mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-25 11:52:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into sync-priv-20231108

Browse Source 
# Conflicts:
#	panda
#	selfdrive/car/subaru/carcontroller.py
#	selfdrive/car/subaru/interface.py
#	selfdrive/controls/lib/lateral_planner.py
This commit is contained in:
Jason Wen
2023-11-08 16:41:32 -05:00
parent 741237f6e2 24aa478376
commit 783267ec29
120 changed files with 1670 additions and 1614 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/selfdrive_tests.yaml
+1
View File
@@ -5,6 +5,7 @@ on:
branches:
- master
pull_request:
workflow_dispatch:
concurrency:
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
.pre-commit-config.yaml
+3 -3
View File
@@ -41,7 +41,7 @@ repos:
args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.1.1
rev: v0.1.4
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -79,13 +79,13 @@ repos:
language: script
pass_filenames: false
- repo: https://github.com/python-poetry/poetry
rev: '1.6.0'
rev: '1.7.0'
hooks:
- id: poetry-check
name: validate poetry lock
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.27.0
rev: 0.27.1
hooks:
- id: check-github-workflows
Jenkinsfile
Vendored
+3 -1
View File
@@ -64,7 +64,9 @@ def deviceStage(String stageName, String deviceType, List env, def steps) {
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 20, unit: 'MINUTES') {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
retry (3) {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
}
steps.each { item ->
device(device_ip, item[0], item[1])
}
RELEASES.md
+3 -1
View File
@@ -1,7 +1,9 @@
Version 0.9.5 (2023-XX-XX)
Version 0.9.5 (2023-11-16)
========================
* New driving model
* Improved navigate on openpilot performance using navigation instructions as an additional model input
* Do lateral planning inside the model
* New vision transformer architecture
* Cadillac Escalade ESV 2019 support thanks to twilsonco!
* Hyundai Azera 2022 support thanks to sunnyhaibin!
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
SConstruct
+4
View File
@@ -26,6 +26,10 @@ AddOption('--ubsan',
action='store_true',
help='turn on UBSan')
AddOption('--coverage',
action='store_true',
help='build with test coverage options')
AddOption('--clazy',
action='store_true',
help='build with clazy')
cereal
+1 -1
Submodule cereal updated: 536c6b793f...fc1a20047f
codecov.yml
+2 -1
View File
@@ -7,4 +7,5 @@ coverage:
patch: off
ignore:
- "**/test_*.py"
- "**/test_*.py"
- "selfdrive/test/**"
conftest.py
+8
View File
@@ -2,6 +2,7 @@ import os
import pytest
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.system.hardware import TICI
@pytest.fixture(scope="function", autouse=True)
@@ -31,3 +32,10 @@ def openpilot_class_fixture():
os.environ.clear()
os.environ.update(starting_env)
def pytest_collection_modifyitems(config, items):
skipper = pytest.mark.skip(reason="Skipping tici test on PC")
for item in items:
if not TICI and "tici" in item.keywords:
item.add_marker(skipper)
docs/CARS.md
+8 -8
View File
@@ -21,10 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
@@ -50,14 +50,14 @@ A supported vehicle is one that just works when you install a comma device. All
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -110,7 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
panda
+1 -1
Submodule panda updated: 43ad78a7e7...416b028322
poetry.lock
Generated
+530 -559
View File
File diff suppressed because it is too large Load Diff
pyproject.toml
+3 -1
View File
@@ -5,7 +5,8 @@ addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda
python_files = "test_*.py"
#timeout = "30" # you get this long by default
markers = [
"slow: tests that take awhile to run and can be skipped with -m 'not slow'"
"slow: tests that take awhile to run and can be skipped with -m 'not slow'",
"tici: tests that are only meant to run on the C3/C3X",
]
testpaths = [
"common",
@@ -140,6 +141,7 @@ parameterized = "^0.8"
pprofile = "*"
pre-commit = "*"
pygame = "*"
pympler = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-cov = "*"
release/files_common
+3 -2
View File
@@ -6,6 +6,7 @@ launch_openpilot.sh
Jenkinsfile
SConstruct
pyproject.toml
README.md
RELEASES.md
@@ -623,15 +624,15 @@ opendbc/tesla_can.dbc
opendbc/tesla_radar.dbc
opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile.py
tinygrad_repo/openpilot/compile2.py
tinygrad_repo/extra/onnx.py
tinygrad_repo/extra/onnx_ops.py
tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/codegen/kernel.py
tinygrad_repo/tinygrad/codegen/linearizer.py
tinygrad_repo/tinygrad/codegen/optimizer.py
tinygrad_repo/tinygrad/features/image.py
tinygrad_repo/tinygrad/features/search.py
tinygrad_repo/tinygrad/nn/*
tinygrad_repo/tinygrad/renderer/cstyle.py
tinygrad_repo/tinygrad/renderer/opencl.py
selfdrive/athena/athenad.py
+6 -10
View File
@@ -20,7 +20,7 @@ from dataclasses import asdict, dataclass, replace
from datetime import datetime
from functools import partial
from queue import Queue
from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
from typing import Callable, Dict, List, Optional, Set, Union, cast
import requests
from jsonrpc import JSONRPCResponseManager, dispatcher
@@ -290,19 +290,15 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
compress = True
with open(path, "rb") as f:
data: BinaryIO
content = f.read()
if compress:
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
compressed = bz2.compress(f.read())
size = len(compressed)
data = io.BytesIO(compressed)
else:
size = os.fstat(f.fileno()).st_size
data = f
content = bz2.compress(content)
with io.BytesIO(content) as data:
return requests.put(upload_item.url,
data=CallbackReader(data, callback, size) if callback else data,
headers={**upload_item.headers, 'Content-Length': str(size)},
data=CallbackReader(data, callback, len(content)) if callback else data,
headers={**upload_item.headers, 'Content-Length': str(len(content))},
timeout=30)
selfdrive/athena/tests/test_athenad.py
+22 -8
View File
@@ -9,10 +9,11 @@ import queue
import unittest
from dataclasses import asdict, replace
from datetime import datetime, timedelta
from parameterized import parameterized
from typing import Optional
from multiprocessing import Process
from pathlib import Path
from pympler.tracker import SummaryTracker
from unittest import mock
from websocket import ABNF
from websocket._exceptions import WebSocketConnectionClosedException
@@ -57,10 +58,11 @@ class TestAthenadMethods(unittest.TestCase):
break
@staticmethod
def _create_file(file: str, parent: Optional[str] = None) -> str:
def _create_file(file: str, parent: Optional[str] = None, data: bytes = b'') -> str:
fn = os.path.join(Paths.log_root() if parent is None else parent, file)
os.makedirs(os.path.dirname(fn), exist_ok=True)
Path(fn).touch()
with open(fn, 'wb') as f:
f.write(data)
return fn
@@ -137,19 +139,31 @@ class TestAthenadMethods(unittest.TestCase):
if fn.endswith('.bz2'):
self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
@parameterized.expand([(True,), (False,)])
@with_http_server
def test_do_upload(self, host):
fn = self._create_file('qlog.bz2')
def test_do_upload(self, compress, host):
# random bytes to ensure rather large object post-compression
fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
# warm up object tracker
tracker = SummaryTracker()
for _ in range(5):
tracker.diff()
upload_fn = fn + ('.bz2' if compress else '')
item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
with self.assertRaises(requests.exceptions.ConnectionError):
athenad._do_upload(item)
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
resp = athenad._do_upload(item)
self.assertEqual(resp.status_code, 201)
# assert memory cleaned up
for _type, num_objects, total_size in tracker.diff():
with self.subTest(_type=_type):
self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file')
@with_http_server
def test_uploadFileToUrl(self, host):
fn = self._create_file('qlog.bz2')
selfdrive/boardd/tests/test_pandad.py
+3 -3
View File
@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import os
import pytest
import time
import unittest
@@ -8,17 +9,16 @@ from cereal import log
from openpilot.common.gpio import gpio_set, gpio_init
from panda import Panda, PandaDFU, PandaProtocolMismatch
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.tici.pins import GPIO
HERE = os.path.dirname(os.path.realpath(__file__))
@pytest.mark.tici
class TestPandad(unittest.TestCase):
def setUp(self):
if PC:
raise unittest.SkipTest("needs a panda")
# ensure panda is up
if len(Panda.list()) == 0:
self._run_test(60)
selfdrive/car/docs_definitions.py
+1 -1
View File
@@ -114,7 +114,7 @@ class CarHarness(EnumBase):
hyundai_r = BaseCarHarness("Hyundai R 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")
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
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")
selfdrive/car/honda/values.py
+5 -2
View File
@@ -139,8 +139,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -1545,6 +1545,7 @@ FW_VERSIONS = {
b'77959-T47-A940\x00\x00',
b'77959-T47-A950\x00\x00',
b'77959-T20-M820\x00\x00',
b'77959-T20-A980\x00\x00',
],
(Ecu.combinationMeter, 0x18DA60F1, None): [
b'78108-T21-A220\x00\x00',
@@ -1553,6 +1554,7 @@ FW_VERSIONS = {
b'78108-T21-A230\x00\x00',
b'78108-T22-A020\x00\x00',
b'78108-T21-MB10\x00\x00',
b'78108-T21-A740\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T20-A070\x00\x00',
@@ -1580,6 +1582,7 @@ FW_VERSIONS = {
b'37805-64A-A540\x00\x00',
b'37805-64A-A620\x00\x00',
b'37805-64D-P510\x00\x00',
b'37805-64S-AA10\x00\x00',
],
},
CAR.CLARITY: {
selfdrive/car/hyundai/values.py
+2 -1
View File
@@ -234,7 +234,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
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 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "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])),
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -2088,6 +2088,7 @@ FW_VERSIONS = {
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',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
selfdrive/car/subaru/carcontroller.py
+17 -1
View File
@@ -5,7 +5,8 @@ from openpilot.common.params import Params
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.subaru import subarucan
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags, SubaruFlagsSP
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
CanBus, CarControllerParams, SubaruFlags, SubaruFlagsSP
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
# involves the total steering angle change rather than rate, but these limits work well for now
@@ -154,6 +155,21 @@ class CarController:
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["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
# Tester present (keeps eyesight disabled)
if self.frame % 100 == 0:
can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
# Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
if self.frame % 5 == 0:
can_sends.append(subarucan.create_es_highbeamassist(self.packer))
if self.frame % 10 == 0:
can_sends.append(subarucan.create_es_static_1(self.packer))
if self.frame % 2 == 0:
can_sends.append(subarucan.create_es_static_2(self.packer))
new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
selfdrive/car/subaru/interface.py
+10 -1
View File
@@ -1,8 +1,9 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config, create_mads_event
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags, SubaruFlagsSP
from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags, SubaruFlagsSP
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@@ -136,6 +137,9 @@ class CarInterface(CarInterfaceBase):
#ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT
if ret.openpilotLongitudinalControl:
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
@@ -207,5 +211,10 @@ class CarInterface(CarInterfaceBase):
return ret
@staticmethod
def init(CP, logcan, sendcan):
if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
selfdrive/car/subaru/subarucan.py
+24
View File
@@ -248,6 +248,30 @@ def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
def create_es_highbeamassist(packer):
values = {
"HBA_Available": False,
}
return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
def create_es_static_1(packer):
values = {
"SET_3": 3,
}
return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
def create_es_static_2(packer):
values = {
"SET_3": 3,
}
return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
# *** Subaru Pre-global ***
def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
selfdrive/car/subaru/values.py
+20 -6
View File
@@ -46,18 +46,23 @@ class CarControllerParams:
RPM_INACTIVE = 600 # a good base rpm for zero acceleration
THROTTLE_LOOKUP_BP = [0, 1]
THROTTLE_LOOKUP_BP = [0, 2]
THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
RPM_LOOKUP_BP = [0, 1]
RPM_LOOKUP_BP = [0, 2]
RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
BRAKE_LOOKUP_BP = [-1, 0]
BRAKE_LOOKUP_BP = [-3.5, 0]
BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
class SubaruFlags(IntFlag):
SEND_INFOTAINMENT = 1
DISABLE_EYESIGHT = 2
GLOBAL_ES_ADDR = 0x787
GEN2_ES_BUTTONS_DID = b'\x11\x30'
class SubaruFlagsSP(IntFlag):
@@ -446,6 +451,7 @@ FW_VERSIONS = {
(Ecu.abs, 0x7b0, None): [
b'\x7d\x97\x14\x40',
b'\xf1\x00\xbb\x0c\x04',
b'm\x97\x14@',
],
(Ecu.eps, 0x746, None): [
b'}\xc0\x10\x00',
@@ -454,13 +460,15 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00\x64\x35\x1f\x40\x20\x09',
b'\x00\x00c\xe9\x1f@ \x03',
b'\x00\x00d\xd3\x1f@ \t'
b'\x00\x00d\xd3\x1f@ \t',
b'\x00\x00c\xe9\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xba"@p\a',
b'\xa7)\xa0q\a',
b'\xf1\x82\xa7)\xa0q\a',
b'\xba"@@\a',
b'\xa7"@p\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xdc\xf2\x60\x60\x00',
@@ -469,6 +477,7 @@ FW_VERSIONS = {
b'\xdc\xf2`\x81\000',
b'\xdc\xf2`\x80\x00',
b'\x1a\xf6F`\x00',
b'\xda\xf2`\x80\x00',
],
},
CAR.LEGACY_PREGLOBAL: {
@@ -477,6 +486,7 @@ FW_VERSIONS = {
b'[\xba\xc4\x03',
b'{\x97D\x00',
b'[\x97D\000',
b'k\x9aD\x00',
],
(Ecu.eps, 0x746, None): [
b'[\xb0\x00\x01',
@@ -493,12 +503,14 @@ FW_VERSIONS = {
b'\xa0+@p\x07',
b'\xb4"@0\x07',
b'\xa0"@q\a',
b'\xab+@p\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xbe\xf2\x00p\x00',
b'\xbf\xfb\xc0\x80\x00',
b'\xbd\xf2\x00`\x00',
b'\xbf\xf2\000\x80\000',
b'\xbe\xfb\xc0p\x00',
],
},
CAR.OUTBACK_PREGLOBAL: {
@@ -542,6 +554,7 @@ FW_VERSIONS = {
b'\xb4"@r\a',
b'\xa0+@@\x07',
b'\xa0\"@\x80\a',
b'\xa0*@u\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xbd\xfb\xe0\x80\x00',
@@ -635,6 +648,7 @@ FW_VERSIONS = {
b'\xbc"`q\x07',
b'\xe3,\xa0@\x07',
b'\xbc,\xa0u\x07',
b'\xde,\xa0@\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xa5\xfe\xf7@\x00',
@@ -723,5 +737,5 @@ PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREG
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
# Cars that temporarily fault when steering angle rate is greater than some threshold.
# Appears to be all cars that started production after 2020
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
# Appears to be all torque-based cars produced around 2019 - present
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
selfdrive/car/tests/routes.py
+1
View File
@@ -251,6 +251,7 @@ routes = [
CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
# CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal
# CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
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("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
selfdrive/car/toyota/values.py
+2
View File
@@ -1941,6 +1941,7 @@ FW_VERSIONS = {
b'\x01896634D44000\x00\x00\x00\x00',
b'\x018966348X0000\x00\x00\x00\x00',
b'\x01896630ED5000\x00\x00\x00\x00',
b'\x018966348R9200\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1962,6 +1963,7 @@ FW_VERSIONS = {
b'F152648D60\x00\x00\x00\x00\x00\x00',
b'F152648811\x00\x00\x00\x00\x00\x00',
b'F152648C80\x00\x00\x00\x00\x00\x00',
b'F152648493\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B48261\x00\x00\x00\x00\x00\x00',
selfdrive/controls/controlsd.py
+9 -2
View File
@@ -679,11 +679,18 @@ class Controls:
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0:
# reset joystick if it hasn't been received in a while
should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
if not should_reset_joystick:
joystick_axes = self.sm['testJoystick'].axes
else:
joystick_axes = [0.0, 0.0]
if CC.longActive:
actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
steer = clip(joystick_axes[1], -1, 1)
# max angle is 45 for angle-based cars, max curvature is 0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
selfdrive/controls/lib/lateral_planner.py
+57 -50
View File
@@ -46,7 +46,8 @@ class LateralPlanner:
self.t_idxs = np.arange(TRAJECTORY_SIZE)
self.y_pts = np.zeros((TRAJECTORY_SIZE,))
self.v_plan = np.zeros((TRAJECTORY_SIZE,))
self.v_ego = 0.0
self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32)
self.v_ego = MIN_SPEED
self.l_lane_change_prob = 0.0
self.r_lane_change_prob = 0.0
self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@@ -91,11 +92,15 @@ class LateralPlanner:
# Parse model predictions
md = sm['modelV2']
self.LP.parse_model(md)
if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
if len(md.position.x) == TRAJECTORY_SIZE and (len(md.orientation.x) == TRAJECTORY_SIZE or
(len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE)):
if len(md.orientation.x) == TRAJECTORY_SIZE:
self.t_idxs = np.array(md.position.t)
self.plan_yaw = np.array(md.orientation.z)
self.plan_yaw_rate = np.array(md.orientationRate.z)
if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate])
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
self.t_idxs = np.array(md.position.t)
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) - get_speed_error(md, v_ego_car)
self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
@@ -120,45 +125,46 @@ class LateralPlanner:
self.path_xyz[:, 1] += self.LP.path_offset
self.dynamic_lane_profile_status = True
self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
LATERAL_ACCEL_COST, LATERAL_JERK_COST,
STEERING_RATE_COST)
if self.dynamic_lane_profile_status:
self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
LATERAL_ACCEL_COST, LATERAL_JERK_COST,
STEERING_RATE_COST)
y_pts = self.path_xyz[:LAT_MPC_N+1, 1]
heading_pts = self.plan_yaw[:LAT_MPC_N+1]
yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
self.y_pts = y_pts
y_pts = self.path_xyz[:LAT_MPC_N+1, 1]
heading_pts = self.plan_yaw[:LAT_MPC_N+1]
yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
self.y_pts = y_pts
assert len(y_pts) == LAT_MPC_N + 1
assert len(heading_pts) == LAT_MPC_N + 1
assert len(yaw_rate_pts) == LAT_MPC_N + 1
lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
p = np.column_stack([self.v_plan, lateral_factor])
self.lat_mpc.run(self.x0,
p,
y_pts,
heading_pts,
yaw_rate_pts)
# init state for next iteration
# mpc.u_sol is the desired second derivative of psi given x0 curv state.
# with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
# instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
assert len(y_pts) == LAT_MPC_N + 1
assert len(heading_pts) == LAT_MPC_N + 1
assert len(yaw_rate_pts) == LAT_MPC_N + 1
lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
p = np.column_stack([self.v_plan, lateral_factor])
self.lat_mpc.run(self.x0,
p,
y_pts,
heading_pts,
yaw_rate_pts)
# init state for next iteration
# mpc.u_sol is the desired second derivative of psi given x0 curv state.
# with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
# instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
# Check for infeasible MPC solution
mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
t = time.monotonic()
if mpc_nans or self.lat_mpc.solution_status != 0:
self.reset_mpc()
self.x0[3] = measured_curvature * self.v_ego
if t > self.last_cloudlog_t + 5.0:
self.last_cloudlog_t = t
cloudlog.warning("Lateral mpc - nan: True")
# Check for infeasible MPC solution
mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
t = time.monotonic()
if mpc_nans or self.lat_mpc.solution_status != 0:
self.reset_mpc()
self.x0[3] = measured_curvature * self.v_ego
if t > self.last_cloudlog_t + 5.0:
self.last_cloudlog_t = t
cloudlog.warning("Lateral mpc - nan: True")
if self.lat_mpc.cost > 1e6 or mpc_nans:
self.solution_invalid_cnt += 1
else:
self.solution_invalid_cnt = 0
if self.lat_mpc.cost > 1e6 or mpc_nans:
self.solution_invalid_cnt += 1
else:
self.solution_invalid_cnt = 0
def get_dynamic_lane_profile(self, longitudinal_plan_sp):
if self.dynamic_lane_profile == 1:
@@ -191,19 +197,20 @@ class LateralPlanner:
lateralPlan = plan_send.lateralPlan
lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
lateralPlan.dPathPoints = self.y_pts.tolist()
lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
lateralPlan.dPathPoints = self.y_pts.tolist() if self.dynamic_lane_profile_status else self.path_xyz[:,1].tolist()
lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() if self.dynamic_lane_profile_status else self.x_sol[0:CONTROL_N, 2].tolist()
lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() if self.dynamic_lane_profile_status else (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] if self.dynamic_lane_profile_status else [float(0) for _ in range(CONTROL_N-1)] # TODO: unused
lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
lateralPlan.mpcSolutionValid = bool(plan_solution_valid) if self.dynamic_lane_profile_status else bool(1)
lateralPlan.solverExecutionTime = self.lat_mpc.solve_time if self.dynamic_lane_profile_status else 0.0
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.solverState.x = self.lat_mpc.x_sol.tolist() if self.dynamic_lane_profile_status else self.x_sol.tolist()
if self.dynamic_lane_profile_status:
lateralPlan.solverCost = self.lat_mpc.cost
lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
lateralPlan.desire = self.DH.desire
lateralPlan.useLaneLines = self.use_lanelines
selfdrive/controls/plannerd.py
+2 -2
View File
@@ -21,8 +21,8 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
uiPlan = ui_send.uiPlan
uiPlan.frameId = sm['modelV2'].frameId
uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist()
uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist()
uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
pm.send('uiPlan', ui_send)
selfdrive/manager/test/test_manager.py
+2 -4
View File
@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import os
import pytest
import signal
import time
import unittest
@@ -17,6 +18,7 @@ MAX_STARTUP_TIME = 3
BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
@pytest.mark.tici
class TestManager(unittest.TestCase):
def setUp(self):
os.environ['PASSIVE'] = '0'
@@ -66,10 +68,6 @@ class TestManager(unittest.TestCase):
self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
# 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
selfdrive/modeld/SConscript
+2 -2
View File
@@ -58,11 +58,11 @@ lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd)
# Build thneed model
if arch == "larch64" or GetOption('pc_thneed'):
tinygrad_opts = ["NOLOCALS=1", "IMAGE=2", "GPU=1"]
tinygrad_opts = []
if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
selfdrive/modeld/constants.py
+2
View File
@@ -21,6 +21,7 @@ class ModelConstants:
NAV_FEATURE_LEN = 256
NAV_INSTRUCTION_LEN = 150
DRIVING_STYLE_LEN = 12
LAT_PLANNER_STATE_LEN = 4
# model outputs constants
FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
@@ -37,6 +38,7 @@ class ModelConstants:
ROAD_EDGES_WIDTH = 2
PLAN_WIDTH = 15
DESIRE_PRED_WIDTH = 8
LAT_PLANNER_SOLUTION_WIDTH = 4
NUM_LANE_LINES = 4
NUM_ROAD_EDGES = 2
selfdrive/modeld/fill_model_msg.py
+6 -1
View File
@@ -71,6 +71,11 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
orientation_rate = modelV2.orientationRate
fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
# lateral planning
solution = modelV2.lateralPlannerSolution
solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]
# times at X_IDXS according to model plan
PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
PLAN_T_IDXS[0] = 0.0
@@ -87,7 +92,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
# interpolate to find `t` for the current xidx
current_x_val = plan_x[tidx]
next_x_val = plan_x[tidx+1]
p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val)
p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
# lane lines
selfdrive/modeld/modeld.py
+14 -4
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python3
import sys
import os
import time
import pickle
@@ -12,15 +11,19 @@ from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.system.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL
from openpilot.common.numpy_fast import interp
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive import sentry
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
PROCESS_NAME = "selfdrive.modeld.modeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PATHS = {
@@ -53,6 +56,7 @@ class ModelState:
self.inputs = {
'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),
'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
@@ -104,12 +108,15 @@ class ModelState:
self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
return outputs
def main():
cloudlog.bind(daemon="selfdrive.modeld.modeld")
setproctitle("selfdrive.modeld.modeld")
sentry.set_tag("daemon", PROCESS_NAME)
cloudlog.bind(daemon=PROCESS_NAME)
setproctitle(PROCESS_NAME)
config_realtime_process(7, 54)
cl_context = CLContext()
@@ -280,4 +287,7 @@ if __name__ == "__main__":
try:
main()
except KeyboardInterrupt:
sys.exit()
cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
except Exception:
sentry.capture_exception()
raise
selfdrive/modeld/models/supercombo.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:18e53fa5d0f9a185833d50fa0d777725ca715460062f3a2c050847588525d87c
size 52272467
oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850
size 52524758
selfdrive/modeld/parse_model_outputs.py
+1
View File
@@ -93,6 +93,7 @@ class Parser:
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
for k in ['lead_prob', 'lane_lines_prob', 'meta']:
self.parse_binary_crossentropy(k, outs)
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
selfdrive/modeld/tests/test_modeld.py
+1
View File
@@ -13,6 +13,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
IMG_BYTES = IMG.flatten().tobytes()
class TestModeld(unittest.TestCase):
def setUp(self):
selfdrive/navd/SConscript
+1 -1
View File
@@ -4,7 +4,7 @@ map_env = qt_env.Clone()
libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
if arch == 'larch64':
libs.append('EGL')
libs.append(':libEGL_mesa.so.0')
if arch in ['larch64', 'aarch64', 'x86_64']:
if arch == 'x86_64':
selfdrive/navd/main.cc
+5
View File
@@ -4,14 +4,19 @@
#include <QApplication>
#include <QDebug>
#include "common/util.h"
#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"
int main(int argc, char *argv[]) {
Hardware::config_cpu_rendering();
qInstallMessageHandler(swagLogMessageHandler);
setpriority(PRIO_PROCESS, 0, -20);
int ret = util::set_core_affinity({0, 1, 2, 3});
assert(ret == 0);
QApplication app(argc, argv);
std::signal(SIGINT, sigTermHandler);
selfdrive/navd/tests/test_map_renderer.py
+50 -21
View File
@@ -1,5 +1,7 @@
#!/usr/bin/env python3
import numpy as np
import os
import pytest
import unittest
import requests
import threading
@@ -16,6 +18,11 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
LOCATION1 = (32.7174, -117.16277)
LOCATION2 = (32.7558, -117.2037)
DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
def gen_llk(location=LOCATION1):
msg = messaging.new_message('liveLocationKalman')
msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
@@ -27,19 +34,12 @@ def gen_llk(location=LOCATION1):
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):
if not self.INTERNET_ACTIVE:
self.send_response(500)
self.end_headers()
return
url = f'https://api.mapbox.com{self.path}'
headers = dict(self.headers)
@@ -110,15 +110,14 @@ class TestMapRenderer(unittest.TestCase):
assert self.vipc.connect(False)
self.vipc.recv()
def _run_test(self, expect_valid, location=LOCATION1):
def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
starting_frame_id = None
self.location = location
render_times = []
# run test
prev_frame_id = -1
for i in range(30*LLK_DECIMATION):
for i, location in enumerate(locations):
frame_expected = (i+1) % LLK_DECIMATION == 0
if self.sm.logMonoTime['mapRenderState'] == 0:
@@ -131,7 +130,7 @@ class TestMapRenderer(unittest.TestCase):
if starting_frame_id is None:
starting_frame_id = prev_frame_id
llk = gen_llk(self.location)
llk = gen_llk(location)
self.pm.send("liveLocationKalman", llk)
self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
self.sm.update(1000 if frame_expected else 0)
@@ -157,6 +156,7 @@ class TestMapRenderer(unittest.TestCase):
assert self.sm['mapRenderState'].renderTime == 0.
else:
assert 0. < self.sm['mapRenderState'].renderTime < 0.1
render_times.append(self.sm['mapRenderState'].renderTime)
# check vision ipc output
assert self.vipc.recv() is not None
@@ -164,6 +164,8 @@ class TestMapRenderer(unittest.TestCase):
assert self.vipc.timestamp_sof == llk.logMonoTime
assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
return render_times
def test_with_internet(self):
self._setup_test()
self._run_test(True)
@@ -180,13 +182,40 @@ class TestMapRenderer(unittest.TestCase):
self.server.disable_internet()
# change locations to force mapsd to refetch
self._run_test(False, LOCATION2)
self._run_test(False, LOCATION2_REPEATED)
self.server.enable_internet()
self._run_test(True, LOCATION2)
self._run_test(True, LOCATION2_REPEATED)
self._run_test(True, LOCATION2_REPEATED)
@pytest.mark.tici
def test_render_time_distribution(self):
self._setup_test()
# from location1 -> location2 and back
locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
render_times = self._run_test(True, locations)
_min = np.min(render_times)
_max = np.max(render_times)
_mean = np.mean(render_times)
_median = np.median(render_times)
_stddev = np.std(render_times)
print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
def assert_stat(stat, nominal, tol=0.3):
tol = (nominal / (1+tol)), (nominal * (1+tol))
self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
assert_stat(_mean, 0.030)
assert_stat(_median, 0.027)
assert_stat(_stddev, 0.0078)
self.assertLess(_max, 0.065)
self.assertGreater(_min, 0.015)
self.location = LOCATION1
self._run_test(True, LOCATION2)
if __name__ == "__main__":
unittest.main()
selfdrive/test/docker_common.sh
+5 -5
View File
@@ -1,17 +1,17 @@
if [ $1 = "base" ]; then
if [ "$1" = "base" ]; then
export DOCKER_IMAGE=openpilot-base
export DOCKER_FILE=Dockerfile.openpilot_base
elif [ $1 = "sim" ]; then
elif [ "$1" = "sim" ]; then
export DOCKER_IMAGE=openpilot-sim
export DOCKER_FILE=tools/sim/Dockerfile.sim
elif [ $1 = "prebuilt" ]; then
elif [ "$1" = "prebuilt" ]; then
export DOCKER_IMAGE=openpilot-prebuilt
export DOCKER_FILE=Dockerfile.openpilot
elif [ $1 = "cl" ]; then
elif [ "$1" = "cl" ]; then
export DOCKER_IMAGE=openpilot-base-cl
export DOCKER_FILE=Dockerfile.openpilot_base_cl
else
echo "Invalid docker build image $1"
echo "Invalid docker build image: '$1'"
exit 1
fi
selfdrive/test/process_replay/migration.py
+11 -1
View File
@@ -94,6 +94,8 @@ def migrate_peripheralState(lr):
def migrate_cameraStates(lr):
all_msgs = []
frame_to_encode_id = defaultdict(dict)
# just for encodeId fallback mechanism
min_frame_id = defaultdict(lambda: float('inf'))
for msg in lr:
if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
@@ -111,10 +113,18 @@ def migrate_cameraStates(lr):
continue
camera_state = getattr(msg, msg.which())
min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId)
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
if len(frame_to_encode_id[msg.which()]) != 0:
continue
# fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
# try to fake encode_id by subtracting lowest frameId
encode_id = camera_state.frameId - min_frame_id[msg.which()]
print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
new_msg = messaging.new_message(msg.which())
new_camera_state = getattr(new_msg, new_msg.which())
selfdrive/test/process_replay/model_replay.py
+9 -5
View File
@@ -23,6 +23,7 @@ MAX_FRAMES = 100 if PC else 600
NAV_FRAMES = 50
NO_NAV = "NO_NAV" in os.environ
NO_MODEL = "NO_MODEL" in os.environ
SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
@@ -161,8 +162,10 @@ if __name__ == "__main__":
else:
os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
log_msgs = []
# run replays
log_msgs = model_replay(lr, frs)
if not NO_MODEL:
log_msgs += model_replay(lr, frs)
if not NO_NAV:
log_msgs += nav_model_replay(lr)
@@ -177,10 +180,11 @@ if __name__ == "__main__":
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() in ("modelV2", "cameraOdometry"))
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
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_MODEL:
model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
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:
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]
selfdrive/test/process_replay/model_replay_ref_commit
+1 -1
View File
@@ -1 +1 @@
0e0f55cf3bb2cf79b44adf190e6387a83deb6646
35a05ff1b68062c9478b2adfe96f1c294bee1b6c
selfdrive/test/process_replay/process_replay.py
+11 -10
View File
@@ -27,6 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
from openpilot.selfdrive.test.process_replay.migration import migrate_all
from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
from openpilot.tools.lib.logreader import LogIterable
from openpilot.tools.lib.framereader import BaseFrameReader
# Numpy gives different results based on CPU features after version 19
NUMPY_TOLERANCE = 1e-7
@@ -201,16 +202,15 @@ class ProcessContainer:
self.environ_config = environ_config
def _setup_vision_ipc(self, all_msgs):
def _setup_vision_ipc(self, all_msgs: LogIterable, frs: Dict[str, Any]):
assert len(self.cfg.vision_pubs) != 0
device_type = next(str(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])
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
vipc_server.start_listener()
self.vipc_server = vipc_server
@@ -224,7 +224,7 @@ class ProcessContainer:
def start(
self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
all_msgs: LogIterable,
all_msgs: LogIterable, frs: Optional[Dict[str, BaseFrameReader]],
fingerprint: Optional[str], capture_output: bool
):
with self.prefix as p:
@@ -241,7 +241,8 @@ class ProcessContainer:
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 frs is not None
self._setup_vision_ipc(all_msgs, frs)
assert self.vipc_server is not None
if capture_output:
@@ -265,7 +266,7 @@ class ProcessContainer:
self.prefix.clean_dirs()
self._clean_env()
def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, BaseFrameReader]]) -> List[capnp._DynamicStructReader]:
assert self.rc and self.pm and self.sockets and self.process.proc
output_msgs = []
@@ -622,7 +623,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *
def replay_process(
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]] = 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]:
@@ -650,7 +651,7 @@ def replay_process(
def _replay_multi_process(
cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], 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:
@@ -677,7 +678,7 @@ def _replay_multi_process(
for cfg in cfgs:
container = ProcessContainer(cfg)
containers.append(container)
container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
container.start(params_config, env_config, all_msgs, frs, fingerprint, captured_output_store is not None)
all_pubs = {pub for container in containers for pub in container.pubs}
all_subs = {sub for container in containers for sub in container.subs}
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
d05b67ec66630521e8cedb90981002d57d738f6d
dbea36698ba48429b201b138846165eb4c329b92
selfdrive/test/process_replay/regen.py
+45 -8
View File
@@ -3,18 +3,42 @@ import os
import argparse
import time
import capnp
import numpy as np
from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
check_openpilot_enabled, get_custom_params_from_lr
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
from openpilot.selfdrive.test.update_ci_routes import upload_route
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
from openpilot.tools.lib.logreader import LogReader, LogIterable
from openpilot.tools.lib.helpers import save_log
class DummyFrameReader(BaseFrameReader):
def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
self.pix_val = pix_val
self.w, self.h = w, h
self.frame_count = frame_count
self.frame_type = FrameType.raw
def get(self, idx, count=1, pix_fmt="yuv420p"):
if pix_fmt == "rgb24":
shape = (self.h, self.w, 3)
elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
shape = (int((self.h * self.w) * 3 / 2),)
else:
raise NotImplementedError
return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
@staticmethod
def zero_dcamera():
return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
def regen_segment(
lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
@@ -31,7 +55,8 @@ def regen_segment(
def setup_data_readers(
route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True
route: str, sidx: int, use_route_meta: bool,
needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
) -> Tuple[LogReader, Dict[str, Any]]:
if use_route_meta:
r = Route(route)
@@ -41,8 +66,13 @@ def setup_data_readers(
frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
if needs_driver_cam and len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
else:
lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
frs = {}
@@ -51,14 +81,19 @@ def setup_data_readers(
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
if needs_driver_cam:
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
else:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
return lr, frs
def regen_and_save(
route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
) -> str:
if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
raise ValueError("whitelist_proc must be a string or iterable")
@@ -77,7 +112,8 @@ def regen_and_save(
all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
lr, frs = setup_data_readers(route, sidx, use_route_meta,
needs_driver_cam="driverCameraState" in all_vision_pubs,
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs)
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
dummy_driver_cam=dummy_driver_cam)
output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
@@ -107,6 +143,7 @@ if __name__ == "__main__":
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("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
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=[],
@@ -117,4 +154,4 @@ if __name__ == "__main__":
blacklist_set = set(args.blacklist_procs)
processes = [p for p in args.whitelist_procs if p not in blacklist_set]
regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir)
regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)
selfdrive/test/process_replay/regen_all.py
+1 -1
View File
@@ -18,7 +18,7 @@ def regen_job(segment, upload, disable_tqdm):
fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
try:
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
relr = '|'.join(relr.split('/')[-2:])
return f' ("{segment[0]}", "{relr}"), '
except Exception as e:
selfdrive/test/process_replay/test_processes.py
+17 -17
View File
@@ -41,23 +41,23 @@ source_segments = [
]
segments = [
("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"),
("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"),
("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"),
("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"),
("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"),
("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"),
("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"),
("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"),
("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"),
("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"),
("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"),
("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"),
("GM", "regenF6393D64745|2023-10-30--23-17-18--0"),
("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"),
("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"),
("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
]
# dashcamOnly makes don't need to be tested until a full port is done
selfdrive/test/process_replay/test_regen.py
+4 -7
View File
@@ -4,13 +4,12 @@ import unittest
from parameterized import parameterized
from openpilot.selfdrive.test.process_replay.regen import regen_segment
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled, CONFIGS
from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
from openpilot.selfdrive.test.openpilotci import get_url
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.framereader import FrameReader
EXCLUDED_PROCESSES = {"dmonitoringd", "dmonitoringmodeld"}
TESTED_SEGMENTS = [
("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
# Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
@@ -21,9 +20,9 @@ TESTED_SEGMENTS = [
def ci_setup_data_readers(route, sidx):
lr = LogReader(get_url(route, sidx, "rlog"))
# dm disabled
frs = {
'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")),
'driverCameraState': DummyFrameReader.zero_dcamera()
}
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera"))
@@ -34,11 +33,9 @@ def ci_setup_data_readers(route, sidx):
class TestRegen(unittest.TestCase):
@parameterized.expand(TESTED_SEGMENTS)
def test_engaged(self, case_name, segment):
tested_procs = [p for p in CONFIGS if p.proc_name not in EXCLUDED_PROCESSES]
route, sidx = segment.rsplit("--", 1)
lr, frs = ci_setup_data_readers(route, sidx)
output_logs = regen_segment(lr, frs, processes=tested_procs, disable_tqdm=True)
output_logs = regen_segment(lr, frs, disable_tqdm=True)
engaged = check_openpilot_enabled(output_logs)
self.assertTrue(engaged, f"openpilot not engaged in {case_name}")
selfdrive/test/setup_device_ci.sh
+5 -5
View File
@@ -43,11 +43,11 @@ while true; do
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
#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
selfdrive/test/test_onroad.py
+10 -1
View File
@@ -3,6 +3,9 @@ import bz2
import math
import json
import os
import pathlib
import psutil
import pytest
import shutil
import subprocess
import time
@@ -31,7 +34,7 @@ PROCS = {
"./encoderd": 17.0,
"./camerad": 14.5,
"./locationd": 11.0,
"./mapsd": 2.0,
"./mapsd": 1.5,
"selfdrive.controls.plannerd": 16.5,
"./_ui": 18.0,
"selfdrive.locationd.paramsd": 9.0,
@@ -96,6 +99,7 @@ def cputime_total(ct):
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@pytest.mark.tici
class TestOnroad(unittest.TestCase):
@classmethod
@@ -151,6 +155,8 @@ class TestOnroad(unittest.TestCase):
cls.segments = cls.segments[:-1]
finally:
cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
if proc is not None:
proc.terminate()
if proc.wait(60) is None:
@@ -296,6 +302,9 @@ class TestOnroad(unittest.TestCase):
# expected to go up while the MSGQ buffers fill up
self.assertLessEqual(max(mems) - min(mems), 3.0)
def test_gpu_usage(self):
self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"})
def test_camera_processing_time(self):
result = "\n"
result += "------------------------------------------------\n"
selfdrive/test/test_time_to_onroad.py
+2
View File
@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import os
import pytest
import time
import subprocess
@@ -9,6 +10,7 @@ from openpilot.common.timeout import Timeout
from openpilot.selfdrive.test.helpers import set_params_enabled
@pytest.mark.tici
def test_time_to_onroad():
# launch
set_params_enabled()
selfdrive/test/test_updated.py
+2
View File
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import datetime
import os
import pytest
import time
import tempfile
import unittest
@@ -13,6 +14,7 @@ from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
@pytest.mark.tici
class TestUpdated(unittest.TestCase):
def setUp(self):
selfdrive/ui/qt/body.cc
+2 -2
View File
@@ -63,9 +63,9 @@ BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QW
face = new QLabel();
face->setAlignment(Qt::AlignCenter);
layout->addWidget(face);
awake = new QMovie("../assets/body/awake.gif");
awake = new QMovie("../assets/body/awake.gif", {}, this);
awake->setCacheMode(QMovie::CacheAll);
sleep = new QMovie("../assets/body/sleep.gif");
sleep = new QMovie("../assets/body/sleep.gif", {}, this);
sleep->setCacheMode(QMovie::CacheAll);
// record button
selfdrive/ui/qt/maps/map_helpers.cc
+1
View File
@@ -21,6 +21,7 @@ QMapboxGLSettings get_mapbox_settings() {
if (!Hardware::PC()) {
settings.setCacheDatabasePath(MAPS_CACHE_PATH);
settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
}
settings.setApiBaseUrl(MAPS_HOST);
settings.setAccessToken(get_mapbox_token());
selfdrive/ui/qt/network/networking.cc
+1
View File
@@ -105,6 +105,7 @@ void Networking::showEvent(QShowEvent *event) {
}
void Networking::hideEvent(QHideEvent *event) {
main_layout->setCurrentWidget(wifiScreen);
wifi->stop();
}
selfdrive/ui/qt/widgets/wifi.cc
+4 -4
View File
@@ -18,8 +18,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
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));
QPixmap pixmap("../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"));
@@ -68,8 +68,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
title_layout->addStretch();
QLabel *icon = new QLabel;
QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg");
icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation));
QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg");
icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation));
title_layout->addWidget(icon);
}
uploading_layout->addLayout(title_layout);
system/camerad/test/test_camerad.py
+2 -4
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import pytest
import time
import unittest
import numpy as np
@@ -8,7 +9,6 @@ import cereal.messaging as messaging
from cereal import log
from cereal.services import SERVICE_LIST
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import TICI
TEST_TIMESPAN = 30
LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
@@ -19,12 +19,10 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
@pytest.mark.tici
class TestCamerad(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
# run camerad and record logs
managed_processes['camerad'].start()
time.sleep(3)
system/hardware/base.h
+2
View File
@@ -34,6 +34,8 @@ public:
static bool get_ssh_enabled() { return false; }
static void set_ssh_enabled(bool enabled) {}
static void config_cpu_rendering();
static bool PC() { return false; }
static bool TICI() { return false; }
static bool AGNOS() { return false; }
system/hardware/pc/hardware.h
+6
View File
@@ -20,4 +20,10 @@ public:
snprintf(volume_str, sizeof(volume_str), "%.3f", volume);
std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
}
static void config_cpu_rendering() {
setenv("QT_QPA_PLATFORM", "offscreen", 1);
setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
}
};
system/hardware/tici/hardware.h
+5
View File
@@ -103,4 +103,9 @@ public:
static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
static void config_cpu_rendering() {
setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
}
};
system/hardware/tici/hardware.py
+1 -1
View File
@@ -505,7 +505,7 @@ class Tici(HardwareBase):
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
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")
sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
# setup governors
sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
system/hardware/tici/tests/test_hardware.py
+3 -4
View File
@@ -1,20 +1,19 @@
#!/usr/bin/env python3
import pytest
import time
import unittest
import numpy as np
from openpilot.system.hardware import TICI
from openpilot.system.hardware.tici.hardware import Tici
HARDWARE = Tici()
@pytest.mark.tici
class TestHardware(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False)
system/hardware/tici/tests/test_power_draw.py
+7 -10
View File
@@ -1,15 +1,16 @@
#!/usr/bin/env python3
import pytest
import unittest
import time
import math
import threading
import numpy as np
from dataclasses import dataclass
from tabulate import tabulate
from typing import List
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from openpilot.system.hardware import HARDWARE, TICI
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.tici.power_monitor import get_power
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.manager.manager import manager_cleanup
@@ -28,7 +29,7 @@ class Proc:
PROCS = [
Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
Proc('modeld', 1.0, atol=0.2, msgs=['modelV2']),
Proc('modeld', 1.12, atol=0.2, msgs=['modelV2']),
Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
Proc('encoderd', 0.23, msgs=[]),
Proc('mapsd', 0.05, msgs=['mapRenderState']),
@@ -44,13 +45,9 @@ def send_llk_msg(done):
time.sleep(1/20.)
@pytest.mark.tici
class TestPowerDraw(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def setUp(self):
HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False)
@@ -94,8 +91,8 @@ class TestPowerDraw(unittest.TestCase):
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))
np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
print(tabulate(tab))
print(f"Baseline {baseline:.2f}W\n")
system/loggerd/tests/test_encoder.py
+2 -6
View File
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import math
import os
import pytest
import random
import shutil
import subprocess
@@ -31,14 +32,9 @@ CAMERAS = [
FILE_SIZE_TOLERANCE = 0.5
@pytest.mark.tici # TODO: all of loggerd should work on PC
class TestEncoder(unittest.TestCase):
# TODO: all of loggerd should work on PC
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def setUp(self):
self._clear_logs()
os.environ["LOGGERD_TEST"] = "1"
system/sensord/rawgps/rawgpsd.py
+7 -1
View File
@@ -190,7 +190,13 @@ def setup_quectel(diag: ModemDiag) -> bool:
if gps_enabled():
at_cmd("AT+QGPSEND")
#at_cmd("AT+QGPSDEL=0")
if "GPS_COLD_START" in os.environ:
# deletes all assistance
at_cmd("AT+QGPSDEL=0")
else:
# allow module to perform hot start
at_cmd("AT+QGPSDEL=1")
# disable DPO power savings for more accuracy
at_cmd("AT+QGPSCFG=\"dpoenable\",0")
system/sensord/rawgps/test_rawgps.py
+2 -4
View File
@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import os
import pytest
import json
import time
import datetime
@@ -7,19 +8,16 @@ import unittest
import subprocess
import cereal.messaging as messaging
from openpilot.system.hardware import TICI
from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
from openpilot.selfdrive.manager.process_config import managed_processes
GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@pytest.mark.tici
class TestRawgpsd(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
os.system("sudo systemctl start systemd-resolved")
os.system("sudo systemctl restart ModemManager lte")
wait_for_modem()
system/sensord/tests/test_pigeond.py
+2 -5
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import pytest
import time
import unittest
@@ -7,16 +8,12 @@ from cereal.services import SERVICE_LIST
from openpilot.common.gpio import gpio_read
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import TICI
from openpilot.system.hardware.tici.pins import GPIO
# TODO: test TTFF when we have good A-GNSS
@pytest.mark.tici
class TestPigeond(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def tearDown(self):
managed_processes['pigeond'].stop()
system/sensord/tests/test_sensord.py
+2 -4
View File
@@ -1,5 +1,6 @@
#!/usr/bin/env python3
import os
import pytest
import time
import unittest
import numpy as np
@@ -10,7 +11,6 @@ from cereal import log
from cereal.services import SERVICE_LIST
from openpilot.common.gpio import get_irqs_for_action
from openpilot.common.timeout import Timeout
from openpilot.system.hardware import TICI
from openpilot.selfdrive.manager.process_config import managed_processes
BMX = {
@@ -98,12 +98,10 @@ def read_sensor_events(duration_sec):
return {k: v for k, v in events.items() if len(v) > 0}
@pytest.mark.tici
class TestSensord(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
# enable LSM self test
os.environ["LSM_SELF_TEST"] = "1"
tinygrad_repo
+1 -1
Submodule tinygrad_repo updated: 5a4a62ecae...ae5d1407ee
tools/README.md
+1
View File
@@ -26,6 +26,7 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
``` bash
cd openpilot
git lfs pull
tools/ubuntu_setup.sh
```
tools/bodyteleop/static/js/webrtc.js
+7 -7
View File
@@ -89,18 +89,18 @@ export const constraints = {
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;
}
@@ -111,7 +111,7 @@ export function start(pc, dc) {
// add audio track
navigator.mediaDevices.enumerateDevices()
.then(function(devices) {
const hasAudioInput = devices.find((device) => { device.kind === "audioinput" });
const hasAudioInput = devices.find((device) => device.kind === "audioinput");
var modifiedConstraints = {};
modifiedConstraints.video = constraints.video;
modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
@@ -143,7 +143,7 @@ export function start(pc, dc) {
// const dummyMediaStream = new MediaStream();
// dummyMediaStream.addTrack(dummyVideoTrack);
// pc.addTrack(dummyVideoTrack, dummyMediaStream);
// 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);};
@@ -167,7 +167,7 @@ export function start(pc, dc) {
var message = JSON.stringify({type: 'battery_level'});
dc.send(message);
}
dc.onopen = function() {
dcInterval = setInterval(controlCommand, 50);
batteryInterval = setInterval(batteryLevel, 10000);
tools/cabana/.gitignore
-1
View File
@@ -2,6 +2,5 @@ moc_*
*.moc
cabana
settings
dbc/car_fingerprint_to_dbc.json
tests/test_cabana
tools/cabana/SConscript
+3 -7
View File
@@ -1,10 +1,7 @@
import os
Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
'cereal', 'transformations', 'widgets')
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets')
base_frameworks = qt_env['FRAMEWORKS']
base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
if arch == "Darwin":
base_frameworks.append('OpenCL')
@@ -18,8 +15,7 @@ else:
qt_libs = ['qt_util'] + base_libs
cabana_env = qt_env.Clone()
cabana_env["LIBPATH"] += ['../../opendbc/can']
cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
cabana_env['CXXFLAGS'] += [opendbc_path]
tools/cabana/binaryview.cc
+6 -10
View File
@@ -2,6 +2,7 @@
#include <algorithm>
#include <QDebug>
#include <QFontDatabase>
#include <QHeaderView>
#include <QMouseEvent>
@@ -273,7 +274,7 @@ void BinaryViewModel::refresh() {
row_count = can->lastMessage(msg_id).dat.size();
items.resize(row_count * column_count);
}
int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
for (int i = 0; i < valid_rows * column_count; ++i) {
items[i].valid = true;
}
@@ -311,7 +312,7 @@ void BinaryViewModel::updateState() {
int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0;
// Bit update frequency based highlighting
double offset = !item.sigs.empty() ? 50 : 0;
auto n = last_msg.bit_change_counts[i][7 - j];
auto n = last_msg.last_changes[i].bit_change_counts[j];
double min_f = n == 0 ? offset : offset + 25;
double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
auto color = item.bg_color;
@@ -334,13 +335,8 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
}
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 {};
auto item = (const BinaryViewModel::Item *)index.internalPointer();
return role == Qt::ToolTipRole && item && !item->sigs.empty() ? signalToolTip(item->sigs.back()) : QVariant();
}
// BinaryItemDelegate
@@ -388,7 +384,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
drawSignalCell(painter, option, index, s);
}
}
} else if (item->valid) {
} else if (item->valid && item->bg_color.alpha() > 0) {
painter->fillRect(option.rect, item->bg_color);
}
auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
tools/cabana/cabana.cc
+5 -9
View File
@@ -18,8 +18,6 @@ int main(int argc, char *argv[]) {
app.setWindowIcon(QIcon(":cabana-icon.png"));
UnixSignalHandler signalHandler;
settings.load();
utils::setTheme(settings.theme);
QCommandLineParser cmd_parser;
@@ -28,6 +26,7 @@ int main(int argc, char *argv[]) {
cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
cmd_parser.addOption({"qcam", "load qcamera"});
cmd_parser.addOption({"ecam", "load wide road camera"});
cmd_parser.addOption({"dcam", "load driver camera"});
cmd_parser.addOption({"stream", "read can messages from live streaming"});
cmd_parser.addOption({"panda", "read can messages from panda"});
cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
@@ -62,13 +61,10 @@ int main(int argc, char *argv[]) {
stream = new SocketCanStream(&app, config);
} else {
uint32_t replay_flags = REPLAY_FLAG_NONE;
if (cmd_parser.isSet("ecam")) {
replay_flags |= REPLAY_FLAG_ECAM;
} else if (cmd_parser.isSet("qcam")) {
replay_flags |= REPLAY_FLAG_QCAMERA;
} else if (cmd_parser.isSet("no-vipc")) {
replay_flags |= REPLAY_FLAG_NO_VIPC;
}
if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
const QStringList args = cmd_parser.positionalArguments();
QString route;
tools/cabana/chart/chart.cc
+7 -9
View File
@@ -25,20 +25,18 @@ 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<double, double> &x_range, ChartsWidget *parent)
: charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
: charts_widget(parent), tip_label(this), QChartView(parent) {
series_type = (SeriesType)settings.chart_series_type;
QChart *chart = new QChart();
chart->setBackgroundVisible(false);
chart()->setBackgroundVisible(false);
axis_x = new QValueAxis(this);
axis_y = new QValueAxis(this);
chart->addAxis(axis_x, Qt::AlignBottom);
chart->addAxis(axis_y, Qt::AlignLeft);
chart->legend()->layout()->setContentsMargins(0, 0, 0, 0);
chart->legend()->setShowToolTips(true);
chart->setMargins({0, 0, 0, 0});
chart()->addAxis(axis_x, Qt::AlignBottom);
chart()->addAxis(axis_y, Qt::AlignLeft);
chart()->legend()->layout()->setContentsMargins(0, 0, 0, 0);
chart()->legend()->setShowToolTips(true);
chart()->setMargins({0, 0, 0, 0});
axis_x->setRange(x_range.first, x_range.second);
setChart(chart);
createToolButtons();
setRubberBand(QChartView::HorizontalRubberBand);
tools/cabana/chart/chartswidget.cc
+2 -2
View File
@@ -100,7 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -324,7 +324,7 @@ void ChartsWidget::updateLayout(bool force) {
charts_layout->addWidget(current_charts[i], i / n, i % n);
if (current_charts[i]->sigs.empty()) {
// the chart will be resized after add signal. delay setVisible to reduce flicker.
QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
QTimer::singleShot(0, current_charts[i], [c = current_charts[i]]() { c->setVisible(true); });
} else {
current_charts[i]->setVisible(true);
}
tools/cabana/chart/signalselector.cc
+3 -3
View File
@@ -44,9 +44,9 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
main_layout->addWidget(buttonBox, 3, 2);
for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
if (auto m = dbc()->msg(it.key())) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
for (const auto &[id, _] : can->lastMessages()) {
if (auto m = dbc()->msg(id)) {
msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
}
}
msgs_combo->model()->sort(0);
tools/cabana/chart/sparkline.cc
+17 -38
View File
@@ -1,5 +1,6 @@
#include "tools/cabana/chart/sparkline.h"
#include <algorithm>
#include <limits>
#include <QPainter>
@@ -12,52 +13,30 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
bool update_values = last_ts != last_msg_ts || time_range != range;
last_ts = last_msg_ts;
time_range = range;
if (first != last) {
if (update_values) {
values.clear();
if (values.capacity() < std::distance(first, last)) {
values.reserve(std::distance(first, last) * 2);
}
min_val = std::numeric_limits<double>::max();
max_val = std::numeric_limits<double>::lowest();
for (auto it = first; it != last; ++it) {
const CanEvent *e = *it;
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;
if (first != last && !size.isEmpty()) {
points.clear();
double value = 0;
for (auto it = first; it != last; ++it) {
if (sig->getValue((*it)->dat, (*it)->size, &value)) {
points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
}
}
} else {
values.clear();
}
if (!values.empty()) {
render(sig->color, size);
const auto [min, max] = std::minmax_element(points.begin(), points.end(),
[](auto &l, auto &r) { return l.y() < r.y(); });
min_val = min->y() == max->y() ? min->y() - 1 : min->y();
max_val = min->y() == max->y() ? max->y() + 1 : max->y();
freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
render(sig->color, range, size);
} else {
pixmap = QPixmap();
min_val = -1;
max_val = 1;
}
}
void Sparkline::render(const QColor &color, QSize size) {
const double xscale = (size.width() - 1) / (double)time_range;
void Sparkline::render(const QColor &color, int range, QSize size) {
const double xscale = (size.width() - 1) / (double)range;
const double yscale = (size.height() - 3) / (max_val - min_val);
points.clear();
points.reserve(values.capacity());
for (auto &v : values) {
points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
for (auto &v : points) {
v = QPoint(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
}
qreal dpr = qApp->devicePixelRatio();
tools/cabana/chart/sparkline.h
+6 -11
View File
@@ -1,29 +1,24 @@
#pragma once
#include <algorithm>
#include <QPixmap>
#include <QPointF>
#include <vector>
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/dbc/dbc.h"
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);
}
inline double freq() const { return freq_; }
bool isEmpty() const { return pixmap.isNull(); }
QPixmap pixmap;
double min_val = 0;
double max_val = 0;
double last_ts = 0;
int time_range = 0;
private:
void render(const QColor &color, QSize size);
std::vector<QPointF> values;
void render(const QColor &color, int range, QSize size);
std::vector<QPointF> points;
double freq_ = 0;
};
tools/cabana/dbc/dbc.h
-2
View File
@@ -10,7 +10,6 @@
#include <QMetaType>
#include <QString>
#include "opendbc/can/common_dbc.h"
const QString UNTITLED = "untitled";
const QString DEFAULT_NODE_NAME = "XXX";
@@ -120,5 +119,4 @@ public:
double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
void updateMsbLsb(cabana::Signal &s);
inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
tools/cabana/dbc/dbcfile.cc
+2 -4
View File
@@ -4,10 +4,8 @@
#include <QFileInfo>
#include <QRegularExpression>
#include <QTextStream>
#include <numeric>
#include <sstream>
DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
DBCFile::DBCFile(const QString &dbc_file_name) {
QFile file(dbc_file_name);
if (file.open(QIODevice::ReadOnly)) {
name_ = QFileInfo(dbc_file_name).baseName();
@@ -22,7 +20,7 @@ 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("") {
DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
// Open from clipboard
parse(content);
}
tools/cabana/dbc/dbcfile.h
+3 -6
View File
@@ -1,18 +1,15 @@
#pragma once
#include <map>
#include <QObject>
#include "tools/cabana/dbc/dbc.h"
const QString AUTO_SAVE_EXTENSION = ".tmp";
class DBCFile : public QObject {
Q_OBJECT
class DBCFile {
public:
DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
DBCFile(const QString &dbc_file_name);
DBCFile(const QString &name, const QString &content);
~DBCFile() {}
bool save();
tools/cabana/dbc/dbcmanager.cc
+9 -2
View File
@@ -7,7 +7,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
try {
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<DBCFile>(dbc_file_name, this);
auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name);
for (auto s : sources) {
dbc_files[s] = file;
}
@@ -22,7 +22,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
try {
auto file = std::make_shared<DBCFile>(name, content, this);
auto file = std::make_shared<DBCFile>(name, content);
for (auto s : sources) {
dbc_files[s] = file;
}
@@ -189,6 +189,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
return sources;
}
QString toString(const SourceSet &ss) {
return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
if (!str.isEmpty()) str += ", ";
return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
});
}
DBCManager *dbc() {
static DBCManager dbc_manager(nullptr);
return &dbc_manager;
tools/cabana/dbc/dbcmanager.h
+2 -8
View File
@@ -1,5 +1,6 @@
#pragma once
#include <QObject>
#include <memory>
#include <map>
#include <set>
@@ -66,15 +67,8 @@ private:
DBCManager *dbc();
QString toString(const SourceSet &ss);
inline QString msgName(const MessageId &id) {
auto msg = dbc()->msg(id);
return msg ? msg->name : UNTITLED;
}
inline QString toString(const SourceSet &ss) {
QStringList ret;
for (auto s : ss) {
ret << (s == -1 ? QString("all") : QString::number(s));
}
return ret.join(", ");
}
tools/cabana/detailwidget.cc
+2 -2
View File
@@ -147,8 +147,8 @@ void DetailWidget::refresh() {
warning_widget->setVisible(!warnings.isEmpty());
}
void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
if ((msgs && !msgs->contains(msg_id)))
void DetailWidget::updateState(const std::set<MessageId> *msgs) {
if ((msgs && !msgs->count(msg_id)))
return;
if (tab_widget->currentIndex() == 0)
tools/cabana/detailwidget.h
+2 -2
View File
@@ -4,6 +4,7 @@
#include <QSplitter>
#include <QTabWidget>
#include <QTextEdit>
#include <set>
#include "selfdrive/ui/qt/widgets/controls.h"
#include "tools/cabana/binaryview.h"
@@ -11,7 +12,6 @@
#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);
@@ -39,7 +39,7 @@ private:
void showTabBarContextMenu(const QPoint &pt);
void editMsg();
void removeMsg();
void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
void updateState(const std::set<MessageId> *msgs = nullptr);
MessageId msg_id;
QLabel *warning_icon, *warning_label;
tools/cabana/historylog.cc
+11 -11
View File
@@ -7,7 +7,6 @@
#include <QVBoxLayout>
#include "tools/cabana/commands.h"
// HistoryLogModel
QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
const bool show_signals = display_signals_mode && sigs.size() > 0;
@@ -17,11 +16,11 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
}
int i = index.column() - 1;
return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : QString();
} else if (role == ColorsRole) {
return QVariant::fromValue(m.colors);
return QVariant::fromValue((void *)(&m.colors));
} else if (role == BytesRole) {
return m.data;
return QVariant::fromValue((void *)(&m.data));
} else if (role == Qt::TextAlignmentRole) {
return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
}
@@ -123,7 +122,7 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
template <class InputIt>
std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
std::deque<HistoryLogModel::Message> msgs;
QVector<double> values(sigs.size());
std::vector<double> values(sigs.size());
for (; first != last && (*first)->mono_time > min_time; ++first) {
const CanEvent *e = *first;
for (int i = 0; i < sigs.size(); ++i) {
@@ -132,7 +131,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
auto &m = msgs.emplace_back();
m.mono_time = e->mono_time;
m.data = QByteArray((const char *)e->dat, e->size);
m.data.assign(e->dat, e->dat + e->size);
m.sig_values = values;
if (msgs.size() >= batch_size && min_time == 0) {
return msgs;
@@ -146,7 +145,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
const auto &events = can->events(msg_id);
const auto freq = can->lastMessage(msg_id).freq;
const bool update_colors = !display_signals_mode || sigs.empty();
const std::vector<uint8_t> no_mask;
const auto speed = can->getSpeed();
if (dynamic_mode) {
auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
@@ -155,7 +154,7 @@ std::deque<HistoryLogModel::Message> 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(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
it->colors = hex_colors.colors;
}
}
@@ -166,7 +165,7 @@ std::deque<HistoryLogModel::Message> 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(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, no_mask, freq);
it->colors = hex_colors.colors;
}
}
@@ -177,7 +176,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
// HeaderView
QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
static const QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
if (logicalIndex == 0) {
return time_col_size;
} else {
@@ -237,10 +236,11 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
main_layout->addWidget(logs = new QTableView(this));
logs->setModel(model = new HistoryLogModel(this));
delegate = new MessageBytesDelegate(this);
logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
logs->verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
logs->verticalHeader()->setDefaultSectionSize(delegate->sizeForBytes(8).height());
logs->verticalHeader()->setVisible(false);
logs->setFrameShape(QFrame::NoFrame);
tools/cabana/historylog.h
+3 -3
View File
@@ -46,9 +46,9 @@ public slots:
public:
struct Message {
uint64_t mono_time = 0;
QVector<double> sig_values;
QByteArray data;
QVector<QColor> colors;
std::vector<double> sig_values;
std::vector<uint8_t> data;
std::vector<QColor> colors;
};
template <class InputIt>
tools/cabana/mainwin.cc
+24 -34
View File
@@ -9,6 +9,7 @@
#include <QFile>
#include <QFileDialog>
#include <QFileInfo>
#include <QJsonObject>
#include <QMenuBar>
#include <QMessageBox>
#include <QResizeEvent>
@@ -21,8 +22,10 @@
#include "tools/cabana/commands.h"
#include "tools/cabana/streamselector.h"
#include "tools/cabana/tools/findsignal.h"
#include "tools/replay/replay.h"
MainWindow::MainWindow() : QMainWindow() {
loadFingerprints();
createDockWindows();
setCentralWidget(center_widget = new CenterWidget(this));
createActions();
@@ -55,12 +58,6 @@ MainWindow::MainWindow() : QMainWindow() {
qInfo() << QString::fromStdString(msg);
});
// load fingerprints
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 {
width: %1px; /* when vertical */
height: %1px; /* when horizontal */
@@ -76,6 +73,16 @@ MainWindow::MainWindow() : QMainWindow() {
QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
}
void MainWindow::loadFingerprints() {
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());
auto dbc_names = fingerprint_to_dbc.object().toVariantMap().values();
std::transform(dbc_names.begin(), dbc_names.end(), std::inserter(opendbc_names, opendbc_names.begin()),
[](const auto &name) { return name.toString(); });
}
}
void MainWindow::createActions() {
// File menu
QMenu *file_menu = menuBar()->addMenu(tr("&File"));
@@ -84,8 +91,8 @@ void MainWindow::createActions() {
close_stream_act->setEnabled(false);
file_menu->addSeparator();
file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New);
file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
@@ -101,29 +108,22 @@ void MainWindow::createActions() {
file_menu->addSeparator();
QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
// load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
auto dbc_names = allDBCNames();
std::sort(dbc_names.begin(), dbc_names.end());
for (const auto &name : dbc_names) {
QString dbc_name = QString::fromStdString(name);
load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); });
for (const auto &dbc_name : opendbc_names) {
load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
}
file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
file_menu->addSeparator();
save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
save_dbc->setShortcuts(QKeySequence::Save);
save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
save_dbc_as->setShortcuts(QKeySequence::SaveAs);
save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save, QKeySequence::Save);
save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs, QKeySequence::SaveAs);
copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard);
file_menu->addSeparator();
file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption, QKeySequence::Preferences);
file_menu->addSeparator();
file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows, QKeySequence::Quit);
// Edit Menu
QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
@@ -157,7 +157,7 @@ void MainWindow::createActions() {
// Help Menu
QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp, QKeySequence::HelpContents);
help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
}
@@ -374,7 +374,7 @@ void MainWindow::eventsMerged() {
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()); });
QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
}
}
}
@@ -471,11 +471,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
void MainWindow::updateLoadSaveMenus() {
int cnt = dbc()->nonEmptyDBCCount();
if (cnt > 1) {
save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
} else {
save_dbc->setText(tr("Save DBC..."));
}
save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
save_dbc->setEnabled(cnt > 0);
save_dbc_as->setEnabled(cnt == 1);
@@ -608,12 +604,6 @@ void MainWindow::closeEvent(QCloseEvent *event) {
}
settings.message_header_state = messages_widget->saveHeaderState();
auto status = settings.save();
if (status == QSettings::AccessError) {
QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath());
qDebug() << error;
QMessageBox::warning(this, tr("Failed to write settings"), error);
}
QWidget::closeEvent(event);
}
tools/cabana/mainwin.h
+3
View File
@@ -7,6 +7,7 @@
#include <QProgressBar>
#include <QSplitter>
#include <QStatusBar>
#include <set>
#include "tools/cabana/chart/chartswidget.h"
#include "tools/cabana/dbc/dbcmanager.h"
@@ -50,6 +51,7 @@ protected:
void saveFile(DBCFile *dbc_file);
void saveFileAs(DBCFile *dbc_file);
void saveFileToClipboard(DBCFile *dbc_file);
void loadFingerprints();
void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
void autoSave();
void cleanupAutoSaveFile();
@@ -84,6 +86,7 @@ protected:
QProgressBar *progress_bar;
QLabel *status_label;
QJsonDocument fingerprint_to_dbc;
std::set<QString> opendbc_names;
QSplitter *video_splitter = nullptr;
enum { MAX_RECENT_FILES = 15 };
QAction *recent_files_acts[MAX_RECENT_FILES] = {};
tools/cabana/messageswidget.cc
+108 -148
View File
@@ -2,6 +2,7 @@
#include <limits>
#include <QCheckBox>
#include <QHBoxLayout>
#include <QPainter>
#include <QPushButton>
@@ -10,11 +11,6 @@
#include "tools/cabana/commands.h"
static QString msg_node_from_id(const MessageId &id) {
auto msg = dbc()->msg(id);
return msg ? msg->transmitter : QString();
}
MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
@@ -22,12 +18,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
// toolbar
main_layout->addWidget(createToolBar());
// message table
view = new MessageView(this);
model = new MessageListModel(this);
header = new MessageViewHeader(this);
view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes));
view->setHeader(header);
view->setModel(model);
main_layout->addWidget(view = new MessageView(this));
view->setItemDelegate(delegate = new MessageBytesDelegate(view, settings.multiple_lines_hex));
view->setModel(model = new MessageListModel(this));
view->setHeader(header = new MessageViewHeader(this));
view->setSortingEnabled(true);
view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
view->setAllColumnsShowFocus(true);
@@ -35,6 +29,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
view->setItemsExpandable(false);
view->setIndentation(0);
view->setRootIsDecorated(false);
view->setUniformRowHeights(!settings.multiple_lines_hex);
// Must be called before setting any header parameters to avoid overriding
restoreHeaderState(settings.message_header_state);
@@ -43,15 +38,14 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
header->setStretchLastSection(true);
header->setContextMenuPolicy(Qt::CustomContextMenu);
main_layout->addWidget(view);
// suppress
QHBoxLayout *suppress_layout = new QHBoxLayout();
suppress_add = new QPushButton("Suppress Highlighted");
suppress_clear = new QPushButton();
suppress_layout->addWidget(suppress_add);
suppress_layout->addWidget(suppress_clear);
QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this);
suppress_layout->addWidget(suppress_add = new QPushButton("Suppress Highlighted"));
suppress_layout->addWidget(suppress_clear = new QPushButton());
suppress_clear->setToolTip(tr("Clear suppressed"));
suppress_layout->addStretch(1);
QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Signals"), this);
suppress_defined_signals->setToolTip(tr("Suppress defined signals"));
suppress_defined_signals->setChecked(settings.suppress_defined_signals);
suppress_layout->addWidget(suppress_defined_signals);
main_layout->addLayout(suppress_layout);
@@ -61,10 +55,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
settings.suppress_defined_signals = (state == Qt::Checked);
emit settings.changed();
});
QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals);
QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified);
@@ -75,24 +66,17 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
view->updateBytesSectionSize();
});
QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
if (current.isValid() && current.row() < model->msgs.size()) {
auto &id = model->msgs[current.row()];
if (current.isValid() && current.row() < model->items_.size()) {
const auto &id = model->items_[current.row()].id;
if (!current_msg_id || id != *current_msg_id) {
current_msg_id = id;
emit msgSelectionChanged(*current_msg_id);
}
}
});
QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
model->suppress();
updateSuppressedButtons();
});
QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
model->clearSuppress();
updateSuppressedButtons();
});
updateSuppressedButtons();
QObject::connect(suppress_add, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
QObject::connect(suppress_clear, &QPushButton::clicked, this, &MessagesWidget::suppressHighlighted);
suppressHighlighted();
setWhatsThis(tr(R"(
<b>Message View</b><br/>
@@ -125,19 +109,22 @@ void MessagesWidget::dbcModified() {
}
void MessagesWidget::selectMessage(const MessageId &msg_id) {
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));
auto it = std::find_if(model->items_.cbegin(), model->items_.cend(),
[&msg_id](auto &item) { return item.id == msg_id; });
if (it != model->items_.cend()) {
view->setCurrentIndex(model->index(std::distance(model->items_.cbegin(), it), 0));
}
}
void MessagesWidget::updateSuppressedButtons() {
if (model->suppressed_bytes.empty()) {
suppress_clear->setEnabled(false);
suppress_clear->setText("Clear Suppressed");
} else {
void MessagesWidget::suppressHighlighted() {
if (sender() == suppress_add) {
size_t n = can->suppressHighlighted();
suppress_clear->setText(tr("Clear (%1)").arg(n));
suppress_clear->setEnabled(true);
suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
} else {
can->clearSuppressed();
suppress_clear->setText(tr("Clear"));
suppress_clear->setEnabled(false);
}
}
@@ -159,12 +146,13 @@ void MessagesWidget::menuAboutToShow() {
menu->addSeparator();
auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes);
action->setCheckable(true);
action->setChecked(settings.multiple_lines_bytes);
action->setChecked(settings.multiple_lines_hex);
}
void MessagesWidget::setMultiLineBytes(bool multi) {
settings.multiple_lines_bytes = multi;
settings.multiple_lines_hex = multi;
delegate->setMultipleLines(multi);
view->setUniformRowHeights(!multi);
view->updateBytesSectionSize();
view->doItemsLayout();
}
@@ -187,7 +175,7 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
}
QVariant MessageListModel::data(const QModelIndex &index, int role) const {
if (!index.isValid() || index.row() >= msgs.size()) return {};
if (!index.isValid() || index.row() >= items_.size()) return {};
auto getFreq = [](const CanData &d) {
if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
@@ -197,33 +185,25 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
}
};
const auto &id = msgs[index.row()];
auto &can_data = can->lastMessage(id);
const auto &item = items_[index.row()];
const auto &data = can->lastMessage(item.id);
if (role == Qt::DisplayRole) {
switch (index.column()) {
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::NODE: return msg_node_from_id(id);
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";
case Column::NAME: return item.name;
case Column::SOURCE: return item.id.source != INVALID_SOURCE ? QString::number(item.id.source) : "N/A";
case Column::ADDRESS: return QString::number(item.id.address, 16);
case Column::NODE: return item.node;
case Column::FREQ: return item.id.source != INVALID_SOURCE ? getFreq(data) : "N/A";
case Column::COUNT: return item.id.source != INVALID_SOURCE ? QString::number(data.count) : "N/A";
case Column::DATA: return item.id.source != INVALID_SOURCE ? "" : "N/A";
}
} else if (role == ColorsRole) {
QVector<QColor> colors = can_data.colors;
if (!suppressed_bytes.empty()) {
for (int i = 0; i < colors.size(); i++) {
if (suppressed_bytes.contains({id, i})) {
colors[i] = QColor(255, 255, 255, 0);
}
}
}
return QVariant::fromValue(colors);
} else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) {
return can_data.dat;
return QVariant::fromValue((void*)(&data.colors));
} else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
return QVariant::fromValue((void*)(&data.dat));
} else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
auto msg = dbc()->msg(id);
auto tooltip = msg ? msg->name : UNTITLED;
auto msg = dbc()->msg(item.id);
auto tooltip = item.name;
if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
return tooltip;
}
@@ -231,31 +211,31 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
}
void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
filter_str = filters;
filters_ = filters;
filterAndSort();
}
void MessageListModel::dbcModified() {
dbc_address.clear();
dbc_messages_.clear();
for (const auto &[_, m] : dbc()->getMessages(-1)) {
dbc_address.insert(m.address);
dbc_messages_.insert(MessageId{.source = INVALID_SOURCE, .address = m.address});
}
filterAndSort();
}
void MessageListModel::sortMessages(std::vector<MessageId> &new_msgs) {
auto do_sort = [order = sort_order](std::vector<MessageId> &m, auto proj) {
std::sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
void MessageListModel::sortItems(std::vector<MessageListModel::Item> &items) {
auto do_sort = [order = sort_order](std::vector<MessageListModel::Item> &m, auto proj) {
std::stable_sort(m.begin(), m.end(), [order, proj = std::move(proj)](auto &l, auto &r) {
return order == Qt::AscendingOrder ? proj(l) < proj(r) : proj(l) > proj(r);
});
};
switch (sort_column) {
case Column::NAME: do_sort(new_msgs, [](auto &id) { return std::make_pair(msgName(id), id); }); break;
case Column::SOURCE: do_sort(new_msgs, [](auto &id) { return std::tie(id.source, id); }); break;
case Column::ADDRESS: do_sort(new_msgs, [](auto &id) { return std::tie(id.address, id);}); break;
case Column::NODE: do_sort(new_msgs, [](auto &id) { return std::make_pair(msg_node_from_id(id), id);}); break;
case Column::FREQ: do_sort(new_msgs, [](auto &id) { return std::tie(can->lastMessage(id).freq, id); }); break;
case Column::COUNT: do_sort(new_msgs, [](auto &id) { return std::tie(can->lastMessage(id).count, id); }); break;
case Column::NAME: do_sort(items, [](auto &item) { return std::tie(item.name, item.id); }); break;
case Column::SOURCE: do_sort(items, [](auto &item) { return std::tie(item.id.source, item.id); }); break;
case Column::ADDRESS: do_sort(items, [](auto &item) { return std::tie(item.id.address, item.id);}); break;
case Column::NODE: do_sort(items, [](auto &item) { return std::tie(item.node, item.id);}); break;
case Column::FREQ: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).freq, item.id); }); break;
case Column::COUNT: do_sort(items, [](auto &item) { return std::make_pair(can->lastMessage(item.id).count, item.id); }); break;
}
}
@@ -274,29 +254,33 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
return ok && value >= min && value <= max;
}
bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters) {
bool MessageListModel::match(const MessageListModel::Item &item) {
if (filters_.isEmpty())
return true;
bool match = true;
for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) {
const auto &data = can->lastMessage(item.id);
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 = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(),
[&re](const auto &s) { return re.match(s->name).hasMatch(); }));
match = item.name.contains(txt, Qt::CaseInsensitive);
if (!match) {
const auto m = dbc()->msg(item.id);
match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
[&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
}
break;
}
case Column::SOURCE:
match = parseRange(txt, id.source);
match = parseRange(txt, item.id.source);
break;
case Column::ADDRESS: {
match = re.match(QString::number(id.address, 16)).hasMatch();
match = match || parseRange(txt, id.address, 16);
case Column::ADDRESS:
match = QString::number(item.id.address, 16).contains(txt, Qt::CaseInsensitive);
match = match || parseRange(txt, item.id.address, 16);
break;
}
case Column::NODE:
match = re.match(msg_node_from_id(id)).hasMatch();
match = item.node.contains(txt, Qt::CaseInsensitive);
break;
case Column::FREQ:
// TODO: Hide stale messages?
@@ -305,52 +289,50 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
case Column::COUNT:
match = parseRange(txt, data.count);
break;
case Column::DATA: {
match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive);
match = match || re.match(QString(data.dat.toHex())).hasMatch();
match = match || re.match(QString(data.dat.toHex(' '))).hasMatch();
case Column::DATA:
match = utils::toHex(data.dat).contains(txt, Qt::CaseInsensitive);
break;
}
}
}
return match;
}
void MessageListModel::filterAndSort() {
std::vector<MessageId> 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 CAN and DBC messages
std::vector<MessageId> all_messages;
all_messages.reserve(can->lastMessages().size() + dbc_messages_.size());
auto dbc_msgs = dbc_messages_;
for (const auto &[id, m] : can->lastMessages()) {
all_messages.push_back(id);
dbc_msgs.erase(MessageId{.source = INVALID_SOURCE, .address = id.address});
}
all_messages.insert(all_messages.end(), dbc_msgs.begin(), dbc_msgs.end());
// 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);
}
// filter and sort
std::vector<Item> items;
for (const auto &id : all_messages) {
auto msg = dbc()->msg(id);
Item item = {.id = id,
.name = msg ? msg->name : UNTITLED,
.node = msg ? msg->transmitter : QString()};
if (match(item))
items.emplace_back(item);
}
sortItems(items);
sortMessages(new_msgs);
if (msgs != new_msgs) {
if (items_ != items) {
beginResetModel();
msgs = std::move(new_msgs);
items_ = std::move(items);
endResetModel();
}
}
void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *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)) {
void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids) {
if (has_new_ids || filters_.contains(Column::FREQ) || filters_.contains(Column::COUNT) || filters_.contains(Column::DATA)) {
filterAndSort();
}
for (int i = 0; i < msgs.size(); ++i) {
if (new_msgs->contains(msgs[i])) {
for (int i = 0; i < items_.size(); ++i) {
if (!new_msgs || new_msgs->count(items_[i].id)) {
for (int col = Column::FREQ; col < columnCount(); ++col)
emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
}
@@ -358,31 +340,13 @@ void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, b
}
void MessageListModel::sort(int column, Qt::SortOrder order) {
if (column != columnCount() - 1) {
if (column != Column::DATA) {
sort_column = column;
sort_order = order;
filterAndSort();
}
}
void MessageListModel::suppress() {
const double cur_ts = can->currentSec();
for (auto &id : msgs) {
auto &can_data = can->lastMessage(id);
for (int i = 0; i < can_data.dat.size(); i++) {
const double dt = cur_ts - can_data.last_change_t[i];
if (dt < 2.0) {
suppressed_bytes.insert({id, i});
}
}
}
}
void MessageListModel::clearSuppress() {
suppressed_bytes.clear();
}
// MessageView
void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -413,14 +377,11 @@ void MessageView::updateBytesSectionSize() {
auto delegate = ((MessageBytesDelegate *)itemDelegate());
int max_bytes = 8;
if (!delegate->multipleLines()) {
for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) {
max_bytes = std::max(max_bytes, it.value().dat.size());
for (const auto &[_, m] : can->lastMessages()) {
max_bytes = std::max<int>(max_bytes, m.dat.size());
}
}
int width = delegate->widthForBytes(max_bytes);
if (header()->sectionSize(MessageListModel::Column::DATA) != width) {
header()->resizeSection(MessageListModel::Column::DATA, width);
}
header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
}
// MessageViewHeader
@@ -445,8 +406,7 @@ void MessageViewHeader::updateHeaderPositions() {
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]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
editors[i]->setHidden(isSectionHidden(i));
}
}
tools/cabana/messageswidget.h
+19 -12
View File
@@ -1,6 +1,8 @@
#pragma once
#include <algorithm>
#include <optional>
#include <set>
#include <utility>
#include <vector>
@@ -9,7 +11,6 @@
#include <QLabel>
#include <QLineEdit>
#include <QMenu>
#include <QSet>
#include <QToolBar>
#include <QTreeView>
@@ -34,23 +35,29 @@ public:
QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
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(); }
int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
void setFilterStrings(const QMap<int, QString> &filters);
void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
void filterAndSort();
void suppress();
void clearSuppress();
void dbcModified();
std::vector<MessageId> msgs;
QSet<std::pair<MessageId, int>> suppressed_bytes;
struct Item {
MessageId id;
QString name;
QString node;
bool operator==(const Item &other) const {
return id == other.id && name == other.name && node == other.node;
}
};
std::vector<Item> items_;
private:
void sortMessages(std::vector<MessageId> &new_msgs);
bool matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters);
void sortItems(std::vector<MessageListModel::Item> &items);
bool match(const MessageListModel::Item &id);
QMap<int, QString> filter_str;
QSet<uint32_t> dbc_address;
QMap<int, QString> filters_;
std::set<MessageId> dbc_messages_;
int sort_column = 0;
Qt::SortOrder sort_order = Qt::AscendingOrder;
};
@@ -91,7 +98,7 @@ public:
void selectMessage(const MessageId &message_id);
QByteArray saveHeaderState() const { return view->header()->saveState(); }
bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
void updateSuppressedButtons();
void suppressHighlighted();
public slots:
void dbcModified();
tools/cabana/settings.cc
+49 -79
View File
@@ -6,65 +6,51 @@
#include <QFileDialog>
#include <QFormLayout>
#include <QPushButton>
#include <QSettings>
#include <QStandardPaths>
#include <type_traits>
#include "tools/cabana/util.h"
Settings settings;
QSettings::Status Settings::save() {
QSettings s(filePath(), QSettings::IniFormat);
s.setValue("absolute_time", absolute_time);
s.setValue("fps", fps);
s.setValue("max_cached_minutes", max_cached_minutes);
s.setValue("chart_height", chart_height);
s.setValue("chart_range", chart_range);
s.setValue("chart_column_count", chart_column_count);
s.setValue("last_dir", last_dir);
s.setValue("last_route_dir", last_route_dir);
s.setValue("window_state", window_state);
s.setValue("geometry", geometry);
s.setValue("video_splitter_state", video_splitter_state);
s.setValue("recent_files", recent_files);
s.setValue("message_header_state_v3", message_header_state);
s.setValue("chart_series_type", chart_series_type);
s.setValue("theme", theme);
s.setValue("sparkline_range", sparkline_range);
s.setValue("multiple_lines_bytes", multiple_lines_bytes);
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);
s.sync();
return s.status();
template <class SettingOperation>
void settings_op(SettingOperation op) {
QSettings s("cabana");
op(s, "absolute_time", settings.absolute_time);
op(s, "fps", settings.fps);
op(s, "max_cached_minutes", settings.max_cached_minutes);
op(s, "chart_height", settings.chart_height);
op(s, "chart_range", settings.chart_range);
op(s, "chart_column_count", settings.chart_column_count);
op(s, "last_dir", settings.last_dir);
op(s, "last_route_dir", settings.last_route_dir);
op(s, "window_state", settings.window_state);
op(s, "geometry", settings.geometry);
op(s, "video_splitter_state", settings.video_splitter_state);
op(s, "recent_files", settings.recent_files);
op(s, "message_header_state", settings.message_header_state);
op(s, "chart_series_type", settings.chart_series_type);
op(s, "theme", settings.theme);
op(s, "sparkline_range", settings.sparkline_range);
op(s, "multiple_lines_hex", settings.multiple_lines_hex);
op(s, "log_livestream", settings.log_livestream);
op(s, "log_path", settings.log_path);
op(s, "drag_direction", (int &)settings.drag_direction);
op(s, "suppress_defined_signals", settings.suppress_defined_signals);
}
void Settings::load() {
QSettings s(filePath(), QSettings::IniFormat);
absolute_time = s.value("absolute_time", false).toBool();
fps = s.value("fps", 10).toInt();
max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
chart_height = s.value("chart_height", 200).toInt();
chart_range = s.value("chart_range", 3 * 60).toInt();
chart_column_count = s.value("chart_column_count", 1).toInt();
last_dir = s.value("last_dir", QDir::homePath()).toString();
last_route_dir = s.value("last_route_dir", QDir::homePath()).toString();
window_state = s.value("window_state").toByteArray();
geometry = s.value("geometry").toByteArray();
video_splitter_state = s.value("video_splitter_state").toByteArray();
recent_files = s.value("recent_files").toStringList();
message_header_state = s.value("message_header_state_v3").toByteArray();
chart_series_type = s.value("chart_series_type", 0).toInt();
theme = s.value("theme", 0).toInt();
sparkline_range = s.value("sparkline_range", 15).toInt();
multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
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/";
}
Settings::Settings() {
last_dir = last_route_dir = QDir::homePath();
log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
settings_op([](QSettings &s, const QString &key, auto &value) {
if (auto v = s.value(key); v.canConvert<std::decay_t<decltype(value)>>())
value = v.value<std::decay_t<decltype(value)>>();
});
}
Settings::~Settings() {
settings_op([](QSettings &s, const QString &key, auto &v) { s.setValue(key, v); });
}
// SettingsDlg
@@ -75,45 +61,39 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
QGroupBox *groupbox = new QGroupBox("General");
QFormLayout *form_layout = new QFormLayout(groupbox);
theme = new QComboBox(this);
form_layout->addRow(tr("Color Theme"), theme = new QComboBox(this));
theme->setToolTip(tr("You may need to restart cabana after changes theme"));
theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
theme->setCurrentIndex(settings.theme);
form_layout->addRow(tr("Color Theme"), theme);
fps = new QSpinBox(this);
form_layout->addRow("FPS", fps = new QSpinBox(this));
fps->setRange(10, 100);
fps->setSingleStep(10);
fps->setValue(settings.fps);
form_layout->addRow("FPS", fps);
cached_minutes = new QSpinBox(this);
form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
cached_minutes->setRange(5, 60);
cached_minutes->setSingleStep(1);
cached_minutes->setValue(settings.max_cached_minutes);
form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
main_layout->addWidget(groupbox);
groupbox = new QGroupBox("New Signal Settings");
form_layout = new QFormLayout(groupbox);
drag_direction = new QComboBox(this);
form_layout->addRow(tr("Drag Direction"), drag_direction = new QComboBox(this));
drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
drag_direction->setCurrentIndex(settings.drag_direction);
form_layout->addRow(tr("Drag Direction"), drag_direction);
main_layout->addWidget(groupbox);
groupbox = new QGroupBox("Chart");
form_layout = new QFormLayout(groupbox);
chart_series_type = new QComboBox(this);
form_layout->addRow(tr("Default Series Type"), chart_series_type = new QComboBox(this));
chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
chart_series_type->setCurrentIndex(settings.chart_series_type);
form_layout->addRow(tr("Chart Default Series Type"), chart_series_type);
chart_height = new QSpinBox(this);
form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
chart_height->setRange(100, 500);
chart_height->setSingleStep(10);
chart_height->setValue(settings.chart_height);
form_layout->addRow(tr("Chart Height"), chart_height);
main_layout->addWidget(groupbox);
log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
@@ -125,10 +105,9 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
path_layout->addWidget(browse_btn);
main_layout->addWidget(log_livestream);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
main_layout->addWidget(buttonBox);
main_layout->addStretch(1);
setFixedSize(400, sizeHint().height());
QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
QString fn = QFileDialog::getExistingDirectory(
@@ -139,31 +118,22 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
log_path->setText(fn);
}
});
QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
auto role = buttonBox->buttonRole(button);
if (role == QDialogButtonBox::AcceptRole) {
save();
accept();
} else if (role == QDialogButtonBox::ApplyRole) {
save();
} else if (role == QDialogButtonBox::RejectRole) {
reject();
}
});
QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
}
void SettingsDlg::save() {
settings.fps = fps->value();
if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
// set theme before emit changed
utils::setTheme(settings.theme);
}
settings.fps = fps->value();
settings.max_cached_minutes = cached_minutes->value();
settings.chart_series_type = chart_series_type->currentIndex();
settings.chart_height = chart_height->value();
settings.log_livestream = log_livestream->isChecked();
settings.log_path = log_path->text();
settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
settings.save();
emit settings.changed();
QDialog::accept();
}
tools/cabana/settings.h
+4 -11
View File
@@ -1,13 +1,10 @@
#pragma once
#include <QApplication>
#include <QByteArray>
#include <QCheckBox>
#include <QComboBox>
#include <QDialog>
#include <QGroupBox>
#include <QLineEdit>
#include <QSettings>
#include <QSpinBox>
#define LIGHT_THEME 1
@@ -24,10 +21,8 @@ public:
AlwaysBE,
};
Settings() {}
QSettings::Status save();
void load();
inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; }
Settings();
~Settings();
bool absolute_time = false;
int fps = 10;
@@ -38,7 +33,7 @@ public:
int chart_series_type = 0;
int theme = 0;
int sparkline_range = 15; // 15 seconds
bool multiple_lines_bytes = true;
bool multiple_lines_hex = false;
bool log_livestream = true;
bool suppress_defined_signals = false;
QString log_path;
@@ -49,15 +44,13 @@ public:
QByteArray window_state;
QStringList recent_files;
QByteArray message_header_state;
DragDirection drag_direction;
DragDirection drag_direction = MsbFirst;
signals:
void changed();
};
class SettingsDlg : public QDialog {
Q_OBJECT
public:
SettingsDlg(QWidget *parent);
void save();
tools/cabana/signalview.cc
+16 -26
View File
@@ -36,8 +36,8 @@ 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", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
"Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
"Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
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)});
}
@@ -68,10 +68,7 @@ void SignalModel::refresh() {
}
SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
SignalModel::Item *item = nullptr;
if (index.isValid()) {
item = (SignalModel::Item *)index.internalPointer();
}
auto item = index.isValid() ? (SignalModel::Item *)index.internalPointer() : nullptr;
return item ? item : root.get();
}
@@ -354,7 +351,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
int value_adjust = 10;
if (item->highlight || option.state & QStyle::State_Selected) {
if (!item->sparkline.isEmpty() && (item->highlight || option.state & QStyle::State_Selected)) {
painter->drawLine(rect.topLeft(), rect.bottomLeft());
rect.adjust(5, -v_margin, 0, v_margin);
painter->setFont(minmax_font);
@@ -364,13 +361,12 @@ 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) {
} else if (!item->sparkline.isEmpty() && 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_adjust = QFontMetrics(label_font).width(freq) + 10;
}
// signal value
painter->setFont(option.font);
@@ -504,7 +500,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
QObject::connect(tree->header(), &QHeaderView::sectionResized, [this](int logicalIndex, int oldSize, int newSize) {
if (logicalIndex == 1) {
value_column_width = newSize - delegate->button_size.width();
value_column_width = newSize;
updateState();
}
});
@@ -614,21 +610,17 @@ void SignalView::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
}
void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
if (int row = model->signalRow(sig); row != -1) {
auto item = model->getItem(model->index(row, 1));
// invalidate the sparkline
item->sparkline.last_ts = 0;
if (int row = model->signalRow(sig); row != -1)
updateState();
}
}
void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
void SignalView::updateState(const std::set<MessageId> *msgs) {
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;
if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
for (auto item : model->root->children) {
double value = 0;
if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) {
if (item->sig->getValue(last_msg.dat.data(), 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));
@@ -645,17 +637,15 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
}
const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
int value_width = std::min<int>(max_value_width + min_max_width, value_column_width / 2);
QSize size(value_column_width - value_width,
int available_width = value_column_width - delegate->button_size.width();
int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
QSize size(available_width - value_width,
delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
QFutureSynchronizer<void> 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.addFuture(QtConcurrent::run(
&item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
}
}
tools/cabana/signalview.h
+3 -2
View File
@@ -1,6 +1,7 @@
#pragma once
#include <memory>
#include <set>
#include <QAbstractItemModel>
#include <QLabel>
@@ -82,7 +83,7 @@ class SignalItemDelegate : public QStyledItemDelegate {
public:
SignalItemDelegate(QObject *parent);
void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
@@ -117,7 +118,7 @@ private:
void setSparklineRange(int value);
void handleSignalAdded(MessageId id, const cabana::Signal *sig);
void handleSignalUpdated(const cabana::Signal *sig);
void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
void updateState(const std::set<MessageId> *msgs = nullptr);
struct TreeView : public QTreeView {
TreeView(QWidget *parent) : QTreeView(parent) {}
tools/cabana/streams/abstractstream.cc
+135 -133
View File
@@ -1,8 +1,10 @@
#include "tools/cabana/streams/abstractstream.h"
#include <algorithm>
#include <utility>
#include <QTimer>
#include "common/timing.h"
#include "tools/cabana/settings.h"
static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB
@@ -15,82 +17,97 @@ StreamNotifier *StreamNotifier::instance() {
AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
assert(parent != nullptr);
new_msgs = std::make_unique<QHash<MessageId, CanData>>();
event_buffer = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
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;
// TODO: add method stop() to class AbstractStream
QObject::connect(qApp, &QApplication::aboutToQuit, can, []() {
qDebug() << "stopping stream thread";
can->pause(true);
});
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;
}
std::lock_guard lk(mutex_);
masks_.clear();
if (!settings.suppress_defined_signals)
return;
for (const auto s : sources) {
for (const auto &[address, m] : dbc()->getMessages(s)) {
masks_[{.source = (uint8_t)s, .address = address}] = m.mask;
}
}
// clear bit change counts
for (auto &[id, m] : messages_) {
auto &mask = masks_[id];
const int size = std::min(mask.size(), m.last_changes.size());
for (int i = 0; i < size; ++i) {
for (int j = 0; j < 8; ++j) {
if (((mask[i] >> (7 - j)) & 1) != 0) m.last_changes[i].bit_change_counts[j] = 0;
}
}
}
}
void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
void AbstractStream::suppressDefinedSignals(bool suppress) {
settings.suppress_defined_signals = suppress;
updateMasks();
}
size_t AbstractStream::suppressHighlighted() {
std::lock_guard lk(mutex_);
size_t cnt = 0;
const double cur_ts = currentSec();
for (auto &[_, m] : messages_) {
for (auto &last_change : m.last_changes) {
const double dt = cur_ts - last_change.ts;
if (dt < 2.0) {
last_change.suppressed = true;
}
// clear bit change counts
last_change.bit_change_counts.fill(0);
cnt += last_change.suppressed;
}
}
return cnt;
}
void AbstractStream::clearSuppressed() {
std::lock_guard lk(mutex_);
for (auto &[_, m] : messages_) {
std::for_each(m.last_changes.begin(), m.last_changes.end(), [](auto &c) { c.suppressed = false; });
}
}
void AbstractStream::updateLastMessages() {
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);
std::set<MessageId> msgs;
{
std::lock_guard lk(mutex_);
for (const auto &id : new_msgs_) {
last_msgs[id] = messages_[id];
sources.insert(id.source);
}
msgs = std::move(new_msgs_);
}
if (sources.size() != prev_src_size) {
updateMasks();
emit sourcesUpdated(sources);
}
emit updated();
emit msgsReceived(messages, prev_msg_size != last_msgs.size());
delete messages;
processing = false;
emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
}
void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
std::lock_guard lk(mutex);
auto mask_it = masks.find(id);
std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
all_msgs[id].compute(id, (const char *)data, size, sec, getSpeed(), mask);
if (!new_msgs->contains(id)) {
new_msgs->insert(id, {});
}
}
bool AbstractStream::postEvents() {
// delay posting CAN message if UI thread is busy
if (processing == false) {
processing = true;
for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
it.value() = all_msgs[it.key()];
}
// use pointer to avoid data copy in queued connection.
QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection);
new_msgs.reset(new QHash<MessageId, CanData>);
new_msgs->reserve(100);
return true;
}
return false;
std::lock_guard lk(mutex_);
messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
new_msgs_.insert(id);
}
const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
@@ -102,76 +119,62 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
const CanData &AbstractStream::lastMessage(const MessageId &id) {
static CanData empty_data = {};
auto it = last_msgs.find(id);
return it != last_msgs.end() ? it.value() : empty_data;
return it != last_msgs.end() ? it->second : empty_data;
}
// it is thread safe to update data in updateLastMsgsTo.
// updateLastMsgsTo is always called in UI thread.
void AbstractStream::updateLastMsgsTo(double sec) {
new_msgs.reset(new QHash<MessageId, CanData>);
all_msgs.clear();
last_msgs.clear();
new_msgs_.clear();
messages_.clear();
uint64_t last_ts = (sec + routeStartTime()) * 1e9;
for (auto &[id, ev] : events_) {
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<uint8_t> *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(id, (const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask);
m.count = std::distance(it, ev.crend());
for (const auto &[id, ev] : events_) {
auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
if (it != ev.begin()) {
auto prev = std::prev(it);
double ts = (*prev)->mono_time / 1e9 - routeStartTime();
auto &m = messages_[id];
m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
m.count = std::distance(ev.begin(), prev) + 1;
}
}
// 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, true);
});
bool id_changed = messages_.size() != last_msgs.size() ||
std::any_of(messages_.cbegin(), messages_.cend(),
[this](const auto &m) { return !last_msgs.count(m.first); });
last_msgs = messages_;
emit msgsReceived(nullptr, id_changed);
}
void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
const CanEvent *AbstractStream::newEvent(uint64_t mono_time, const cereal::CanData::Reader &c) {
auto dat = c.getDat();
CanEvent *e = (CanEvent *)event_buffer_->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
e->src = c.getSrc();
e->address = c.getAddress();
e->mono_time = mono_time;
e->size = dat.size();
memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
return e;
}
void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
static MessageEventsMap msg_events;
static std::vector<const CanEvent *> new_events;
std::for_each(msg_events.begin(), msg_events.end(), [](auto &e) { e.second.clear(); });
new_events.clear();
for (auto it = first; it != last; ++it) {
if ((*it)->which == cereal::Event::Which::CAN) {
uint64_t ts = (*it)->mono_time;
for (const auto &c : (*it)->event.getCan()) {
auto dat = c.getDat();
CanEvent *e = (CanEvent *)event_buffer->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size());
e->src = c.getSrc();
e->address = c.getAddress();
e->mono_time = ts;
e->size = dat.size();
memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
msg_events[{.source = e->src, .address = e->address}].push_back(e);
new_events.push_back(e);
}
}
for (auto e : events) {
msg_events[{.source = e->src, .address = e->address}].push_back(e);
}
if (!new_events.empty()) {
for (auto &[id, new_e] : msg_events) {
if (!events.empty()) {
for (const auto &[id, new_e] : msg_events) {
if (!new_e.empty()) {
auto &e = events_[id];
auto pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent());
e.insert(pos, new_e.cbegin(), new_e.cend());
}
}
auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent());
all_events_.insert(pos, new_events.cbegin(), new_events.cend());
auto pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), events.front()->mono_time, CompareCanEvent());
all_events_.insert(pos, events.cbegin(), events.cend());
emit eventsMerged(msg_events);
}
lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
@@ -181,15 +184,16 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
namespace {
constexpr int periodic_threshold = 10;
constexpr int start_alpha = 128;
constexpr float fade_time = 2.0;
const QColor CYAN = QColor(0, 187, 255, start_alpha);
const QColor RED = QColor(255, 0, 0, start_alpha);
const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
enum Color { GREYISH_BLUE, CYAN, RED};
QColor getColor(int c) {
constexpr int start_alpha = 128;
static const QColor colors[] = {
[GREYISH_BLUE] = QColor(102, 86, 169, start_alpha / 2),
[CYAN] = QColor(0, 187, 255, start_alpha),
[RED] = QColor(255, 0, 0, start_alpha),
};
return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
}
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);
@@ -212,8 +216,8 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
} // namespace
void CanData::compute(const MessageId &msg_id, const char *can_data, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> *mask, double in_freq) {
void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> &mask, double in_freq) {
ts = current_sec;
++count;
@@ -224,55 +228,53 @@ void CanData::compute(const MessageId &msg_id, const char *can_data, const int s
if (dat.size() != size) {
dat.resize(size);
bit_change_counts.resize(size);
colors = QVector(size, QColor(0, 0, 0, 0));
last_change_t.assign(size, ts);
last_delta.resize(size);
same_delta_counter.resize(size);
colors.assign(size, QColor(0, 0, 0, 0));
last_changes.resize(size);
std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
} else {
bool lighter = settings.theme == DARK_THEME;
const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
const QColor &red = !lighter ? RED : RED_LIGHTER;
const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
constexpr int periodic_threshold = 10;
constexpr float fade_time = 2.0;
const float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
for (int i = 0; i < size; ++i) {
const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff;
auto &last_change = last_changes[i];
uint8_t mask_byte = last_change.suppressed ? 0x00 : 0xFF;
if (i < mask.size()) mask_byte &= ~(mask[i]);
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) {
double delta_t = ts - last_change_t[i];
const int delta = cur - last;
// Keep track if signal is changing randomly, or mostly moving in the same direction
if (std::signbit(delta) == std::signbit(last_delta[i])) {
same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1);
if (std::signbit(delta) == std::signbit(last_change.delta)) {
last_change.same_delta_counter = std::min(16, last_change.same_delta_counter + 1);
} else {
same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4);
last_change.same_delta_counter = std::max(0, last_change.same_delta_counter - 4);
}
const double delta_t = ts - last_change.ts;
// Mostly moves in the same direction, color based on delta up/down
if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) {
if (delta_t * freq > periodic_threshold || last_change.same_delta_counter > 8) {
// Last change was while ago, choose color based on delta up or down
colors[i] = (cur > last) ? cyan : red;
colors[i] = getColor(cur > last ? CYAN : RED);
} else {
// Periodic changes
colors[i] = blend(colors[i], greyish_blue);
colors[i] = blend(colors[i], getColor(GREYISH_BLUE));
}
// Track bit level changes
const uint8_t tmp = (cur ^ last);
for (int bit = 0; bit < 8; bit++) {
if (tmp & (1 << bit)) {
bit_change_counts[i][bit] += 1;
if (tmp & (1 << (7 - bit))) {
last_change.bit_change_counts[bit] += 1;
}
}
last_change_t[i] = ts;
last_delta[i] = delta;
last_change.ts = ts;
last_change.delta = delta;
} else {
// Fade out
float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
}
}
tools/cabana/streams/abstractstream.h
+47 -38
View File
@@ -1,35 +1,37 @@
#pragma once
#include <array>
#include <atomic>
#include <memory>
#include <tuple>
#include <mutex>
#include <set>
#include <unordered_map>
#include <vector>
#include <QColor>
#include <QDateTime>
#include <QHash>
#include "common/timing.h"
#include "cereal/messaging/messaging.h"
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/settings.h"
#include "tools/cabana/util.h"
#include "tools/replay/replay.h"
struct CanData {
void compute(const MessageId &msg_id, const char *dat, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> *mask = nullptr, double in_freq = 0);
void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
double playback_speed, const std::vector<uint8_t> &mask, double in_freq = 0);
double ts = 0.;
uint32_t count = 0;
double freq = 0;
QByteArray dat;
QVector<QColor> colors;
std::vector<double> last_change_t;
std::vector<std::array<uint32_t, 8>> bit_change_counts;
std::vector<int> last_delta;
std::vector<int> same_delta_counter;
std::vector<uint8_t> dat;
std::vector<QColor> colors;
struct ByteLastChange {
double ts;
int delta;
int same_delta_counter;
bool suppressed;
std::array<uint32_t, 8> bit_change_counts;
};
std::vector<ByteLastChange> last_changes;
double last_freq_update_ts = 0;
};
@@ -61,7 +63,7 @@ public:
AbstractStream(QObject *parent);
virtual ~AbstractStream() {}
virtual void start() = 0;
inline bool liveStreaming() const { return route() == nullptr; }
virtual bool liveStreaming() const { return true; }
virtual void seekTo(double ts) {}
virtual QString routeName() const = 0;
virtual QString carFingerprint() const { return ""; }
@@ -69,17 +71,20 @@ public:
virtual double routeStartTime() const { return 0; }
virtual double currentSec() const = 0;
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; }
virtual void setSpeed(float speed) {}
virtual double getSpeed() { return 1; }
virtual bool isPaused() const { return false; }
virtual void pause(bool pause) {}
const MessageEventsMap &eventsMap() const { return events_; }
const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
inline const MessageEventsMap &eventsMap() const { return events_; }
inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
const CanData &lastMessage(const MessageId &id);
const std::vector<const CanEvent *> &events(const MessageId &id) const;
virtual const std::vector<std::tuple<double, double, TimelineType>> getTimeline() { return {}; }
size_t suppressHighlighted();
void clearSuppressed();
void suppressDefinedSignals(bool suppress);
signals:
void paused();
@@ -87,32 +92,36 @@ signals:
void seekedTo(double sec);
void streamStarted();
void eventsMerged(const MessageEventsMap &events_map);
void updated();
void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
void sourcesUpdated(const SourceSet &s);
void privateUpdateLastMsgsSignal();
public:
QHash<MessageId, CanData> last_msgs;
SourceSet sources;
protected:
void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
bool postEvents();
uint64_t lastEventMonoTime() const { return lastest_event_ts; }
void mergeEvents(const std::vector<const CanEvent *> &events);
const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
void updateMessages(QHash<MessageId, CanData> *);
void updateMasks();
void updateLastMsgsTo(double sec);
uint64_t lastEventMonoTime() const { return lastest_event_ts; }
uint64_t lastest_event_ts = 0;
std::atomic<bool> processing = false;
std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
QHash<MessageId, CanData> all_msgs;
MessageEventsMap events_;
std::vector<const CanEvent *> all_events_;
std::unique_ptr<MonotonicBuffer> event_buffer;
std::mutex mutex;
std::unordered_map<MessageId, std::vector<uint8_t>> masks;
uint64_t lastest_event_ts = 0;
private:
void updateLastMessages();
void updateLastMsgsTo(double sec);
void updateMasks();
MessageEventsMap events_;
std::unordered_map<MessageId, CanData> last_msgs;
std::unique_ptr<MonotonicBuffer> event_buffer_;
// Members accessed in multiple threads. (mutex protected)
std::mutex mutex_;
std::set<MessageId> new_msgs_;
std::unordered_map<MessageId, CanData> messages_;
std::unordered_map<MessageId, std::vector<uint8_t>> masks_;
};
class AbstractOpenStreamWidget : public QWidget {

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