROP SURFACE") + if debug: + print("DROP SURFACE") continue convSurface = conv_yuv.Execute(rawSurface, cc1) nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv) else: frames = codec.decode(av.packet.Packet(evta.data)) if len(frames) == 0: - print("DROP SURFACE") + if debug: + print("DROP SURFACE") continue assert len(frames) == 1 img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten() @@ -83,34 +94,47 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): pc_latency = (time.monotonic()-time_q[0])*1000 time_q = time_q[1:] - print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name) + if debug: + print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" + % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, + process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name) -def main(addr, cams, nvidia=False): - vipc_server = VisionIpcServer("camerad") - for vst in cams.values(): - vipc_server.create_buffers(vst, 4, False, W, H) - vipc_server.start_listener() +class CompressedVipc: + def __init__(self, addr, vision_streams, nvidia=False, debug=False): + self.vipc_server = VisionIpcServer("camerad") + for vst in vision_streams: + self.vipc_server.create_buffers(vst, 4, False, W, H) + self.vipc_server.start_listener() - procs = [] - for k, v in cams.items(): - p = multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)) - p.start() - procs.append(p) + self.procs = [] + for vst in vision_streams: + p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug)) + p.start() + self.procs.append(p) - for p in procs: - p.join() + def join(self): + for p in self.procs: + p.join() + + def kill(self): + for p in self.procs: + p.terminate() + self.join() if __name__ == "__main__": parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC") parser.add_argument("addr", help="Address of comma three") parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg") parser.add_argument("--cams", default="0,1,2", help="Cameras to decode") + parser.add_argument("--silent", action="store_true", help="Suppress debug output") args = parser.parse_args() - all_cams = [ - ("roadEncodeData", VisionStreamType.VISION_STREAM_ROAD), - ("wideRoadEncodeData", VisionStreamType.VISION_STREAM_WIDE_ROAD), - ("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER), + vision_streams = [ + VisionStreamType.VISION_STREAM_ROAD, + VisionStreamType.VISION_STREAM_WIDE_ROAD, + VisionStreamType.VISION_STREAM_DRIVER, ] - cams = dict([all_cams[int(x)] for x in args.cams.split(",")]) - main(args.addr, cams, args.nvidia) + + vsts = [vision_streams[int(x)] for x in args.cams.split(",")] + cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent)) + cvipc.join() diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index 178e8b2c3c..be8dbb61b8 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -128,7 +128,7 @@ class RemoteCheckerService(rpyc.Service): if pos_geo is None or len(pos_geo) == 0: continue - match = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon])) + match = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True)) match &= abs(pos_geo[2] - salt) < ALT_DELTA if match: match_cnt += 1 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 2c08c105a1..5043e484fd 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -30,7 +30,7 @@ def create_backup(pigeon): pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") try: if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): - assert False, "Could not store almanac" + raise RuntimeError("Could not store almanac") except TimeoutError: pass diff --git a/update_requirements.sh b/tools/install_python_dependencies.sh similarity index 67% rename from update_requirements.sh rename to tools/install_python_dependencies.sh index b2b36e7097..075dec3bff 100755 --- a/update_requirements.sh +++ b/tools/install_python_dependencies.sh @@ -2,7 +2,8 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR +ROOT=$DIR/../ +cd $ROOT RC_FILE="${HOME}/.$(basename ${SHELL})rc" if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then @@ -32,7 +33,7 @@ fi export MAKEFLAGS="-j$(nproc)" -PYENV_PYTHON_VERSION=$(cat .python-version) +PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then # no pyenv update on mac if [ "$(uname)" == "Linux" ]; then @@ -45,39 +46,26 @@ fi eval "$(pyenv init --path)" echo "update pip" -pip install pip==22.3.1 -pip install poetry==1.2.2 +pip install pip==23.2.1 +pip install poetry==1.5.1 poetry config virtualenvs.prefer-active-python true --local -if [[ -n "$XX" ]] || [[ "$(basename "$(dirname "$(pwd)")")" == "xx" ]]; then - XX=true -fi - -POETRY_INSTALL_ARGS="--no-cache --no-root" - -if [ -n "$XX" ]; then - echo "WARNING: using xx dependency group, installing globally" - poetry config virtualenvs.create false --local - POETRY_INSTALL_ARGS="$POETRY_INSTALL_ARGS --with xx --sync" -else - echo "PYTHONPATH=${PWD}" > .env - poetry self add poetry-dotenv-plugin@^0.1.0 -fi +echo "PYTHONPATH=${PWD}" > $ROOT/.env +poetry self add poetry-dotenv-plugin@^0.1.0 echo "pip packages install..." -poetry install $POETRY_INSTALL_ARGS +poetry install --no-cache --no-root pyenv rehash -[ -n "$XX" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" +[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" if [ "$(uname)" != "Darwin" ]; then echo "pre-commit hooks install..." shopt -s nullglob for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do - cd $DIR/$(dirname $f) - if [ -e ".git" ]; then - $RUN pre-commit install + if [ -e "$ROOT/$(dirname $f)/.git" ]; then + $RUN pre-commit install -c "$f" fi done fi diff --git a/tools/joystick/web.py b/tools/joystick/web.py deleted file mode 100755 index 5cba4e938d..0000000000 --- a/tools/joystick/web.py +++ /dev/null @@ -1,78 +0,0 @@ -#!/usr/bin/env python3 -import time -import threading -from flask import Flask - -import cereal.messaging as messaging - -app = Flask(__name__) -pm = messaging.PubMaster(['testJoystick']) - -index = """ - - - - - -
- -""" - -@app.route("/") -def hello_world(): - return index - -last_send_time = time.monotonic() -@app.route("/control//") -def control(x, y): - global last_send_time - x,y = float(x), float(y) - x = max(-1, min(1, x)) - y = max(-1, min(1, y)) - dat = messaging.new_message('testJoystick') - dat.testJoystick.axes = [y,x] - dat.testJoystick.buttons = [False] - pm.send('testJoystick', dat) - last_send_time = time.monotonic() - return "" - -def handle_timeout(): - while 1: - this_time = time.monotonic() - if (last_send_time+0.5) < this_time: - #print("timeout, no web in %.2f s" % (this_time-last_send_time)) - dat = messaging.new_message('testJoystick') - dat.testJoystick.axes = [0,0] - dat.testJoystick.buttons = [False] - pm.send('testJoystick', dat) - time.sleep(0.1) - -def main(): - threading.Thread(target=handle_timeout, daemon=True).start() - app.run(host="0.0.0.0") - -if __name__ == '__main__': - main() diff --git a/tools/lib/README.md b/tools/lib/README.md index d77eef5ac5..8f540a5c82 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -6,7 +6,7 @@ Route is a class for conveniently accessing all the [logs](/system/loggerd/) fro from tools.lib.route import Route from tools.lib.logreader import LogReader -r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36") +r = Route("a2a0ccea32023010|2023-07-27--13-01-19") # get a list of paths for the route's rlog files print(r.log_paths()) @@ -41,7 +41,7 @@ from tools.lib.route import Route from tools.lib.logreader import MultiLogIterator # setup a MultiLogIterator to read all the logs in the route -r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36") +r = Route("a2a0ccea32023010|2023-07-27--13-01-19") lr = MultiLogIterator(r.log_paths()) # print all the steering angles values from all the logs in the route diff --git a/tools/lib/auth.py b/tools/lib/auth.py index 086027968f..a1bcdb1c58 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler): self.end_headers() self.wfile.write(b'Return to the CLI to continue') - def log_message(self, format, *args): # pylint: disable=redefined-builtin + def log_message(self, *args): # pylint: disable=redefined-builtin pass # this prevent http server from dumping messages to stdout diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 215f7b2185..718b853b1a 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -6,6 +6,6 @@ DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") def FileReader(fn, debug=False): if fn.startswith("cd:/"): fn = fn.replace("cd:/", DATA_ENDPOINT) - if fn.startswith("http://") or fn.startswith("https://"): + if fn.startswith(("http://", "https://")): return URLFile(fn, debug=debug) return open(fn, "rb") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index d9920ab128..b4845b9f0d 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -70,8 +70,8 @@ def ffprobe(fn, fmt=None): try: ffprobe_output = subprocess.check_output(cmd) - except subprocess.CalledProcessError: - raise DataUnreadableError(fn) + except subprocess.CalledProcessError as e: + raise DataUnreadableError(fn) from e return json.loads(ffprobe_output) @@ -80,14 +80,14 @@ def vidindex(fn, typ): vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex") vidindex = os.path.join(vidindex_dir, "vidindex") - subprocess.check_call(["make"], cwd=vidindex_dir, stdout=open("/dev/null", "w")) + subprocess.check_call(["make"], cwd=vidindex_dir, stdout=subprocess.DEVNULL) with tempfile.NamedTemporaryFile() as prefix_f, \ tempfile.NamedTemporaryFile() as index_f: try: subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name]) - except subprocess.CalledProcessError: - raise DataUnreadableError(f"vidindex failed on file {fn}") + except subprocess.CalledProcessError as e: + raise DataUnreadableError(f"vidindex failed on file {fn}") from e with open(index_f.name, "rb") as f: index = f.read() with open(prefix_f.name, "rb") as f: @@ -237,25 +237,23 @@ def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt): threads = os.getenv("FFMPEG_THREADS", "0") cuda = os.getenv("FFMPEG_CUDA", "0") == "1" - proc = subprocess.Popen( - ["ffmpeg", - "-threads", threads, - "-hwaccel", "none" if not cuda else "cuda", - "-c:v", "hevc", - "-vsync", "0", - "-f", vid_fmt, - "-flags2", "showall", - "-i", "pipe:0", - "-threads", threads, - "-f", "rawvideo", - "-pix_fmt", pix_fmt, - "pipe:1"], - stdin=tmpf, stdout=subprocess.PIPE, stderr=open("/dev/null")) - - # dat = proc.communicate()[0] - dat = proc.stdout.read() - if proc.wait() != 0: - raise DataUnreadableError("ffmpeg failed") + args = ["ffmpeg", + "-threads", threads, + "-hwaccel", "none" if not cuda else "cuda", + "-c:v", "hevc", + "-vsync", "0", + "-f", vid_fmt, + "-flags2", "showall", + "-i", "pipe:0", + "-threads", threads, + "-f", "rawvideo", + "-pix_fmt", pix_fmt, + "pipe:1"] + with subprocess.Popen(args, stdin=tmpf, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) as proc: + # dat = proc.communicate()[0] + dat = proc.stdout.read() + if proc.wait() != 0: + raise DataUnreadableError("ffmpeg failed") if pix_fmt == "rgb24": ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) @@ -418,7 +416,7 @@ class VideoStreamDecompressor: elif self.pix_fmt == "yuv444p": ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w)) else: - assert False + raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}") yield ret result_code = self.proc.wait() diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index efe704b9ec..067b64b6ac 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -1,3 +1,4 @@ +import bz2 import datetime TIME_FMT = "%Y-%m-%d--%H-%M-%S" @@ -13,8 +14,19 @@ class RE: EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) OP_SEGMENT_DIR = r'^(?P{})$'.format(SEGMENT_NAME) + def timestamp_to_datetime(t: str) -> datetime.datetime: """ Convert an openpilot route timestamp to a python datetime """ return datetime.datetime.strptime(t, TIME_FMT) + + +def save_log(dest, log_msgs, compress=True): + dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) + + if compress: + dat = bz2.compress(dat) + + with open(dest, "wb") as f: + f.write(dat) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 46c648ef12..8f1e5b9f80 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -98,7 +98,7 @@ class LogReader: for e in ents: _ents.append(e) except capnp.KjException: - warnings.warn("Corrupted events detected", RuntimeWarning) + warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) self._ts = [x.logMonoTime for x in self._ents] diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py index fbe7f3e776..814017c9cc 100755 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -8,13 +8,13 @@ class TestRouteLibrary(unittest.TestCase): def test_segment_name_formats(self): Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir']) - cases = [ Case("4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, None), - Case("4cf7a6ad03080c90/2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, None), - Case("4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, None), - Case("4cf7a6ad03080c90/2021-09-29--13-46-36/3", "4cf7a6ad03080c90|2021-09-29--13-46-36", 3, None), - Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, "/data/media/0/realdata"), - Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, "/data/media/0/realdata"), - Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, "/data/media/0/realdata") ] + cases = [ Case("a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, None), + Case("a2a0ccea32023010/2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, None), + Case("a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, None), + Case("a2a0ccea32023010/2023-07-27--13-01-19/3", "a2a0ccea32023010|2023-07-27--13-01-19", 3, None), + Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, "/data/media/0/realdata"), + Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, "/data/media/0/realdata"), + Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, "/data/media/0/realdata") ] def _validate(case): route_or_segment_name = case.input diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 67ca098c00..45bdf90383 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -9,7 +9,7 @@ ARCH=$(uname -m) if [[ $SHELL == "/bin/zsh" ]]; then RC_FILE="$HOME/.zshrc" elif [[ $SHELL == "/bin/bash" ]]; then - RC_FILE="$HOME/.bashrc" + RC_FILE="$HOME/.bash_profile" fi # Install brew if required @@ -28,7 +28,6 @@ if [[ $(command -v brew) == "" ]]; then fi fi -# TODO: remove protobuf,protobuf-c,swig when casadi can be pip installed brew bundle --file=- <<-EOS brew "catch2" brew "cmake" @@ -49,10 +48,9 @@ brew "openssl@3.0" brew "pyenv" brew "qt@5" brew "zeromq" -brew "protobuf" -brew "protobuf-c" -brew "swig" +brew "gcc@12" cask "gcc-arm-embedded" +brew "portaudio" EOS echo "[ ] finished brew install t=$SECONDS" @@ -68,6 +66,7 @@ export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include" # pycurl curl/openssl backend dependencies export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib" export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include" +export PYCURL_CURL_CONFIG=/usr/bin/curl-config export PYCURL_SSL_LIBRARY=openssl # openpilot environment @@ -78,33 +77,10 @@ if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then fi # install python dependencies -$ROOT/update_requirements.sh +$DIR/install_python_dependencies.sh eval "$(pyenv init --path)" echo "[ ] installed python dependencies t=$SECONDS" -# install casadi -VENV=`poetry env info --path` -PYTHON_VER=3.8 -PYTHON_VERSION=$(cat $ROOT/.python-version) -if [ ! -f "$VENV/include/casadi/casadi.hpp" ]; then - echo "-- casadi manual install" - cd /tmp/ && curl -L https://github.com/casadi/casadi/archive/refs/tags/ge6.tar.gz --output casadi.tar.gz - tar -xzf casadi.tar.gz - cd casadi-ge6/ && mkdir -p build && cd build - cmake .. \ - -DWITH_PYTHON=ON \ - -DWITH_EXAMPLES=OFF \ - -DCMAKE_INSTALL_PREFIX:PATH=$VENV \ - -DPYTHON_PREFIX:PATH=$VENV/lib/python$PYTHON_VER/site-packages \ - -DPYTHON_LIBRARY:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/lib/libpython$PYTHON_VER.dylib \ - -DPYTHON_EXECUTABLE:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/bin/python \ - -DPYTHON_INCLUDE_DIR:PATH=$HOME/.pyenv/versions/$PYTHON_VERSION/include/python$PYTHON_VER \ - -DCMAKE_CXX_FLAGS="-ferror-limit=0" -DCMAKE_C_FLAGS="-ferror-limit=0" - CFLAGS="-ferror-limit=0" make -j$(nproc) && make install -else - echo "---- casadi found in venv. skipping build ----" -fi - echo echo "---- OPENPILOT SETUP DONE ----" echo "Open a new shell or configure your active shell env by running:" diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index b4190384db..ca9946145d 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -38,11 +38,11 @@ optional arguments: Examples using route name: -`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"` +`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"` Examples using segment name: -`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36--1"` +`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"` ## Streaming diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 1e592da3b1..a5d6974f9c 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -11,15 +11,15 @@ import requests import argparse from common.basedir import BASEDIR -from selfdrive.test.process_replay.compare_logs import save_log from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from tools.lib.route import Route, SegmentName +from tools.lib.helpers import save_log from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) -DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" +DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest" INSTALL_DIR = os.path.join(juggle_dir, "bin") PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler") @@ -168,7 +168,7 @@ if __name__ == "__main__": if not os.path.exists(PLOTJUGGLER_BIN): print("PlotJuggler is missing. Downloading...") install() - + if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION: print("PlotJuggler is out of date. Installing update...") install() diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml index 5cc1650909..f91cbd3f53 100644 --- a/tools/plotjuggler/layouts/camera-timings.xml +++ b/tools/plotjuggler/layouts/camera-timings.xml @@ -132,7 +132,7 @@ - + diff --git a/tools/plotjuggler/layouts/can-states.xml b/tools/plotjuggler/layouts/can-states.xml new file mode 100644 index 0000000000..8c761517e6 --- /dev/null +++ b/tools/plotjuggler/layouts/can-states.xml @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml index c10b78f1c5..0a0a077245 100644 --- a/tools/plotjuggler/layouts/thermal_debug.xml +++ b/tools/plotjuggler/layouts/thermal_debug.xml @@ -1,12 +1,12 @@ - + - + - - + + @@ -19,8 +19,8 @@ - - + + @@ -29,40 +29,47 @@ - - + + + + + + + + + - + - - + + - - + + - - + + - + - - + + @@ -71,8 +78,8 @@ - - + + diff --git a/tools/replay/README.md b/tools/replay/README.md index 6c2cdf9521..91e89176a2 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -12,7 +12,7 @@ python tools/lib/auth.py tools/replay/replay # Example: -tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19' # or use --demo to replay the default demo route: tools/replay/replay --demo diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 52666c4db0..44b109514f 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,21 +8,11 @@ from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' -from common.basedir import BASEDIR from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from selfdrive.boardd.boardd import can_capnp_to_can_list from tools.plotjuggler.juggle import load_segment from tools.lib.logreader import logreader_from_route_or_segment -from panda import Panda - -try: - # this bool can be replaced when mypy understands this pattern - panda_jungle_imported = True - from panda_jungle import PandaJungle # pylint: disable=import-error # type: ignore -except ImportError: - PandaJungle = None - panda_jungle_imported = False - +from panda import Panda, PandaJungle def send_thread(s, flock): if "Jungle" in str(type(s)): @@ -94,10 +84,6 @@ if __name__ == "__main__": parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") args = parser.parse_args() - if not panda_jungle_imported: - print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m") - print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m") - print("Loading log...") if args.route_or_segment_name is None: ROUTE = "77611a1fac303767/2020-03-24--09-50-38" diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 077861ff96..5cbd3818a6 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -259,8 +259,8 @@ void ConsoleUI::updateTimeline() { const int total_sec = replay->totalSeconds(); for (auto [begin, end, type] : replay->getTimeline()) { - int start_pos = ((double)begin / total_sec) * width; - int end_pos = ((double)end / total_sec) * width; + int start_pos = (begin / total_sec) * width; + int end_pos = (end / total_sec) * width; if (type == TimelineType::Engaged) { mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index d66fe79306..4ab8efab61 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -10,7 +10,7 @@ from matplotlib.backends.backend_agg import FigureCanvasAgg from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, tici_f_frame_size, tici_f_focal_length, get_view_frame_from_calib_frame) -from selfdrive.controls.lib.radar_helpers import RADAR_TO_CAMERA +from selfdrive.controls.radard import RADAR_TO_CAMERA RED = (255, 0, 0) @@ -161,7 +161,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co idxs.append(name_to_arr_idx[item]) plot_select.append(i) axs[i].set_title(", ".join(f"{nm} ({cl})" - for (nm, cl) in zip(pl_list, plot_colors[i])), fontsize=10) + for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) axs[i].tick_params(axis="x", colors="white") axs[i].tick_params(axis="y", colors="white") axs[i].title.set_color("white") @@ -205,11 +205,11 @@ def plot_model(m, img, calibration, top_down): px, py_bottom = to_topdown_pt(x - x_std, y) top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) - for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds): + for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): color = (0, int(255 * prob), 0) draw_path(path, color, img, calibration, top_down, YELLOW) - for edge, std in zip(m.roadEdges, m.roadEdgeStds): + for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True): prob = max(1 - std, 0) color = (int(255 * prob), 0, 0) draw_path(edge, color, img, calibration, top_down, RED) diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index e3d5071412..9a5df2eeed 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -68,20 +68,16 @@ bool LogReader::parse(const std::set &allow, std::atomic words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { - if (!allow.empty()) { - capnp::FlatArrayMessageReader reader(words); - auto which = reader.getRoot().which(); - if (allow.find(which) == allow.end()) { - words = kj::arrayPtr(reader.getEnd(), words.end()); - continue; - } - } - #ifdef HAS_MEMORY_RESOURCE Event *evt = new (mbr_) Event(words); #else Event *evt = new Event(words); #endif + if (!allow.empty() && allow.find(evt->which) == allow.end()) { + words = kj::arrayPtr(evt->reader.getEnd(), words.end()); + delete evt; + continue; + } // Add encodeIdx packet again as a frame packet for the video stream if (evt->which == cereal::Event::ROAD_ENCODE_IDX || diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 6b624aa1fa..98a0bb3333 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -6,8 +6,14 @@ #include "tools/replay/replay.h" int main(int argc, char *argv[]) { +#ifdef __APPLE__ + // With all sockets opened, we might hit the default limit of 256 on macOS + util::set_file_descriptor_limit(1024); +#endif + QCoreApplication app(argc, argv); + const QStringList base_blacklist = {"uiDebug", "userFlag"}; const std::tuple flags[] = { {"dcam", REPLAY_FLAG_DCAM, "load driver camera"}, {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"}, @@ -16,6 +22,8 @@ int main(int argc, char *argv[]) { {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"}, {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, + {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + + ". this may causes issues when used along with UI"} }; QCommandLineParser parser; @@ -56,7 +64,7 @@ int main(int argc, char *argv[]) { op_prefix.reset(new OpenpilotPrefix(prefix.toStdString())); } - Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app); if (!parser.value("c").isEmpty()) { replay->setSegmentCacheLimit(parser.value("c").toInt()); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index b68330f688..74817584cd 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -10,14 +10,20 @@ #include "system/hardware/hw.h" #include "tools/replay/util.h" -Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) +Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { std::vector s; auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); for (const auto &it : services) { + uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); + if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && + !(flags & REPLAY_FLAG_ALL_SERVICES) && + !allow.contains(it.name)) { + continue; + } + if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) { - uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); sockets_[which] = it.name; if (!allow.empty() || !block.empty()) { allow_list.insert((cereal::Event::Which)which); @@ -30,6 +36,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s // the following events are needed for replay to work properly. allow_list.insert(cereal::Event::Which::INIT_DATA); allow_list.insert(cereal::Event::Which::CAR_PARAMS); + if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { + allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + } } qDebug() << "services " << s; @@ -91,7 +100,7 @@ void Replay::start(int seconds) { } void Replay::updateEvents(const std::function &lambda) { - // set updating_events to true to force stream thread release the lock and wait for evnets_udpated. + // set updating_events to true to force stream thread release the lock and wait for events_updated. updating_events_ = true; { std::unique_lock lk(stream_lock_); @@ -128,8 +137,18 @@ void Replay::seekToFlag(FindFlag flag) { void Replay::buildTimeline() { uint64_t engaged_begin = 0; + bool engaged = false; + + auto alert_status = cereal::ControlsState::AlertStatus::NORMAL; + auto alert_size = cereal::ControlsState::AlertSize::NONE; uint64_t alert_begin = 0; - TimelineType alert_type = TimelineType::None; + std::string alert_type; + + const TimelineType timeline_types[] = { + [(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo, + [(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning, + [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical, + }; for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) { LogReader log; @@ -141,26 +160,24 @@ void Replay::buildTimeline() { if (e->which == cereal::Event::Which::CONTROLS_STATE) { auto cs = e->event.getControlsState(); - if (!engaged_begin && cs.getEnabled()) { + if (engaged != cs.getEnabled()) { + if (engaged) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged}); + } engaged_begin = e->mono_time; - } else if (engaged_begin && !cs.getEnabled()) { - std::lock_guard lk(timeline_lock); - timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged}); - engaged_begin = 0; + engaged = cs.getEnabled(); } - if (!alert_begin && cs.getAlertType().size() > 0) { - alert_begin = e->mono_time; - alert_type = TimelineType::AlertInfo; - if (cs.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL) { - alert_type = cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT - ? TimelineType::AlertWarning - : TimelineType::AlertCritical; + if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) { + if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]}); } - } else if (alert_begin && cs.getAlertType().size() == 0) { - std::lock_guard lk(timeline_lock); - timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type}); - alert_begin = 0; + alert_begin = e->mono_time; + alert_type = cs.getAlertType().cStr(); + alert_size = cs.getAlertSize(); + alert_status = cs.getAlertStatus(); } } else if (e->which == cereal::Event::Which::USER_FLAG) { std::lock_guard lk(timeline_lock); @@ -284,14 +301,14 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: } } + if (stream_thread_) { + emit segmentsMerged(); + } updateEvents([&]() { events_.swap(new_events_); segments_merged_ = segments_need_merge; return true; }); - if (stream_thread_) { - emit segmentsMerged(); - } } } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 2bb426361b..a9a6bfd910 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -7,7 +7,7 @@ #include "tools/replay/camera.h" #include "tools/replay/route.h" -const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; +const QString DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"; // one segment uses about 100M of memory constexpr int MIN_SEGMENTS_CACHE = 5; @@ -22,6 +22,7 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_HW_DECODER = 0x0100, REPLAY_FLAG_FULL_SPEED = 0x0200, REPLAY_FLAG_NO_VIPC = 0x0400, + REPLAY_FLAG_ALL_SERVICES = 0x0800, }; enum class FindFlag { @@ -40,7 +41,7 @@ class Replay : public QObject { Q_OBJECT public: - Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, + Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr, uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); ~Replay(); bool load(); @@ -66,14 +67,14 @@ public: inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; } inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); } inline uint64_t routeStartTime() const { return route_start_ts_; } - inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } - inline int totalSeconds() const { return segments_.size() * 60; } + inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } + inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; } inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } inline const std::map> &segments() const { return segments_; }; inline const std::string &carFingerprint() const { return car_fingerprint_; } - inline const std::vector> getTimeline() { + inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); return timeline; } @@ -130,7 +131,7 @@ protected: std::mutex timeline_lock; QFuture timeline_future; - std::vector> timeline; + std::vector> timeline; std::set allow_list; std::string car_fingerprint_; float speed_ = 1.0; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 30e3c811ee..7a43360147 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -43,13 +43,6 @@ TEST_CASE("httpMultiPartDownload") { REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM); } -int random_int(int min, int max) { - std::random_device dev; - std::mt19937 rng(dev()); - std::uniform_int_distribution dist(min, max); - return dist(rng); -} - TEST_CASE("FileReader") { auto enable_local_cache = GENERATE(true, false); std::string cache_file = cacheFilePath(TEST_RLOG_URL); @@ -144,7 +137,7 @@ TEST_CASE("Route") { auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE); REQUIRE(route.load()); - REQUIRE(route.segments().size() == 11); + REQUIRE(route.segments().size() == 13); for (int i = 0; i < 2; ++i) { read_segment(i, route.at(i), flags); } @@ -154,7 +147,7 @@ TEST_CASE("Route") { // helper class for unit tests class TestReplay : public Replay { public: - TestReplay(const QString &route, uint8_t flags = REPLAY_FLAG_NO_FILE_CACHE) : Replay(route, {}, {}, nullptr, flags) {} + TestReplay(const QString &route, uint8_t flags = REPLAY_FLAG_NO_FILE_CACHE) : Replay(route, {}, {}, {}, nullptr, flags) {} void test_seek(); void testSeekTo(int seek_to); }; @@ -198,7 +191,7 @@ void TestReplay::test_seek() { QEventLoop loop; std::thread thread = std::thread([&]() { for (int i = 0; i < 10; ++i) { - testSeekTo(random_int(0, 1 * 60)); + testSeekTo(util::random_int(0, 1 * 60)); } loop.quit(); }); diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 43cbef5bd6..a222e8e5b6 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -113,10 +113,10 @@ def ui_thread(addr): yuv_img_raw = vipc_client.recv() - if yuv_img_raw is None or not yuv_img_raw.any(): + if yuv_img_raw is None or not yuv_img_raw.data.any(): continue - imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width)) + imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width)) num_px = vipc_client.width * vipc_client.height bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12) diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index b6d4486733..8f03303b59 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -14,8 +14,10 @@ if __name__ == "__main__": keys = requests.get(f"https://github.com/{username}.keys", timeout=10) if keys.status_code == 200: - Params().put("GithubSshKeys", keys.text) - Params().put("GithubUsername", username) + params = Params() + params.put_bool("SshEnabled", True) + params.put("GithubSshKeys", keys.text) + params.put("GithubUsername", username) print("Setup ssh keys successfully") else: print("Error getting public keys from github") diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 7bb12badb2..64446e1115 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -68,13 +68,14 @@ def steer_rate_limit(old, new): class Camerad: - def __init__(self): + def __init__(self, dual_camera): self.frame_road_id = 0 self.frame_wide_id = 0 self.vipc_server = VisionIpcServer("camerad") self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H) + if dual_camera: + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H) self.vipc_server.start_listener() # set up for pyopencl rgb to yuv conversion @@ -254,7 +255,7 @@ class CarlaBridge: msg.liveCalibration.validBlocks = 20 msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] self.params.put("CalibrationParams", msg.to_bytes()) - self.params.put_bool("WideCameraOnly", not arguments.dual_camera) + self.params.put_bool("DisengageOnAccelerator", True) self._args = arguments self._carla_objects = [] @@ -349,14 +350,13 @@ class CarlaBridge: camera.listen(callback) return camera - self._camerad = Camerad() + self._camerad = Camerad(self._args.dual_camera) if self._args.dual_camera: - road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road) - self._carla_objects.append(road_camera) - - road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts - self._carla_objects.append(road_wide_camera) + road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts + self._carla_objects.append(road_wide_camera) + road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road) + self._carla_objects.append(road_camera) vehicle_state = VehicleState() @@ -545,23 +545,17 @@ if __name__ == "__main__": q: Any = Queue() args = parse_args() - try: - carla_bridge = CarlaBridge(args) - p = carla_bridge.run(q) + carla_bridge = CarlaBridge(args) + p = carla_bridge.run(q) - if args.joystick: - # start input poll for joystick - from tools.sim.lib.manual_ctrl import wheel_poll_thread + if args.joystick: + # start input poll for joystick + from tools.sim.lib.manual_ctrl import wheel_poll_thread - wheel_poll_thread(q) - else: - # start input poll for keyboard - from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread + wheel_poll_thread(q) + else: + # start input poll for keyboard + from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread - keyboard_poll_thread(q) - p.join() - - finally: - # Try cleaning up the wide camera param - # in case users want to use replay after - Params().remove("WideCameraOnly") + keyboard_poll_thread(q) + p.join() diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 2100f05b67..d5922a4819 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -6,7 +6,7 @@ export SIMULATION="1" export SKIP_FW_QUERY="1" export FINGERPRINT="HONDA CIVIC 2016" -export BLOCK="camerad,loggerd,encoderd,micd" +export BLOCK="camerad,loggerd,encoderd,micd,logmessaged" if [[ "$CI" ]]; then # TODO: offscreen UI should work export BLOCK="${BLOCK},ui" diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index af4339b2e4..d0b5888392 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -11,19 +11,12 @@ rpacker = CANPacker("acura_ilx_2016_nidec") def get_car_can_parser(): dbc_f = 'honda_civic_touring_2016_can_generated' - signals = [ - ("STEER_TORQUE", 0xe4), - ("STEER_TORQUE_REQUEST", 0xe4), - ("COMPUTER_BRAKE", 0x1fa), - ("COMPUTER_BRAKE_REQUEST", 0x1fa), - ("GAS_COMMAND", 0x200), - ] checks = [ (0xe4, 100), (0x1fa, 50), (0x200, 50), ] - return CANParser(dbc_f, signals, checks, 0) + return CANParser(dbc_f, checks, 0) cp = get_car_can_parser() def can_function(pm, speed, angle, idx, cruise_button, is_engaged): @@ -68,6 +61,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged): # *** cam bus *** msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {})) msg.append(packer.make_can_msg("ACC_HUD", 2, {})) + msg.append(packer.make_can_msg("LKAS_HUD", 2, {})) msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {})) # *** radar bus *** diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh index 7ead6699f0..f14e0efd16 100755 --- a/tools/sim/start_carla.sh +++ b/tools/sim/start_carla.sh @@ -15,7 +15,7 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then fi fi -docker pull carlasim/carla:0.9.13 +docker pull carlasim/carla:0.9.14 EXTRA_ARGS="-it" if [[ "$DETACH" ]]; then @@ -30,5 +30,5 @@ docker run \ --net=host \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ $EXTRA_ARGS \ - carlasim/carla:0.9.13 \ + carlasim/carla:0.9.14 \ /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py index f467391967..cfaf95ca01 100755 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -68,7 +68,8 @@ class TestCarlaIntegration(unittest.TestCase): no_car_events_issues_once = True break - self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'") + self.assertTrue(no_car_events_issues_once, + f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'") start_time = time.monotonic() min_counts_control_active = 100 diff --git a/tools/ssh/README.md b/tools/ssh/README.md index 67b5271a42..588ea71579 100644 --- a/tools/ssh/README.md +++ b/tools/ssh/README.md @@ -24,14 +24,12 @@ The `id_rsa` key in this directory only works while your device is in the setup See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. # Connecting to ssh.comma.ai -SSH into your comma device from anywhere with `ssh.comma.ai`. +SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect). ## Setup With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. -Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM. - ## Recommended .ssh/config With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 4819be770f..b816d82f91 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -105,7 +105,10 @@ class SteeringAccuracyTool: print(f" {'-'*118}") for k in sorted(self.speed_group_stats[group].keys()): v = self.speed_group_stats[group][k] - print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') + print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \ + | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \ + | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \ + | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') print("") diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 97b706de5b..581b785252 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -69,6 +69,7 @@ function install_ubuntu_common_requirements() { ocl-icd-libopencl1 \ ocl-icd-opencl-dev \ clinfo \ + portaudio19-dev \ qml-module-qtquick2 \ qtmultimedia5-dev \ qtlocation5-dev \ @@ -137,9 +138,8 @@ else exit 1 fi - -# install python dependencies -$ROOT/update_requirements.sh +# python setup +$DIR/install_python_dependencies.sh source ~/.bashrc if [ -z "$OPENPILOT_ENV" ]; then
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