mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-26 16:12:06 +08:00
Sync: commaai/openpilot:master → sunnypilot/openpilot:master (#1571)
This commit is contained in:
Jason Wen
@@ -38,7 +38,7 @@ jobs:
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report:
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needs: [ci_matrix_run]
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runs-on: ubuntu-latest
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if: always()
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if: always() && github.repository == 'commaai/openpilot'
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steps:
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- name: Get job results
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uses: actions/github-script@v7
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@@ -0,0 +1,151 @@
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name: "mici raylib ui preview"
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on:
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push:
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branches:
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- master
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pull_request_target:
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types: [assigned, opened, synchronize, reopened, edited]
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branches:
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- 'master'
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paths:
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- 'selfdrive/assets/**'
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- 'selfdrive/ui/**'
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- 'system/ui/**'
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workflow_dispatch:
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env:
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UI_JOB_NAME: "Create mici raylib UI Report"
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REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
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SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
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BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
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MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
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# All report files are pushed here
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REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
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jobs:
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preview:
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if: github.repository == 'commaai/openpilot'
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name: preview
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runs-on: ubuntu-latest
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timeout-minutes: 20
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permissions:
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contents: read
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pull-requests: write
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actions: read
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- name: Waiting for ui generation to end
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uses: lewagon/wait-on-check-action@v1.3.4
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with:
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ref: ${{ env.SHA }}
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check-name: ${{ env.UI_JOB_NAME }}
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repo-token: ${{ secrets.GITHUB_TOKEN }}
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allowed-conclusions: success
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wait-interval: 20
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- name: Getting workflow run ID
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id: get_run_id
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run: |
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echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
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- name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4
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id: download-artifact
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uses: dawidd6/action-download-artifact@v6
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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run_id: ${{ steps.get_run_id.outputs.run_id }}
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search_artifacts: true
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name: mici-raylib-report-1-${{ env.REPORT_NAME }}
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path: ${{ github.workspace }}/pr_ui
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- name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4
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uses: actions/checkout@v4
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with:
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repository: commaai/ci-artifacts
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ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
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path: ${{ github.workspace }}/master_ui_raylib
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ref: ${{ env.MASTER_BRANCH_NAME }}
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- name: Saving new master ui
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if: github.ref == 'refs/heads/master' && github.event_name == 'push'
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working-directory: ${{ github.workspace }}/master_ui_raylib
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run: |
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git checkout --orphan=new_master_ui_mici_raylib
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git rm -rf *
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git branch -D ${{ env.MASTER_BRANCH_NAME }}
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git branch -m ${{ env.MASTER_BRANCH_NAME }}
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git config user.name "GitHub Actions Bot"
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git config user.email "<>"
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mv ${{ github.workspace }}/pr_ui/* .
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git add .
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git commit -m "mici raylib video for commit ${{ env.SHA }}"
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git push origin ${{ env.MASTER_BRANCH_NAME }} --force
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- name: Setup FFmpeg
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uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
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- name: Finding diff
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if: github.event_name == 'pull_request_target'
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id: find_diff
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run: |
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# Find the video file from PR
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pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
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mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
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master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
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mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
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# Run report
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export PYTHONPATH=${{ github.workspace }}
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baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
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diff_exit_code=0
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python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
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# Copy diff report files
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cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
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cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
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REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
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if [ $diff_exit_code -eq 0 ]; then
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DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
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else
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DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
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fi
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echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
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- name: Saving proposed ui
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if: github.event_name == 'pull_request_target'
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working-directory: ${{ github.workspace }}/master_ui_raylib
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run: |
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# Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
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git config user.name "GitHub Actions Bot"
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git config user.email "<>"
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git checkout --orphan=${{ env.BRANCH_NAME }}
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git rm -rf *
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mv ${{ github.workspace }}/pr_ui/* .
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git add .
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git commit -m "mici raylib video for PR #${{ github.event.number }}"
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git push origin ${{ env.BRANCH_NAME }} --force
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# Append diff report to report files branch
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git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
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git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
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cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
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git add diff_pr_${{ github.event.number }}.html
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git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
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git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
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- name: Comment Video on PR
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if: github.event_name == 'pull_request_target'
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uses: thollander/actions-comment-pull-request@v2
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with:
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message: |
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<!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
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## mici raylib UI Preview
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${{ steps.find_diff.outputs.DIFF }}
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comment_tag: run_id_video_mici_raylib
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pr_number: ${{ github.event.number }}
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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@@ -297,3 +297,29 @@ jobs:
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with:
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name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
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path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
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create_mici_raylib_ui_report:
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name: Create mici raylib UI Report
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runs-on: ${{
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(github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
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&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
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|| fromJSON('["ubuntu-24.04"]') }}
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- uses: ./.github/workflows/setup-with-retry
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- name: Build openpilot
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Create mici raylib UI Report
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run: >
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${{ env.RUN }} "PYTHONWARNINGS=ignore &&
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source selfdrive/test/setup_xvfb.sh &&
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WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
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- name: Upload Raylib UI Report
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uses: actions/upload-artifact@v4
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with:
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name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
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path: selfdrive/ui/tests/diff/report
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@@ -1,3 +1,6 @@
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Version 0.10.3 (2025-12-10)
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========================
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Version 0.10.2 (2025-11-19)
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========================
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* comma four support
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@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
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return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
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def get_key_pair():
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def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
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return CommaConnectApi(None).get_key_pair()
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+4
-4
@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
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from openpilot.system.hardware.hw import Paths
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from openpilot.system.version import get_version
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# name : jwt signature algorithm
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KEYS = {"id_rsa" : "RS256",
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"id_ecdsa" : "ES256"}
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# name: jwt signature algorithm
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KEYS = {"id_rsa": "RS256",
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"id_ecdsa": "ES256"}
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class BaseApi:
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@@ -62,7 +62,7 @@ class BaseApi:
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return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
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@staticmethod
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def get_key_pair():
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def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
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for key in KEYS:
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if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
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with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
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+1
-1
@@ -1 +1 @@
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#define DEFAULT_MODEL "The Cool People (Default)"
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#define DEFAULT_MODEL "Dark Souls 2 (Default)"
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@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"LastGPSPosition", {PERSISTENT, STRING}},
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{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
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{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
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{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
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{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
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{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
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{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
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@@ -1,7 +1,7 @@
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import os
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from uuid import uuid4
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from openpilot.common.utils import atomic_write_in_dir
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from openpilot.common.utils import atomic_write
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class TestFileHelpers:
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@@ -15,5 +15,5 @@ class TestFileHelpers:
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assert f.read() == "test"
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os.remove(path)
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def test_atomic_write_in_dir(self):
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self.run_atomic_write_func(atomic_write_in_dir)
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def test_atomic_write(self):
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self.run_atomic_write_func(atomic_write)
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+2
-2
@@ -32,8 +32,8 @@ class CallbackReader:
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||||
|
||||
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@contextlib.contextmanager
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def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
|
||||
overwrite: bool = False):
|
||||
def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
|
||||
overwrite: bool = False):
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||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
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||||
|
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|
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+1
-1
@@ -1 +1 @@
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||||
#define COMMA_VERSION "0.10.2"
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||||
#define COMMA_VERSION "0.10.3"
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||||
|
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+2
-2
@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
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||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
|
||||
| Ford | Any car with Lane Centering will likely work. |
|
||||
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
|
||||
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
|
||||
|
||||
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
|
||||
tools/replay/replay --demo
|
||||
|
||||
# in terminal 2
|
||||
selfdrive/ui/ui
|
||||
./selfdrive/ui/ui.py
|
||||
```
|
||||
|
||||
The openpilot UI should launch and show a replay of the demo route.
|
||||
@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
|
||||
|
||||
Now let’s update the speed display color in the UI.
|
||||
|
||||
Search for the function responsible for rendering UI text:
|
||||
Search for the function responsible for rendering the current speed:
|
||||
```bash
|
||||
git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
|
||||
git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
|
||||
```
|
||||
|
||||
You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
|
||||
You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
|
||||
|
||||
```cpp
|
||||
void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
|
||||
QRect real_rect = p.fontMetrics().boundingRect(text);
|
||||
real_rect.moveCenter({x, y - real_rect.height() / 2});
|
||||
|
||||
p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color
|
||||
p.drawText(real_rect.x(), real_rect.bottom(), text);
|
||||
}
|
||||
```python
|
||||
def _draw_current_speed(self, rect: rl.Rectangle) -> None:
|
||||
"""Draw the current vehicle speed and unit."""
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) # <- this sets the speed text color
|
||||
```
|
||||
|
||||
Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
|
||||
Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
|
||||
|
||||
```diff
|
||||
- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
|
||||
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
|
||||
- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
|
||||
```
|
||||
|
||||
This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
|
||||
|
||||
---
|
||||
|
||||
## 4. Rebuild the UI
|
||||
## 4. Re-run the UI
|
||||
|
||||
After making changes, rebuild Openpilot so your new UI is compiled:
|
||||
After making changes, re-run the UI to see your new UI:
|
||||
```bash
|
||||
scons -j$(nproc) && selfdrive/ui/ui
|
||||
./selfdrive/ui/ui.py
|
||||
```
|
||||
|
||||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 61bf5a90c5...f746884333
+1
-1
Submodule panda updated: dee9061b2a...5f3c09c910
+4
-3
@@ -85,6 +85,7 @@ docs = [
|
||||
]
|
||||
|
||||
testing = [
|
||||
"coverage",
|
||||
"hypothesis ==6.47.*",
|
||||
"mypy",
|
||||
"pytest",
|
||||
@@ -115,7 +116,7 @@ dev = [
|
||||
"pyautogui",
|
||||
"pygame",
|
||||
"pyopencl; platform_machine != 'aarch64'", # broken on arm64
|
||||
"pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
|
||||
"pytools>=2025.1.6; platform_machine != 'aarch64'",
|
||||
"pywinctl",
|
||||
"pyprof2calltree",
|
||||
"tabulate",
|
||||
@@ -125,7 +126,7 @@ dev = [
|
||||
|
||||
tools = [
|
||||
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
|
||||
"dearpygui>=2.1.0",
|
||||
"dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
|
||||
]
|
||||
|
||||
[project.urls]
|
||||
@@ -226,7 +227,7 @@ lint.select = [
|
||||
"TRY203", "TRY400", "TRY401", # try/excepts
|
||||
"RUF008", "RUF100",
|
||||
"TID251",
|
||||
"PLR1704",
|
||||
"PLE", "PLR1704",
|
||||
]
|
||||
lint.ignore = [
|
||||
"E741",
|
||||
|
||||
Executable
+26
@@ -0,0 +1,26 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
cd $DIR/../../tinygrad_repo
|
||||
|
||||
GREEN='\033[0;32m'
|
||||
NC='\033[0m'
|
||||
|
||||
|
||||
#export DEBUG=2
|
||||
export PYTHONPATH=.
|
||||
export AM_RESET=1
|
||||
export AMD=1
|
||||
export AMD_IFACE=USB
|
||||
export AMD_LLVM=1
|
||||
|
||||
python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
|
||||
> /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
|
||||
printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
|
||||
printf "${GREEN}=============${NC}\n"
|
||||
|
||||
printf "\n\n"
|
||||
printf "${GREEN}Transfer speeds:${NC}\n"
|
||||
printf "${GREEN}================${NC}\n"
|
||||
python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c94582be9d921146b3c356e08a7352700c309cb407877c1180542811b2d637fa
|
||||
size 48078
|
||||
oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
|
||||
size 48044
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:bc2b12bfe816a79307660b6b3d2de87a7643c6ccbfc9d1b33804645ad717682a
|
||||
size 48078
|
||||
oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
|
||||
size 48044
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
import numpy as np
|
||||
from scipy.io import wavfile
|
||||
|
||||
|
||||
sr = 48000
|
||||
max_int16 = 2**15 - 1
|
||||
|
||||
def harmonic_beep(freq, duration_seconds):
|
||||
n_total = int(sr * duration_seconds)
|
||||
|
||||
signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
|
||||
x = np.arange(n_total)
|
||||
exp_scale = np.exp(-x/5.5e3)
|
||||
return max_int16 * signal * exp_scale
|
||||
|
||||
engage_beep = harmonic_beep(1661.219, 0.5)
|
||||
wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
|
||||
disengage_beep = harmonic_beep(1318.51, 0.5)
|
||||
wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
|
||||
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
|
||||
| Ford | Any car with Lane Centering will likely work. |
|
||||
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
|
||||
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
|
||||
|
||||
@@ -26,6 +26,18 @@ class MockCarState:
|
||||
return CS, CS_SP
|
||||
|
||||
|
||||
BRAND_EXTRA_GEARS = {
|
||||
'ford': [GearShifter.low, GearShifter.manumatic],
|
||||
'nissan': [GearShifter.brake],
|
||||
'chrysler': [GearShifter.low],
|
||||
'honda': [GearShifter.sport],
|
||||
'toyota': [GearShifter.sport],
|
||||
'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
|
||||
'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
'hyundai': [GearShifter.sport, GearShifter.manumatic]
|
||||
}
|
||||
|
||||
|
||||
class CarSpecificEvents:
|
||||
def __init__(self, CP: structs.CarParams):
|
||||
self.CP = CP
|
||||
@@ -36,17 +48,13 @@ class CarSpecificEvents:
|
||||
self.silent_steer_warning = True
|
||||
|
||||
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
|
||||
extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
|
||||
|
||||
if self.CP.brand in ('body', 'mock'):
|
||||
events = Events()
|
||||
|
||||
elif self.CP.brand == 'ford':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
|
||||
|
||||
elif self.CP.brand == 'nissan':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
|
||||
|
||||
elif self.CP.brand == 'chrysler':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
|
||||
@@ -57,7 +65,7 @@ class CarSpecificEvents:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
elif self.CP.brand == 'honda':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
|
||||
|
||||
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
@@ -79,7 +87,7 @@ class CarSpecificEvents:
|
||||
|
||||
elif self.CP.brand == 'toyota':
|
||||
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if CS.cruiseState.standstill and not CS.brakePressed:
|
||||
@@ -94,9 +102,7 @@ class CarSpecificEvents:
|
||||
events.add(EventName.manualRestart)
|
||||
|
||||
elif self.CP.brand == 'gm':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
|
||||
GearShifter.eco, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
|
||||
|
||||
# Enabling at a standstill with brake is allowed
|
||||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
@@ -107,8 +113,7 @@ class CarSpecificEvents:
|
||||
events.add(EventName.resumeRequired)
|
||||
|
||||
elif self.CP.brand == 'volkswagen':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
|
||||
@@ -121,15 +126,14 @@ class CarSpecificEvents:
|
||||
# events.add(EventName.steerTimeLimit)
|
||||
|
||||
elif self.CP.brand == 'hyundai':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
|
||||
pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
|
||||
|
||||
else:
|
||||
events = self.create_common_events(CS, CS_prev)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
|
||||
|
||||
return events
|
||||
|
||||
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
|
||||
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
|
||||
allow_button_cancel=True):
|
||||
events = Events()
|
||||
|
||||
|
||||
@@ -22,15 +22,17 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
|
||||
# Additionally, there is friction in the steering wheel that needs
|
||||
# to be overcome to move it at all, this is compensated for too.
|
||||
|
||||
KP = 1.0
|
||||
KI = 0.3
|
||||
KD = 0.0
|
||||
KP = 0.8
|
||||
KI = 0.15
|
||||
|
||||
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
|
||||
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
|
||||
|
||||
LP_FILTER_CUTOFF_HZ = 1.2
|
||||
JERK_LOOKAHEAD_SECONDS = 0.19
|
||||
JERK_GAIN = 0.3
|
||||
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
|
||||
VERSION = 0
|
||||
VERSION = 1
|
||||
|
||||
class LatControlTorque(LatControl):
|
||||
def __init__(self, CP, CP_SP, CI, dt):
|
||||
@@ -38,13 +40,13 @@ class LatControlTorque(LatControl):
|
||||
self.torque_params = CP.lateralTuning.torque.as_builder()
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
|
||||
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
|
||||
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
|
||||
self.update_limits()
|
||||
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
|
||||
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
|
||||
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
|
||||
self.previous_measurement = 0.0
|
||||
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
|
||||
self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
|
||||
self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
|
||||
|
||||
self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
|
||||
|
||||
@@ -76,17 +78,15 @@ class LatControlTorque(LatControl):
|
||||
|
||||
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
|
||||
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
|
||||
# TODO factor out lateral jerk from error to later replace it with delay independent alternative
|
||||
lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
|
||||
raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
|
||||
desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
|
||||
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
|
||||
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
|
||||
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
|
||||
desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
|
||||
setpoint = expected_lateral_accel
|
||||
|
||||
measurement = measured_curvature * CS.vEgo ** 2
|
||||
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
|
||||
self.previous_measurement = measurement
|
||||
|
||||
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
|
||||
error = setpoint - measurement
|
||||
|
||||
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
|
||||
@@ -94,15 +94,10 @@ class LatControlTorque(LatControl):
|
||||
ff = gravity_adjusted_future_lateral_accel
|
||||
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
|
||||
ff -= self.torque_params.latAccelOffset
|
||||
# TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
|
||||
ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
output_lataccel = self.pid.update(pid_log.error,
|
||||
-measurement_rate,
|
||||
feedforward=ff,
|
||||
speed=CS.vEgo,
|
||||
freeze_integrator=freeze_integrator)
|
||||
output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
|
||||
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
|
||||
|
||||
# Lateral acceleration torque controller extension updates
|
||||
|
||||
@@ -172,7 +172,7 @@ class PoseCalibrator:
|
||||
ned_from_calib_euler = self._ned_from_calib(pose.orientation)
|
||||
angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
|
||||
acceleration_calib = self._transform_calib_from_device(pose.acceleration)
|
||||
velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
|
||||
velocity_calib = self._transform_calib_from_device(pose.velocity)
|
||||
|
||||
return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
|
||||
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c5a1f0655ddf266ed42ad1980389d96f47cc5e756da1fa3ca1477a920bb9b157
|
||||
oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
|
||||
size 13926324
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4
|
||||
oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438
|
||||
size 46271942
|
||||
|
||||
@@ -1,102 +0,0 @@
|
||||
import numpy as np
|
||||
import random
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from msgq.visionipc import VisionIpcServer, VisionStreamType
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
|
||||
|
||||
CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
|
||||
IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
|
||||
IMG_BYTES = IMG.flatten().tobytes()
|
||||
|
||||
|
||||
class TestModeld:
|
||||
|
||||
def setup_method(self):
|
||||
self.vipc_server = VisionIpcServer("camerad")
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
|
||||
self.vipc_server.start_listener()
|
||||
Params().put("CarParams", get_demo_car_params().to_bytes())
|
||||
|
||||
self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
|
||||
self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
|
||||
|
||||
managed_processes['modeld'].start()
|
||||
self.pm.wait_for_readers_to_update("roadCameraState", 10)
|
||||
|
||||
def teardown_method(self):
|
||||
managed_processes['modeld'].stop()
|
||||
del self.vipc_server
|
||||
|
||||
def _send_frames(self, frame_id, cams=None):
|
||||
if cams is None:
|
||||
cams = ('roadCameraState', 'wideRoadCameraState')
|
||||
|
||||
cs = None
|
||||
for cam in cams:
|
||||
msg = messaging.new_message(cam)
|
||||
cs = getattr(msg, cam)
|
||||
cs.frameId = frame_id
|
||||
cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
|
||||
cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
|
||||
cam_meta = meta_from_camera_state(cam)
|
||||
|
||||
self.pm.send(msg.which(), msg)
|
||||
self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
|
||||
cs.timestampSof, cs.timestampEof)
|
||||
return cs
|
||||
|
||||
def _wait(self):
|
||||
self.sm.update(5000)
|
||||
if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
|
||||
self.sm.update(1000)
|
||||
|
||||
def test_modeld(self):
|
||||
for n in range(1, 500):
|
||||
cs = self._send_frames(n)
|
||||
self._wait()
|
||||
|
||||
mdl = self.sm['modelV2']
|
||||
assert mdl.frameId == n
|
||||
assert mdl.frameIdExtra == n
|
||||
assert mdl.timestampEof == cs.timestampEof
|
||||
assert mdl.frameAge == 0
|
||||
assert mdl.frameDropPerc == 0
|
||||
|
||||
odo = self.sm['cameraOdometry']
|
||||
assert odo.frameId == n
|
||||
assert odo.timestampEof == cs.timestampEof
|
||||
|
||||
def test_dropped_frames(self):
|
||||
"""
|
||||
modeld should only run on consecutive road frames
|
||||
"""
|
||||
frame_id = -1
|
||||
road_frames = list()
|
||||
for n in range(1, 50):
|
||||
if (random.random() < 0.1) and n > 3:
|
||||
cams = random.choice([(), ('wideRoadCameraState', )])
|
||||
self._send_frames(n, cams)
|
||||
else:
|
||||
self._send_frames(n)
|
||||
road_frames.append(n)
|
||||
self._wait()
|
||||
|
||||
if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
|
||||
frame_id = road_frames[-1]
|
||||
|
||||
mdl = self.sm['modelV2']
|
||||
odo = self.sm['cameraOdometry']
|
||||
assert mdl.frameId == frame_id
|
||||
assert mdl.frameIdExtra == frame_id
|
||||
assert odo.frameId == frame_id
|
||||
if n != frame_id:
|
||||
assert not self.sm.updated['modelV2']
|
||||
assert not self.sm.updated['cameraOdometry']
|
||||
@@ -40,8 +40,8 @@ def dmonitoringd_thread():
|
||||
|
||||
# save rhd virtual toggle every 5 mins
|
||||
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
|
||||
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
||||
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
||||
DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
||||
DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
||||
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
|
||||
|
||||
def main():
|
||||
|
||||
@@ -40,6 +40,9 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._PHONE_THRESH2 = 15.0
|
||||
self._PHONE_MAX_OFFSET = 0.06
|
||||
self._PHONE_MIN_OFFSET = 0.025
|
||||
self._PHONE_DATA_AVG = 0.05
|
||||
self._PHONE_DATA_VAR = 3*0.005
|
||||
self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
|
||||
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
|
||||
@@ -47,9 +50,11 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._POSE_YAW_THRESHOLD = 0.4020
|
||||
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
|
||||
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
|
||||
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_THRESHOLD = 0.449
|
||||
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
|
||||
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_VAR = 3*0.01
|
||||
self._YAW_NATURAL_VAR = 3*0.05
|
||||
self._PITCH_MAX_OFFSET = 0.124
|
||||
self._PITCH_MIN_OFFSET = -0.0881
|
||||
self._YAW_MAX_OFFSET = 0.289
|
||||
@@ -70,6 +75,9 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._WHEELPOS_CALIB_MIN_SPEED = 11
|
||||
self._WHEELPOS_THRESHOLD = 0.5
|
||||
self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
|
||||
self._WHEELPOS_DATA_AVG = 0.03
|
||||
self._WHEELPOS_DATA_VAR = 3*5.5e-5
|
||||
self._WHEELPOS_MAX_COUNT = -1
|
||||
|
||||
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
|
||||
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
|
||||
@@ -78,30 +86,33 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
|
||||
|
||||
class DistractedType:
|
||||
|
||||
NOT_DISTRACTED = 0
|
||||
DISTRACTED_POSE = 1 << 0
|
||||
DISTRACTED_BLINK = 1 << 1
|
||||
DISTRACTED_PHONE = 1 << 2
|
||||
|
||||
class DriverPose:
|
||||
def __init__(self, max_trackable):
|
||||
def __init__(self, settings):
|
||||
pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
|
||||
yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
|
||||
self.yaw = 0.
|
||||
self.pitch = 0.
|
||||
self.roll = 0.
|
||||
self.yaw_std = 0.
|
||||
self.pitch_std = 0.
|
||||
self.roll_std = 0.
|
||||
self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
|
||||
self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
|
||||
self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.calibrated = False
|
||||
self.low_std = True
|
||||
self.cfactor_pitch = 1.
|
||||
self.cfactor_yaw = 1.
|
||||
|
||||
class DriverPhone:
|
||||
def __init__(self, max_trackable):
|
||||
class DriverProb:
|
||||
def __init__(self, raw_priors, max_trackable):
|
||||
self.prob = 0.
|
||||
self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
|
||||
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
|
||||
self.prob_calibrated = False
|
||||
|
||||
class DriverBlink:
|
||||
@@ -140,9 +151,11 @@ class DriverMonitoring:
|
||||
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
|
||||
|
||||
# init driver status
|
||||
self.wheelpos_learner = RunningStatFilter()
|
||||
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
|
||||
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink = DriverBlink()
|
||||
|
||||
self.always_on = always_on
|
||||
@@ -234,8 +247,11 @@ class DriverMonitoring:
|
||||
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
|
||||
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
|
||||
yaw_error = abs(yaw_error)
|
||||
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
|
||||
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
|
||||
|
||||
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
|
||||
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
|
||||
|
||||
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
|
||||
distracted_types.append(DistractedType.DISTRACTED_POSE)
|
||||
|
||||
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
|
||||
@@ -256,9 +272,12 @@ class DriverMonitoring:
|
||||
# calibrates only when there's movement and either face detected
|
||||
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
|
||||
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
|
||||
self.wheelpos_learner.push_and_update(rhd_pred)
|
||||
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
|
||||
self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
|
||||
self.wheelpos.prob_offseter.push_and_update(rhd_pred)
|
||||
|
||||
self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
|
||||
|
||||
if self.wheelpos.prob_calibrated or demo_mode:
|
||||
self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
|
||||
else:
|
||||
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
|
||||
# make sure no switching when engaged
|
||||
|
||||
@@ -1 +1 @@
|
||||
b508f43fb0481bce0859c9b6ab4f45ee690b8dab
|
||||
e0ad86508edb61b3eaa1b84662c515d2c3368295
|
||||
@@ -206,8 +206,9 @@ class TestOnroad:
|
||||
result += "-------------- UI Draw Timing ------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
|
||||
# skip first few frames -- connecting to vipc
|
||||
ts = self.ts['uiDebug']['drawTimeMillis'][15:]
|
||||
# other processes preempt ui while starting up
|
||||
offset = int(20 * LOG_OFFSET)
|
||||
ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
|
||||
result += f"min {min(ts):.2f}ms\n"
|
||||
result += f"max {max(ts):.2f}ms\n"
|
||||
result += f"std {np.std(ts):.2f}ms\n"
|
||||
|
||||
@@ -1,19 +1,11 @@
|
||||
import pyray as rl
|
||||
import time
|
||||
import threading
|
||||
|
||||
from openpilot.common.api import api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
|
||||
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
|
||||
|
||||
TITLE = tr_noop("Firehose Mode")
|
||||
DESCRIPTION = tr_noop(
|
||||
@@ -32,50 +24,17 @@ INSTRUCTIONS = tr_noop(
|
||||
)
|
||||
|
||||
|
||||
class FirehoseLayout(Widget):
|
||||
PARAM_KEY = "ApiCache_FirehoseStats"
|
||||
GREEN = rl.Color(46, 204, 113, 255)
|
||||
RED = rl.Color(231, 76, 60, 255)
|
||||
GRAY = rl.Color(68, 68, 68, 255)
|
||||
LIGHT_GRAY = rl.Color(228, 228, 228, 255)
|
||||
UPDATE_INTERVAL = 30 # seconds
|
||||
|
||||
class FirehoseLayout(FirehoseLayoutBase):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.params = Params()
|
||||
self.segment_count = self._get_segment_count()
|
||||
self.scroll_panel = GuiScrollPanel()
|
||||
self._content_height = 0
|
||||
|
||||
self.running = True
|
||||
self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
|
||||
self.update_thread.start()
|
||||
self.last_update_time = 0
|
||||
|
||||
def show_event(self):
|
||||
self.scroll_panel.set_offset(0)
|
||||
|
||||
def _get_segment_count(self) -> int:
|
||||
stats = self.params.get(self.PARAM_KEY)
|
||||
if not stats:
|
||||
return 0
|
||||
try:
|
||||
return int(stats.get("firehose", 0))
|
||||
except Exception:
|
||||
cloudlog.exception(f"Failed to decode firehose stats: {stats}")
|
||||
return 0
|
||||
|
||||
def __del__(self):
|
||||
self.running = False
|
||||
if self.update_thread and self.update_thread.is_alive():
|
||||
self.update_thread.join(timeout=1.0)
|
||||
self._scroll_panel = GuiScrollPanel()
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
# Calculate content dimensions
|
||||
content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
|
||||
|
||||
# Handle scrolling and render with clipping
|
||||
scroll_offset = self.scroll_panel.update(rect, content_rect)
|
||||
scroll_offset = self._scroll_panel.update(rect, content_rect)
|
||||
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
|
||||
self._content_height = self._render_content(rect, scroll_offset)
|
||||
rl.end_scissor_mode()
|
||||
@@ -107,9 +66,9 @@ class FirehoseLayout(Widget):
|
||||
y += 20 + 20
|
||||
|
||||
# Contribution count (if available)
|
||||
if self.segment_count > 0:
|
||||
if self._segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
|
||||
y += 20 + 20
|
||||
|
||||
@@ -121,7 +80,7 @@ class FirehoseLayout(Widget):
|
||||
y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
|
||||
|
||||
# bottom margin + remove effect of scroll offset
|
||||
return int(round(y - self.scroll_panel.offset + 40))
|
||||
return int(round(y - self._scroll_panel.offset + 40))
|
||||
|
||||
def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
|
||||
wrapped = wrap_text(font, text, font_size, width)
|
||||
@@ -129,32 +88,3 @@ class FirehoseLayout(Widget):
|
||||
rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
|
||||
y += font_size * FONT_SCALE
|
||||
return round(y)
|
||||
|
||||
def _get_status(self) -> tuple[str, rl.Color]:
|
||||
network_type = ui_state.sm["deviceState"].networkType
|
||||
network_metered = ui_state.sm["deviceState"].networkMetered
|
||||
|
||||
if not network_metered and network_type != 0: # Not metered and connected
|
||||
return tr("ACTIVE"), self.GREEN
|
||||
else:
|
||||
return tr("INACTIVE: connect to an unmetered network"), self.RED
|
||||
|
||||
def _fetch_firehose_stats(self):
|
||||
try:
|
||||
dongle_id = self.params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
identity_token = get_token(dongle_id)
|
||||
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
self.segment_count = data.get("firehose", 0)
|
||||
self.params.put(self.PARAM_KEY, data)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch firehose stats: {e}")
|
||||
|
||||
def _update_loop(self):
|
||||
while self.running:
|
||||
if not ui_state.started:
|
||||
self._fetch_firehose_stats()
|
||||
time.sleep(self.UPDATE_INTERVAL)
|
||||
|
||||
@@ -17,6 +17,13 @@ if gui_app.sunnypilot_ui():
|
||||
# TODO: remove this. updater fails to respond on startup if time is not correct
|
||||
UPDATED_TIMEOUT = 10 # seconds to wait for updated to respond
|
||||
|
||||
# Mapping updater internal states to translated display strings
|
||||
STATE_TO_DISPLAY_TEXT = {
|
||||
"checking...": tr("checking..."),
|
||||
"downloading...": tr("downloading..."),
|
||||
"finalizing update...": tr("finalizing update..."),
|
||||
}
|
||||
|
||||
|
||||
def time_ago(date: datetime.datetime | None) -> str:
|
||||
if not date:
|
||||
@@ -103,7 +110,9 @@ class SoftwareLayout(Widget):
|
||||
# Updater responded
|
||||
self._waiting_for_updater = False
|
||||
self._download_btn.action_item.set_enabled(False)
|
||||
self._download_btn.action_item.set_value(updater_state)
|
||||
# Use the mapping, with a fallback to the original state string
|
||||
display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
|
||||
self._download_btn.action_item.set_value(display_text)
|
||||
else:
|
||||
if failed_count > 0:
|
||||
self._download_btn.action_item.set_value(tr("failed to check for update"))
|
||||
|
||||
@@ -67,8 +67,10 @@ class PrimeState:
|
||||
cloudlog.info(f"Prime type updated to {prime_type}")
|
||||
|
||||
def _worker_thread(self) -> None:
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
while self._running:
|
||||
self._fetch_prime_status()
|
||||
if not ui_state.started and device._awake:
|
||||
self._fetch_prime_status()
|
||||
|
||||
for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
|
||||
if not self._running:
|
||||
|
||||
@@ -3,18 +3,16 @@ import time
|
||||
from cereal import log
|
||||
import pyray as rl
|
||||
from collections.abc import Callable
|
||||
from openpilot.system.ui.widgets.label import gui_label, MiciLabel
|
||||
from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.text import wrap_text
|
||||
from openpilot.system.version import training_version
|
||||
from openpilot.system.version import training_version, RELEASE_BRANCHES
|
||||
|
||||
HEAD_BUTTON_FONT_SIZE = 40
|
||||
HOME_PADDING = 8
|
||||
|
||||
RELEASE_BRANCH = "release3"
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
NETWORK_TYPES = {
|
||||
@@ -115,7 +113,7 @@ class MiciHomeLayout(Widget):
|
||||
self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
|
||||
self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
|
||||
self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
|
||||
self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
|
||||
self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
|
||||
|
||||
def show_event(self):
|
||||
@@ -187,27 +185,22 @@ class MiciHomeLayout(Widget):
|
||||
|
||||
if self._version_text is not None:
|
||||
# release branch
|
||||
if self._version_text[0] == RELEASE_BRANCH:
|
||||
version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
|
||||
self._large_version_label.set_text(self._version_text[0])
|
||||
self._large_version_label.set_position(version_pos.x, version_pos.y)
|
||||
self._large_version_label.render()
|
||||
release_branch = self._version_text[1] in RELEASE_BRANCHES
|
||||
version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
|
||||
self._version_label.set_text(self._version_text[0])
|
||||
self._version_label.set_position(version_pos.x, version_pos.y)
|
||||
self._version_label.render()
|
||||
|
||||
else:
|
||||
version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
|
||||
self._version_label.set_text(self._version_text[0])
|
||||
self._version_label.set_position(version_pos.x, version_pos.y)
|
||||
self._version_label.render()
|
||||
self._date_label.set_text(" " + self._version_text[3])
|
||||
self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
|
||||
self._date_label.render()
|
||||
|
||||
self._date_label.set_text(" " + self._version_text[3])
|
||||
self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
|
||||
self._date_label.render()
|
||||
|
||||
self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
|
||||
self._branch_label.set_text(" " + self._version_text[1])
|
||||
self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
|
||||
self._branch_label.render()
|
||||
self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
|
||||
self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
|
||||
self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
|
||||
self._branch_label.render()
|
||||
|
||||
if not release_branch:
|
||||
# 2nd line
|
||||
self._version_commit_label.set_text(self._version_text[2])
|
||||
self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
|
||||
|
||||
@@ -5,6 +5,7 @@ from dataclasses import dataclass
|
||||
from enum import IntEnum
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
@@ -220,6 +221,7 @@ class MiciOffroadAlerts(Widget):
|
||||
update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
|
||||
self.sorted_alerts.append(update_alert_data)
|
||||
update_alert_item = AlertItem(update_alert_data)
|
||||
update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
|
||||
self.alert_items.append(update_alert_item)
|
||||
self._scroller.add_widget(update_alert_item)
|
||||
|
||||
@@ -244,18 +246,18 @@ class MiciOffroadAlerts(Widget):
|
||||
|
||||
if update_alert_data:
|
||||
if update_available:
|
||||
# Default text
|
||||
update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
|
||||
version_string = ""
|
||||
|
||||
# Get new version description and parse version and date
|
||||
new_desc = self.params.get("UpdaterNewDescription") or ""
|
||||
if new_desc:
|
||||
# Parse description (format: "version / branch / commit / date")
|
||||
# format: "version / branch / commit / date"
|
||||
parts = new_desc.split(" / ")
|
||||
if len(parts) > 3:
|
||||
version, date = parts[0], parts[3]
|
||||
update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
|
||||
version_string = f"\nsunnypilot {version}, {date}\n"
|
||||
|
||||
update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
|
||||
update_alert_data.visible = True
|
||||
active_count += 1
|
||||
else:
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
import weakref
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -92,11 +93,10 @@ class TrainingGuideDMTutorial(Widget):
|
||||
super().__init__()
|
||||
self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
|
||||
|
||||
self._original_continue_callback = continue_callback
|
||||
|
||||
# Wrap the continue callback to restore settings
|
||||
def wrapped_continue_callback():
|
||||
self._restore_settings()
|
||||
device.set_offroad_brightness(None)
|
||||
device.reset_interactive_timeout()
|
||||
continue_callback()
|
||||
|
||||
self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
|
||||
@@ -114,10 +114,6 @@ class TrainingGuideDMTutorial(Widget):
|
||||
device.set_offroad_brightness(100)
|
||||
device.reset_interactive_timeout(300) # 5 minutes
|
||||
|
||||
def _restore_settings(self):
|
||||
device.set_offroad_brightness(None)
|
||||
device.reset_interactive_timeout()
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if device.awake:
|
||||
@@ -150,7 +146,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
|
||||
super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
|
||||
self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
|
||||
|
||||
self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
|
||||
self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
|
||||
FontWeight.ROMAN)
|
||||
|
||||
def show_event(self):
|
||||
@@ -214,11 +210,17 @@ class TrainingGuide(Widget):
|
||||
self._completed_callback = completed_callback
|
||||
self._step = 0
|
||||
|
||||
self_ref = weakref.ref(self)
|
||||
|
||||
def on_continue():
|
||||
if obj := self_ref():
|
||||
obj._advance_step()
|
||||
|
||||
self._steps = [
|
||||
TrainingGuideAttentionNotice(continue_callback=self._advance_step),
|
||||
TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
|
||||
TrainingGuideDMTutorial(continue_callback=self._advance_step),
|
||||
TrainingGuideRecordFront(continue_callback=self._advance_step),
|
||||
TrainingGuideAttentionNotice(continue_callback=on_continue),
|
||||
TrainingGuidePreDMTutorial(continue_callback=on_continue),
|
||||
TrainingGuideDMTutorial(continue_callback=on_continue),
|
||||
TrainingGuideRecordFront(continue_callback=on_continue),
|
||||
]
|
||||
|
||||
def _advance_step(self):
|
||||
|
||||
@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
|
||||
content_height += self._fcc_logo.height + 20
|
||||
|
||||
scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
|
||||
scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
|
||||
scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
|
||||
|
||||
fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
|
||||
|
||||
|
||||
@@ -6,14 +6,13 @@ from openpilot.common.api import api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
|
||||
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
|
||||
from openpilot.system.ui.widgets import NavWidget
|
||||
|
||||
from openpilot.system.ui.widgets import Widget, NavWidget
|
||||
|
||||
TITLE = tr_noop("Firehose Mode")
|
||||
DESCRIPTION = tr_noop(
|
||||
@@ -34,9 +33,7 @@ FAQ_ITEMS = [
|
||||
]
|
||||
|
||||
|
||||
class FirehoseLayoutMici(NavWidget):
|
||||
BACK_TOUCH_AREA_PERCENTAGE = 0.1
|
||||
|
||||
class FirehoseLayoutBase(Widget):
|
||||
PARAM_KEY = "ApiCache_FirehoseStats"
|
||||
GREEN = rl.Color(46, 204, 113, 255)
|
||||
RED = rl.Color(231, 76, 60, 255)
|
||||
@@ -44,12 +41,10 @@ class FirehoseLayoutMici(NavWidget):
|
||||
LIGHT_GRAY = rl.Color(228, 228, 228, 255)
|
||||
UPDATE_INTERVAL = 30 # seconds
|
||||
|
||||
def __init__(self, back_callback):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
self.params = Params()
|
||||
self.segment_count = self._get_segment_count()
|
||||
self._params = Params()
|
||||
self._segment_count = self._get_segment_count()
|
||||
|
||||
self._scroll_panel = GuiScrollPanel2(horizontal=False)
|
||||
self._content_height = 0
|
||||
@@ -71,7 +66,7 @@ class FirehoseLayoutMici(NavWidget):
|
||||
self._scroll_panel.set_offset(0)
|
||||
|
||||
def _get_segment_count(self) -> int:
|
||||
stats = self.params.get(self.PARAM_KEY)
|
||||
stats = self._params.get(self.PARAM_KEY)
|
||||
if not stats:
|
||||
return 0
|
||||
try:
|
||||
@@ -83,7 +78,7 @@ class FirehoseLayoutMici(NavWidget):
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
# compute total content height for scrolling
|
||||
content_height = self._measure_content_height(rect)
|
||||
scroll_offset = self._scroll_panel.update(rect, content_height)
|
||||
scroll_offset = round(self._scroll_panel.update(rect, content_height))
|
||||
|
||||
# start drawing with offset
|
||||
x = int(rect.x + 40)
|
||||
@@ -111,9 +106,9 @@ class FirehoseLayoutMici(NavWidget):
|
||||
y += 20
|
||||
|
||||
# Contribution count (if available)
|
||||
if self.segment_count > 0:
|
||||
if self._segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
|
||||
y += 20
|
||||
|
||||
@@ -165,9 +160,9 @@ class FirehoseLayoutMici(NavWidget):
|
||||
y += int(len(status_lines) * 48 * FONT_SCALE) + 20
|
||||
|
||||
# Contribution count
|
||||
if self.segment_count > 0:
|
||||
if self._segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
|
||||
y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
|
||||
|
||||
@@ -204,20 +199,28 @@ class FirehoseLayoutMici(NavWidget):
|
||||
|
||||
def _fetch_firehose_stats(self):
|
||||
try:
|
||||
dongle_id = self.params.get("DongleId")
|
||||
dongle_id = self._params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
identity_token = get_token(dongle_id)
|
||||
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
self.segment_count = data.get("firehose", 0)
|
||||
self.params.put(self.PARAM_KEY, data)
|
||||
self._segment_count = data.get("firehose", 0)
|
||||
self._params.put(self.PARAM_KEY, data)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch firehose stats: {e}")
|
||||
|
||||
def _update_loop(self):
|
||||
while self._running:
|
||||
if not ui_state.started:
|
||||
if not ui_state.started and device._awake:
|
||||
self._fetch_firehose_stats()
|
||||
time.sleep(self.UPDATE_INTERVAL)
|
||||
|
||||
|
||||
class FirehoseLayout(FirehoseLayoutBase, NavWidget):
|
||||
BACK_TOUCH_AREA_PERCENTAGE = 0.1
|
||||
|
||||
def __init__(self, back_callback):
|
||||
super().__init__()
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
@@ -0,0 +1,182 @@
|
||||
import pyray as rl
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.lib.prime_state import PrimeType
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import NavWidget
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
|
||||
|
||||
|
||||
class NetworkPanelType(IntEnum):
|
||||
NONE = 0
|
||||
WIFI = 1
|
||||
|
||||
|
||||
class NetworkLayoutMici(NavWidget):
|
||||
def __init__(self, back_callback: Callable):
|
||||
super().__init__()
|
||||
|
||||
self._current_panel = NetworkPanelType.WIFI
|
||||
self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
|
||||
|
||||
self._wifi_manager = WifiManager()
|
||||
self._wifi_manager.set_active(False)
|
||||
self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
|
||||
|
||||
self._wifi_manager.add_callbacks(
|
||||
networks_updated=self._on_network_updated,
|
||||
)
|
||||
|
||||
_tethering_icon = "icons_mici/settings/network/tethering.png"
|
||||
|
||||
# ******** Tethering ********
|
||||
def tethering_toggle_callback(checked: bool):
|
||||
self._tethering_toggle_btn.set_enabled(False)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
self._wifi_manager.set_tethering_active(checked)
|
||||
|
||||
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
|
||||
|
||||
def tethering_password_callback(password: str):
|
||||
if password:
|
||||
self._wifi_manager.set_tethering_password(password)
|
||||
|
||||
def tethering_password_clicked():
|
||||
tethering_password = self._wifi_manager.tethering_password
|
||||
dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
|
||||
confirm_callback=tethering_password_callback)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
|
||||
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
|
||||
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
|
||||
|
||||
# ******** IP Address ********
|
||||
self._ip_address_btn = BigButton("IP Address", "Not connected")
|
||||
|
||||
# ******** Network Metered ********
|
||||
def network_metered_callback(value: str):
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
metered = {
|
||||
'default': MeteredType.UNKNOWN,
|
||||
'metered': MeteredType.YES,
|
||||
'unmetered': MeteredType.NO
|
||||
}.get(value, MeteredType.UNKNOWN)
|
||||
self._wifi_manager.set_current_network_metered(metered)
|
||||
|
||||
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
|
||||
# TODO: disable when not connected
|
||||
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
|
||||
wifi_button = BigButton("wi-fi")
|
||||
wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
|
||||
|
||||
# ******** Advanced settings ********
|
||||
# ******** Roaming toggle ********
|
||||
self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
|
||||
|
||||
# ******** APN settings ********
|
||||
self._apn_btn = BigButton("apn settings", "edit")
|
||||
self._apn_btn.set_click_callback(self._edit_apn)
|
||||
|
||||
# ******** Cellular metered toggle ********
|
||||
self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
|
||||
|
||||
# Main scroller ----------------------------------
|
||||
self._scroller = Scroller([
|
||||
wifi_button,
|
||||
self._network_metered_btn,
|
||||
self._tethering_toggle_btn,
|
||||
self._tethering_password_btn,
|
||||
# /* Advanced settings
|
||||
self._roaming_btn,
|
||||
self._apn_btn,
|
||||
self._cellular_metered_btn,
|
||||
# */
|
||||
self._ip_address_btn,
|
||||
], snap_items=False)
|
||||
|
||||
# Set initial config
|
||||
roaming_enabled = ui_state.params.get_bool("GsmRoaming")
|
||||
metered = ui_state.params.get_bool("GsmMetered")
|
||||
self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
|
||||
|
||||
# Set up back navigation
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
# If not using prime SIM, show GSM settings and enable IPv4 forwarding
|
||||
show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
|
||||
self._wifi_manager.set_ipv4_forward(show_cell_settings)
|
||||
self._roaming_btn.set_visible(show_cell_settings)
|
||||
self._apn_btn.set_visible(show_cell_settings)
|
||||
self._cellular_metered_btn.set_visible(show_cell_settings)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._current_panel = NetworkPanelType.NONE
|
||||
self._wifi_ui.show_event()
|
||||
self._scroller.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._wifi_ui.hide_event()
|
||||
|
||||
def _toggle_roaming(self, checked: bool):
|
||||
self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
|
||||
|
||||
def _edit_apn(self):
|
||||
def update_apn(apn: str):
|
||||
apn = apn.strip()
|
||||
if apn == "":
|
||||
ui_state.params.remove("GsmApn")
|
||||
else:
|
||||
ui_state.params.put("GsmApn", apn)
|
||||
|
||||
self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
|
||||
|
||||
current_apn = ui_state.params.get("GsmApn") or ""
|
||||
dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
def _toggle_cellular_metered(self, checked: bool):
|
||||
self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
|
||||
|
||||
def _on_network_updated(self, networks: list[Network]):
|
||||
# Update tethering state
|
||||
tethering_active = self._wifi_manager.is_tethering_active()
|
||||
# TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
|
||||
self._tethering_toggle_btn.set_enabled(True)
|
||||
self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
|
||||
self._tethering_toggle_btn.set_checked(tethering_active)
|
||||
|
||||
# Update IP address
|
||||
self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
|
||||
|
||||
# Update network metered
|
||||
self._network_metered_btn.set_value(
|
||||
{
|
||||
MeteredType.UNKNOWN: 'default',
|
||||
MeteredType.YES: 'metered',
|
||||
MeteredType.NO: 'unmetered'
|
||||
}.get(self._wifi_manager.current_network_metered, 'default'))
|
||||
|
||||
def _switch_to_panel(self, panel_type: NetworkPanelType):
|
||||
self._current_panel = panel_type
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self._wifi_manager.process_callbacks()
|
||||
|
||||
if self._current_panel == NetworkPanelType.WIFI:
|
||||
self._wifi_ui.render(rect)
|
||||
else:
|
||||
self._scroller.render(rect)
|
||||
+16
-127
@@ -1,28 +1,20 @@
|
||||
import math
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget, NavWidget
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
|
||||
|
||||
|
||||
def normalize_ssid(ssid: str) -> str:
|
||||
return ssid.replace("’", "'") # for iPhone hotspots
|
||||
|
||||
|
||||
class NetworkPanelType(IntEnum):
|
||||
NONE = 0
|
||||
WIFI = 1
|
||||
|
||||
|
||||
class LoadingAnimation(Widget):
|
||||
def _render(self, _):
|
||||
cx = int(self._rect.x + 70)
|
||||
@@ -91,11 +83,13 @@ class WifiIcon(Widget):
|
||||
|
||||
class WifiItem(BigDialogOptionButton):
|
||||
LEFT_MARGIN = 20
|
||||
HEIGHT = 54
|
||||
SELECTED_HEIGHT = 74
|
||||
|
||||
def __init__(self, network: Network):
|
||||
super().__init__(network.ssid)
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
|
||||
self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
|
||||
|
||||
self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
|
||||
|
||||
@@ -103,6 +97,10 @@ class WifiItem(BigDialogOptionButton):
|
||||
self._wifi_icon = WifiIcon()
|
||||
self._wifi_icon.set_current_network(network)
|
||||
|
||||
def set_selected(self, selected: bool):
|
||||
super().set_selected(selected)
|
||||
self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
|
||||
|
||||
def set_current_network(self, network: Network):
|
||||
self._network = network
|
||||
self._wifi_icon.set_current_network(network)
|
||||
@@ -117,7 +115,7 @@ class WifiItem(BigDialogOptionButton):
|
||||
self._wifi_icon.render(rl.Rectangle(
|
||||
self._rect.x + self.LEFT_MARGIN,
|
||||
self._rect.y,
|
||||
self._rect.height,
|
||||
self.SELECTED_HEIGHT,
|
||||
self._rect.height
|
||||
))
|
||||
|
||||
@@ -126,7 +124,7 @@ class WifiItem(BigDialogOptionButton):
|
||||
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
self._label.set_font_weight(FontWeight.DISPLAY)
|
||||
else:
|
||||
self._label.set_font_size(70)
|
||||
self._label.set_font_size(54)
|
||||
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
|
||||
self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
|
||||
|
||||
@@ -215,7 +213,7 @@ class NetworkInfoPage(NavWidget):
|
||||
self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
|
||||
|
||||
self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
|
||||
self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
@@ -225,6 +223,10 @@ class NetworkInfoPage(NavWidget):
|
||||
self._network: Network | None = None
|
||||
self._connecting: Callable[[], str | None] | None = None
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._title.reset_scroll()
|
||||
|
||||
def update_networks(self, networks: dict[str, Network]):
|
||||
# update current network from latest scan results
|
||||
for ssid, network in networks.items():
|
||||
@@ -392,7 +394,7 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
self._network_info_page.set_current_network(_network)
|
||||
self._should_open_network_info_page = True
|
||||
|
||||
network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
|
||||
network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
|
||||
|
||||
self.add_button(network_button)
|
||||
|
||||
@@ -443,116 +445,3 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
|
||||
if not self._networks:
|
||||
self._loading_animation.render(self._rect)
|
||||
|
||||
|
||||
class NetworkLayoutMici(NavWidget):
|
||||
def __init__(self, back_callback: Callable):
|
||||
super().__init__()
|
||||
|
||||
self._current_panel = NetworkPanelType.WIFI
|
||||
self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
|
||||
|
||||
self._wifi_manager = WifiManager()
|
||||
self._wifi_manager.set_active(False)
|
||||
self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
|
||||
|
||||
self._wifi_manager.add_callbacks(
|
||||
networks_updated=self._on_network_updated,
|
||||
)
|
||||
|
||||
_tethering_icon = "icons_mici/settings/network/tethering.png"
|
||||
|
||||
# ******** Tethering ********
|
||||
def tethering_toggle_callback(checked: bool):
|
||||
self._tethering_toggle_btn.set_enabled(False)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
self._wifi_manager.set_tethering_active(checked)
|
||||
|
||||
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
|
||||
|
||||
def tethering_password_callback(password: str):
|
||||
if password:
|
||||
self._wifi_manager.set_tethering_password(password)
|
||||
|
||||
def tethering_password_clicked():
|
||||
tethering_password = self._wifi_manager.tethering_password
|
||||
dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
|
||||
confirm_callback=tethering_password_callback)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
|
||||
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
|
||||
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
|
||||
|
||||
# ******** IP Address ********
|
||||
self._ip_address_btn = BigButton("IP Address", "Not connected")
|
||||
|
||||
# ******** Network Metered ********
|
||||
def network_metered_callback(value: str):
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
metered = {
|
||||
'default': MeteredType.UNKNOWN,
|
||||
'metered': MeteredType.YES,
|
||||
'unmetered': MeteredType.NO
|
||||
}.get(value, MeteredType.UNKNOWN)
|
||||
self._wifi_manager.set_current_network_metered(metered)
|
||||
|
||||
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
|
||||
# TODO: disable when not connected
|
||||
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
|
||||
wifi_button = BigButton("wi-fi")
|
||||
wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
|
||||
|
||||
# Main scroller ----------------------------------
|
||||
self._scroller = Scroller([
|
||||
wifi_button,
|
||||
self._network_metered_btn,
|
||||
self._tethering_toggle_btn,
|
||||
self._tethering_password_btn,
|
||||
self._ip_address_btn,
|
||||
], snap_items=False)
|
||||
|
||||
# Set up back navigation
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._current_panel = NetworkPanelType.NONE
|
||||
self._wifi_ui.show_event()
|
||||
self._scroller.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._wifi_ui.hide_event()
|
||||
|
||||
def _on_network_updated(self, networks: list[Network]):
|
||||
# Update tethering state
|
||||
tethering_active = self._wifi_manager.is_tethering_active()
|
||||
# TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
|
||||
self._tethering_toggle_btn.set_enabled(True)
|
||||
self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
|
||||
self._tethering_toggle_btn.set_checked(tethering_active)
|
||||
|
||||
# Update IP address
|
||||
self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
|
||||
|
||||
# Update network metered
|
||||
self._network_metered_btn.set_value(
|
||||
{
|
||||
MeteredType.UNKNOWN: 'default',
|
||||
MeteredType.YES: 'metered',
|
||||
MeteredType.NO: 'unmetered'
|
||||
}.get(self._wifi_manager.current_network_metered, 'default'))
|
||||
|
||||
def _switch_to_panel(self, panel_type: NetworkPanelType):
|
||||
self._current_panel = panel_type
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self._wifi_manager.process_callbacks()
|
||||
|
||||
if self._current_panel == NetworkPanelType.WIFI:
|
||||
self._wifi_ui.render(rect)
|
||||
else:
|
||||
self._scroller.render(rect)
|
||||
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget, NavWidget
|
||||
|
||||
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
|
||||
PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
|
||||
}
|
||||
|
||||
self._font_medium = gui_app.font(FontWeight.MEDIUM)
|
||||
|
||||
@@ -89,10 +89,6 @@ ALERT_CRITICAL_REBOOT = Alert(
|
||||
class AlertRenderer(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
|
||||
self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
|
||||
self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
|
||||
|
||||
self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
|
||||
letter_spacing=-0.02)
|
||||
@@ -204,11 +200,11 @@ class AlertRenderer(Widget):
|
||||
text_x = self._rect.x + ALERT_MARGIN
|
||||
text_width = self._rect.width - ALERT_MARGIN
|
||||
if icon_side == 'left':
|
||||
text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
|
||||
text_x = self._rect.x + self._txt_turn_signal_right.width
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
|
||||
elif icon_side == 'right':
|
||||
text_x = self._rect.x + ALERT_MARGIN
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
|
||||
|
||||
text_rect = rl.Rectangle(
|
||||
text_x,
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
import time
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from cereal import car, log
|
||||
from cereal import messaging, car, log
|
||||
from msgq.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
|
||||
from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
|
||||
@@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView):
|
||||
|
||||
self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
|
||||
|
||||
# debug
|
||||
self._pm = messaging.PubMaster(['uiDebug'])
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
"""Check if currently swiping left (for scroller to disable)."""
|
||||
return self._bookmark_icon.is_swiping_left()
|
||||
@@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _render(self, _):
|
||||
start_draw = time.monotonic()
|
||||
self._switch_stream_if_needed(ui_state.sm)
|
||||
|
||||
# Update calibration before rendering
|
||||
@@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView):
|
||||
rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
|
||||
self._offroad_label.render(self._content_rect)
|
||||
|
||||
# publish uiDebug
|
||||
msg = messaging.new_message('uiDebug')
|
||||
msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
|
||||
self._pm.send('uiDebug', msg)
|
||||
|
||||
def _switch_stream_if_needed(self, sm):
|
||||
if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
@@ -107,7 +107,6 @@ else:
|
||||
class CameraView(Widget):
|
||||
def __init__(self, name: str, stream_type: VisionStreamType):
|
||||
super().__init__()
|
||||
# TODO: implement a receiver and connect thread
|
||||
self._name = name
|
||||
# Primary stream
|
||||
self.client = VisionIpcClient(name, stream_type, conflate=True)
|
||||
@@ -197,7 +196,10 @@ class CameraView(Widget):
|
||||
# Clean up shader
|
||||
if self.shader and self.shader.id:
|
||||
rl.unload_shader(self.shader)
|
||||
self.shader.id = 0
|
||||
|
||||
self.frame = None
|
||||
self.available_streams.clear()
|
||||
self.client = None
|
||||
|
||||
def __del__(self):
|
||||
@@ -234,6 +236,9 @@ class CameraView(Widget):
|
||||
if buffer:
|
||||
self._texture_needs_update = True
|
||||
self.frame = buffer
|
||||
elif not self.client.is_connected():
|
||||
# ensure we clear the displayed frame when the connection is lost
|
||||
self.frame = None
|
||||
|
||||
if not self.frame:
|
||||
self._draw_placeholder(rect)
|
||||
|
||||
@@ -15,20 +15,27 @@ EventName = log.OnroadEvent.EventName
|
||||
EVENT_TO_INT = EventName.schema.enumerants
|
||||
|
||||
|
||||
class DriverCameraView(CameraView):
|
||||
def _calc_frame_matrix(self, rect: rl.Rectangle):
|
||||
base = super()._calc_frame_matrix(rect)
|
||||
driver_view_ratio = 1.5
|
||||
base[0, 0] *= driver_view_ratio
|
||||
base[1, 1] *= driver_view_ratio
|
||||
return base
|
||||
|
||||
|
||||
class DriverCameraDialog(NavWidget):
|
||||
def __init__(self, no_escape=False):
|
||||
super().__init__()
|
||||
self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
|
||||
self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
|
||||
self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
|
||||
self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
|
||||
self.driver_state_renderer = DriverStateRenderer(lines=True)
|
||||
self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
|
||||
self.driver_state_renderer.load_icons()
|
||||
self._pm = messaging.PubMaster(['selfdriveState'])
|
||||
self._pm: messaging.PubMaster | None = None
|
||||
if not no_escape:
|
||||
# TODO: this can grow unbounded, should be given some thought
|
||||
device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
|
||||
self.set_back_callback(self._dismiss)
|
||||
device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
|
||||
self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
|
||||
self.set_back_enabled(not no_escape)
|
||||
|
||||
# Load eye icons
|
||||
@@ -40,26 +47,24 @@ class DriverCameraDialog(NavWidget):
|
||||
|
||||
self._load_eye_textures()
|
||||
|
||||
def stop_dmonitoringmodeld(self):
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", False)
|
||||
gui_app.set_modal_overlay(None)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", True)
|
||||
self._publish_alert_sound(None)
|
||||
device.reset_interactive_timeout(300)
|
||||
ui_state.params.remove("DriverTooDistracted")
|
||||
self._pm = messaging.PubMaster(['selfdriveState'])
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", False)
|
||||
device.reset_interactive_timeout()
|
||||
|
||||
def _handle_mouse_release(self, _):
|
||||
ui_state.params.remove("DriverTooDistracted")
|
||||
|
||||
def _dismiss(self):
|
||||
self.stop_dmonitoringmodeld()
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def close(self):
|
||||
if self._camera_view:
|
||||
@@ -103,6 +108,9 @@ class DriverCameraDialog(NavWidget):
|
||||
|
||||
def _publish_alert_sound(self, dm_state):
|
||||
"""Publish selfdriveState with only alertSound field set"""
|
||||
if self._pm is None:
|
||||
return
|
||||
|
||||
msg = messaging.new_message('selfdriveState')
|
||||
if dm_state is not None and len(dm_state.events):
|
||||
event_name = EVENT_TO_INT[dm_state.events[0].name]
|
||||
@@ -221,13 +229,6 @@ class DriverCameraDialog(NavWidget):
|
||||
glasses_prob = driver_data.sunglassesProb
|
||||
rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
|
||||
|
||||
def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
|
||||
base = self._original_calc_frame_matrix(rect)
|
||||
driver_view_ratio = 1.5
|
||||
base[0, 0] *= driver_view_ratio
|
||||
base[1, 1] *= driver_view_ratio
|
||||
return base
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
gui_app.init_window("Driver Camera View (mici)")
|
||||
|
||||
@@ -3,6 +3,7 @@ from collections.abc import Callable
|
||||
import numpy as np
|
||||
import math
|
||||
from cereal import log
|
||||
from openpilot.system.hardware import PC
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -217,7 +218,10 @@ class DriverStateRenderer(Widget):
|
||||
rotation = math.degrees(math.atan2(pitch, yaw))
|
||||
angle_diff = rotation - self._rotation_filter.x
|
||||
angle_diff = ((angle_diff + 180) % 360) - 180
|
||||
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
|
||||
if PC and self._confirm_mode:
|
||||
self._rotation_filter.x += 2
|
||||
else:
|
||||
self._rotation_filter.update(self._rotation_filter.x + angle_diff)
|
||||
|
||||
if not self.should_draw:
|
||||
self._fade_filter.update(0.0)
|
||||
|
||||
@@ -30,20 +30,8 @@ class FontSizes:
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class Colors:
|
||||
white: rl.Color = rl.WHITE
|
||||
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
|
||||
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
|
||||
engaged: rl.Color = rl.Color(128, 216, 166, 255)
|
||||
disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
|
||||
override_bg: rl.Color = rl.Color(145, 155, 149, 204)
|
||||
engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
|
||||
grey: rl.Color = rl.Color(166, 166, 166, 255)
|
||||
dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
|
||||
black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
|
||||
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
|
||||
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
|
||||
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
|
||||
header_gradient_end: rl.Color = rl.BLANK
|
||||
WHITE = rl.WHITE
|
||||
WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
|
||||
|
||||
|
||||
FONT_SIZES = FontSizes()
|
||||
@@ -236,16 +224,18 @@ class HudRenderer(Widget):
|
||||
|
||||
def _draw_set_speed(self, rect: rl.Rectangle) -> None:
|
||||
"""Draw the MAX speed indicator box."""
|
||||
x = rect.x
|
||||
y = rect.y
|
||||
|
||||
alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
|
||||
self._can_draw_top_icons and self._engaged)
|
||||
if alpha < 1e-2:
|
||||
return
|
||||
|
||||
x = rect.x
|
||||
y = rect.y
|
||||
|
||||
# draw drop shadow
|
||||
circle_radius = 162 // 2
|
||||
rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
|
||||
rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
|
||||
rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
|
||||
|
||||
set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
|
||||
max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
|
||||
@@ -279,9 +269,9 @@ class HudRenderer(Widget):
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
|
||||
|
||||
unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
|
||||
unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
|
||||
unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
|
||||
|
||||
@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,
|
||||
|
||||
pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
|
||||
|
||||
# Rotate to start from middle of cap for proper triangulation
|
||||
pts = np.roll(pts, cap_segs, axis=0)
|
||||
|
||||
if DEBUG:
|
||||
n = len(pts)
|
||||
idx = int(time.monotonic() * 12) % max(1, n) # speed: 12 pts/sec
|
||||
|
||||
@@ -282,7 +282,8 @@ class BigDialogOptionButton(Widget):
|
||||
self._selected = False
|
||||
|
||||
self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
|
||||
font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
|
||||
scroll=True)
|
||||
|
||||
def set_selected(self, selected: bool):
|
||||
self._selected = selected
|
||||
|
||||
@@ -68,7 +68,6 @@ else:
|
||||
class CameraView(Widget):
|
||||
def __init__(self, name: str, stream_type: VisionStreamType):
|
||||
super().__init__()
|
||||
# TODO: implement a receiver and connect thread
|
||||
self._name = name
|
||||
# Primary stream
|
||||
self.client = VisionIpcClient(name, stream_type, conflate=True)
|
||||
@@ -337,12 +336,12 @@ class CameraView(Widget):
|
||||
self._initialize_textures()
|
||||
|
||||
def _initialize_textures(self):
|
||||
self._clear_textures()
|
||||
if not TICI:
|
||||
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
|
||||
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
|
||||
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
|
||||
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
|
||||
self._clear_textures()
|
||||
if not TICI:
|
||||
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
|
||||
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
|
||||
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
|
||||
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
|
||||
|
||||
def _clear_textures(self):
|
||||
if self.texture_y and self.texture_y.id:
|
||||
|
||||
@@ -35,20 +35,20 @@ class FontSizes:
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class Colors:
|
||||
white: rl.Color = rl.WHITE
|
||||
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
|
||||
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
|
||||
engaged: rl.Color = rl.Color(128, 216, 166, 255)
|
||||
disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
|
||||
override_bg: rl.Color = rl.Color(145, 155, 149, 204)
|
||||
engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
|
||||
grey: rl.Color = rl.Color(166, 166, 166, 255)
|
||||
dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
|
||||
black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
|
||||
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
|
||||
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
|
||||
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
|
||||
header_gradient_end: rl.Color = rl.BLANK
|
||||
WHITE = rl.WHITE
|
||||
DISENGAGED = rl.Color(145, 155, 149, 255)
|
||||
OVERRIDE = rl.Color(145, 155, 149, 255) # Added
|
||||
ENGAGED = rl.Color(128, 216, 166, 255)
|
||||
DISENGAGED_BG = rl.Color(0, 0, 0, 153)
|
||||
OVERRIDE_BG = rl.Color(145, 155, 149, 204)
|
||||
ENGAGED_BG = rl.Color(128, 216, 166, 204)
|
||||
GREY = rl.Color(166, 166, 166, 255)
|
||||
DARK_GREY = rl.Color(114, 114, 114, 255)
|
||||
BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
|
||||
WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
|
||||
BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
|
||||
HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
|
||||
HEADER_GRADIENT_END = rl.BLANK
|
||||
|
||||
|
||||
UI_CONFIG = UIConfig()
|
||||
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
|
||||
int(rect.y),
|
||||
int(rect.width),
|
||||
UI_CONFIG.header_height,
|
||||
COLORS.header_gradient_start,
|
||||
COLORS.header_gradient_end,
|
||||
COLORS.HEADER_GRADIENT_START,
|
||||
COLORS.HEADER_GRADIENT_END,
|
||||
)
|
||||
|
||||
if self.is_cruise_available:
|
||||
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
|
||||
y = rect.y + 45
|
||||
|
||||
set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
|
||||
rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
|
||||
rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
|
||||
rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
|
||||
rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
|
||||
|
||||
max_color = COLORS.grey
|
||||
set_speed_color = COLORS.dark_grey
|
||||
max_color = COLORS.GREY
|
||||
set_speed_color = COLORS.DARK_GREY
|
||||
if self.is_cruise_set:
|
||||
set_speed_color = COLORS.white
|
||||
set_speed_color = COLORS.WHITE
|
||||
if ui_state.status == UIStatus.ENGAGED:
|
||||
max_color = COLORS.engaged
|
||||
max_color = COLORS.ENGAGED
|
||||
elif ui_state.status == UIStatus.DISENGAGED:
|
||||
max_color = COLORS.disengaged
|
||||
max_color = COLORS.DISENGAGED
|
||||
elif ui_state.status == UIStatus.OVERRIDE:
|
||||
max_color = COLORS.override
|
||||
max_color = COLORS.OVERRIDE
|
||||
|
||||
max_text = tr("MAX")
|
||||
max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
|
||||
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
|
||||
|
||||
unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
|
||||
unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
|
||||
unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
|
||||
|
||||
@@ -2,3 +2,8 @@ test
|
||||
test_translations
|
||||
test_ui/report_1
|
||||
test_ui/raylib_report
|
||||
|
||||
diff/*.mp4
|
||||
diff/*.html
|
||||
diff/.coverage
|
||||
diff/htmlcov/
|
||||
|
||||
Executable
+201
@@ -0,0 +1,201 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import sys
|
||||
import subprocess
|
||||
import tempfile
|
||||
import base64
|
||||
import webbrowser
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
|
||||
|
||||
|
||||
def extract_frames(video_path, output_dir):
|
||||
output_pattern = str(output_dir / "frame_%04d.png")
|
||||
cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
|
||||
subprocess.run(cmd, capture_output=True, check=True)
|
||||
frames = sorted(output_dir.glob("frame_*.png"))
|
||||
return frames
|
||||
|
||||
|
||||
def compare_frames(frame1_path, frame2_path):
|
||||
result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
|
||||
return result.returncode == 0
|
||||
|
||||
|
||||
def frame_to_data_url(frame_path):
|
||||
with open(frame_path, 'rb') as f:
|
||||
data = f.read()
|
||||
return f"data:image/png;base64,{base64.b64encode(data).decode()}"
|
||||
|
||||
|
||||
def create_diff_video(video1, video2, output_path):
|
||||
"""Create a diff video using ffmpeg blend filter with difference mode."""
|
||||
print("Creating diff video...")
|
||||
cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
|
||||
subprocess.run(cmd, capture_output=True, check=True)
|
||||
|
||||
|
||||
def find_differences(video1, video2):
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
tmpdir = Path(tmpdir)
|
||||
|
||||
print(f"Extracting frames from {video1}...")
|
||||
frames1_dir = tmpdir / "frames1"
|
||||
frames1_dir.mkdir()
|
||||
frames1 = extract_frames(video1, frames1_dir)
|
||||
|
||||
print(f"Extracting frames from {video2}...")
|
||||
frames2_dir = tmpdir / "frames2"
|
||||
frames2_dir.mkdir()
|
||||
frames2 = extract_frames(video2, frames2_dir)
|
||||
|
||||
if len(frames1) != len(frames2):
|
||||
print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
|
||||
min_frames = min(len(frames1), len(frames2))
|
||||
frames1 = frames1[:min_frames]
|
||||
frames2 = frames2[:min_frames]
|
||||
|
||||
print(f"Comparing {len(frames1)} frames...")
|
||||
different_frames = []
|
||||
frame_data = []
|
||||
|
||||
for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
|
||||
is_different = not compare_frames(f1, f2)
|
||||
if is_different:
|
||||
different_frames.append(i)
|
||||
|
||||
if i < 10 or i >= len(frames1) - 10 or is_different:
|
||||
frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
|
||||
|
||||
return different_frames, frame_data, len(frames1)
|
||||
|
||||
|
||||
def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
|
||||
chunks = []
|
||||
if different_frames:
|
||||
current_chunk = [different_frames[0]]
|
||||
for i in range(1, len(different_frames)):
|
||||
if different_frames[i] == different_frames[i - 1] + 1:
|
||||
current_chunk.append(different_frames[i])
|
||||
else:
|
||||
chunks.append(current_chunk)
|
||||
current_chunk = [different_frames[i]]
|
||||
chunks.append(current_chunk)
|
||||
|
||||
result_text = (
|
||||
f"✅ Videos are identical! ({total_frames} frames)"
|
||||
if len(different_frames) == 0
|
||||
else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
|
||||
)
|
||||
|
||||
html = f"""<h2>UI Diff</h2>
|
||||
<table>
|
||||
<tr>
|
||||
<td width='33%'>
|
||||
<p><strong>Video 1</strong></p>
|
||||
<video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
|
||||
<source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
|
||||
Your browser does not support the video tag.
|
||||
</video>
|
||||
</td>
|
||||
<td width='33%'>
|
||||
<p><strong>Video 2</strong></p>
|
||||
<video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
|
||||
<source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
|
||||
Your browser does not support the video tag.
|
||||
</video>
|
||||
</td>
|
||||
<td width='33%'>
|
||||
<p><strong>Pixel Diff</strong></p>
|
||||
<video id='diffVideo' width='100%' autoplay muted loop>
|
||||
<source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
|
||||
Your browser does not support the video tag.
|
||||
</video>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
<script>
|
||||
function syncVideos() {{
|
||||
const video1 = document.getElementById('video1');
|
||||
const video2 = document.getElementById('video2');
|
||||
const diffVideo = document.getElementById('diffVideo');
|
||||
video1.currentTime = video2.currentTime = diffVideo.currentTime;
|
||||
}}
|
||||
video1.addEventListener('timeupdate', () => {{
|
||||
if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
|
||||
video2.currentTime = video1.currentTime;
|
||||
}}
|
||||
if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
|
||||
diffVideo.currentTime = video1.currentTime;
|
||||
}}
|
||||
}});
|
||||
video2.addEventListener('timeupdate', () => {{
|
||||
if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
|
||||
video1.currentTime = video2.currentTime;
|
||||
}}
|
||||
if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
|
||||
diffVideo.currentTime = video2.currentTime;
|
||||
}}
|
||||
}});
|
||||
diffVideo.addEventListener('timeupdate', () => {{
|
||||
if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
|
||||
video1.currentTime = diffVideo.currentTime;
|
||||
video2.currentTime = diffVideo.currentTime;
|
||||
}}
|
||||
}});
|
||||
</script>
|
||||
<hr>
|
||||
<p><strong>Results:</strong> {result_text}</p>
|
||||
"""
|
||||
return html
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
|
||||
parser.add_argument('video1', help='First video file')
|
||||
parser.add_argument('video2', help='Second video file')
|
||||
parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
|
||||
parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
|
||||
parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
os.makedirs(DIFF_OUT_DIR, exist_ok=True)
|
||||
|
||||
print("=" * 60)
|
||||
print("VIDEO DIFF - HTML REPORT")
|
||||
print("=" * 60)
|
||||
print(f"Video 1: {args.video1}")
|
||||
print(f"Video 2: {args.video2}")
|
||||
print(f"Output: {args.output}")
|
||||
print()
|
||||
|
||||
# Create diff video
|
||||
diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
|
||||
create_diff_video(args.video1, args.video2, diff_video_path)
|
||||
|
||||
different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
|
||||
|
||||
if different_frames is None:
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
print("Generating HTML report...")
|
||||
html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
|
||||
|
||||
with open(DIFF_OUT_DIR / args.output, 'w') as f:
|
||||
f.write(html)
|
||||
|
||||
# Open in browser by default
|
||||
if not args.no_open:
|
||||
print(f"Opening {args.output} in browser...")
|
||||
webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
|
||||
|
||||
return 0 if len(different_frames) == 0 else 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
Executable
+128
@@ -0,0 +1,128 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import coverage
|
||||
import pyray as rl
|
||||
from dataclasses import dataclass
|
||||
from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
|
||||
|
||||
os.environ["RECORD"] = "1"
|
||||
if "RECORD_OUTPUT" not in os.environ:
|
||||
os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
|
||||
|
||||
os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.version import terms_version, training_version
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
|
||||
FPS = 60
|
||||
HEADLESS = os.getenv("WINDOWED", "0") == "1"
|
||||
|
||||
|
||||
@dataclass
|
||||
class DummyEvent:
|
||||
click: bool = False
|
||||
# TODO: add some kind of intensity
|
||||
swipe_left: bool = False
|
||||
swipe_right: bool = False
|
||||
swipe_down: bool = False
|
||||
|
||||
|
||||
SCRIPT = [
|
||||
(0, DummyEvent()),
|
||||
(FPS * 1, DummyEvent(click=True)),
|
||||
(FPS * 2, DummyEvent(click=True)),
|
||||
(FPS * 3, DummyEvent()),
|
||||
]
|
||||
|
||||
|
||||
def setup_state():
|
||||
params = Params()
|
||||
params.put("HasAcceptedTerms", terms_version)
|
||||
params.put("CompletedTrainingVersion", training_version)
|
||||
params.put("DongleId", "test123456789")
|
||||
params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
|
||||
return None
|
||||
|
||||
|
||||
def inject_click(coords):
|
||||
events = []
|
||||
x, y = coords[0]
|
||||
events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
|
||||
for x, y in coords[1:]:
|
||||
events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
|
||||
x, y = coords[-1]
|
||||
events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
|
||||
|
||||
with gui_app._mouse._lock:
|
||||
gui_app._mouse._events.extend(events)
|
||||
|
||||
|
||||
def handle_event(event: DummyEvent):
|
||||
if event.click:
|
||||
inject_click([(gui_app.width // 2, gui_app.height // 2)])
|
||||
if event.swipe_left:
|
||||
inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
|
||||
(gui_app.width // 4, gui_app.height // 2),
|
||||
(0, gui_app.height // 2)])
|
||||
if event.swipe_right:
|
||||
inject_click([(gui_app.width // 4, gui_app.height // 2),
|
||||
(gui_app.width * 3 // 4, gui_app.height // 2),
|
||||
(gui_app.width, gui_app.height // 2)])
|
||||
if event.swipe_down:
|
||||
inject_click([(gui_app.width // 2, gui_app.height // 4),
|
||||
(gui_app.width // 2, gui_app.height * 3 // 4),
|
||||
(gui_app.width // 2, gui_app.height)])
|
||||
|
||||
|
||||
def run_replay():
|
||||
setup_state()
|
||||
os.makedirs(DIFF_OUT_DIR, exist_ok=True)
|
||||
|
||||
if not HEADLESS:
|
||||
rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
|
||||
gui_app.init_window("ui diff test", fps=FPS)
|
||||
main_layout = MiciMainLayout()
|
||||
main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
|
||||
frame = 0
|
||||
script_index = 0
|
||||
|
||||
for should_render in gui_app.render():
|
||||
while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
|
||||
_, event = SCRIPT[script_index]
|
||||
handle_event(event)
|
||||
script_index += 1
|
||||
|
||||
ui_state.update()
|
||||
|
||||
if should_render:
|
||||
main_layout.render()
|
||||
|
||||
frame += 1
|
||||
|
||||
if script_index >= len(SCRIPT):
|
||||
break
|
||||
|
||||
gui_app.close()
|
||||
|
||||
print(f"Total frames: {frame}")
|
||||
print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
|
||||
|
||||
|
||||
def main():
|
||||
cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
|
||||
with cov.collect():
|
||||
run_replay()
|
||||
cov.stop()
|
||||
cov.save()
|
||||
cov.report()
|
||||
cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
|
||||
print("HTML report: htmlcov/index.html")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -88,9 +88,9 @@ if __name__ == "__main__":
|
||||
print("Running...")
|
||||
patch_submaster(message_chunks)
|
||||
|
||||
W, H = 1928, 1208
|
||||
W, H = 2048, 1216
|
||||
vipc = VisionIpcServer("camerad")
|
||||
vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208)
|
||||
vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
|
||||
vipc.start_listener()
|
||||
yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
|
||||
yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
|
||||
|
||||
@@ -68,10 +68,10 @@ msgid ""
|
||||
"control alpha. Changing this setting will restart openpilot if the car is "
|
||||
"powered on."
|
||||
msgstr ""
|
||||
"<b>경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동"
|
||||
"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 종방향 제어 대신 "
|
||||
"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설"
|
||||
"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
|
||||
"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
|
||||
"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
|
||||
"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
|
||||
"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
|
||||
"원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
|
||||
|
||||
#: selfdrive/ui/layouts/settings/device.py:148
|
||||
@@ -130,7 +130,7 @@ msgstr "동의"
|
||||
#: selfdrive/ui/layouts/settings/toggles.py:70
|
||||
#, python-format
|
||||
msgid "Always-On Driver Monitoring"
|
||||
msgstr "항상 켜짐 운전자 모니터링"
|
||||
msgstr "운전자 모니터링 항상 켜짐"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/toggles.py:186
|
||||
#, python-format
|
||||
@@ -138,7 +138,7 @@ msgid ""
|
||||
"An alpha version of openpilot longitudinal control can be tested, along with "
|
||||
"Experimental mode, on non-release branches."
|
||||
msgstr ""
|
||||
"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
|
||||
"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
|
||||
"할 수 있습니다."
|
||||
|
||||
#: selfdrive/ui/layouts/settings/device.py:187
|
||||
@@ -192,7 +192,7 @@ msgstr "확인"
|
||||
#: selfdrive/ui/widgets/exp_mode_button.py:50
|
||||
#, python-format
|
||||
msgid "CHILL MODE ON"
|
||||
msgstr "칠 모드 켜짐"
|
||||
msgstr "안정적 모드 켜짐"
|
||||
|
||||
#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
|
||||
#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
|
||||
@@ -283,7 +283,7 @@ msgstr "해제 후 재시작"
|
||||
#: selfdrive/ui/layouts/settings/device.py:103
|
||||
#, python-format
|
||||
msgid "Disengage to Reset Calibration"
|
||||
msgstr "해제 후 보정 재설정"
|
||||
msgstr "해제 후 캘리브레이션 재설정"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/toggles.py:32
|
||||
msgid "Display speed in km/h instead of mph."
|
||||
@@ -372,7 +372,7 @@ msgstr "openpilot 사용"
|
||||
msgid ""
|
||||
"Enable the openpilot longitudinal control (alpha) toggle to allow "
|
||||
"Experimental mode."
|
||||
msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요."
|
||||
msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
|
||||
|
||||
#: system/ui/widgets/network.py:204
|
||||
#, python-format
|
||||
@@ -415,7 +415,7 @@ msgid ""
|
||||
"Experimental mode is currently unavailable on this car since the car's stock "
|
||||
"ACC is used for longitudinal control."
|
||||
msgstr ""
|
||||
"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
|
||||
"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
|
||||
"니다."
|
||||
|
||||
#: system/ui/widgets/network.py:373
|
||||
@@ -430,11 +430,11 @@ msgstr "설정 완료"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/settings.py:66
|
||||
msgid "Firehose"
|
||||
msgstr "Firehose"
|
||||
msgstr "파이어호스"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/firehose.py:18
|
||||
msgid "Firehose Mode"
|
||||
msgstr "Firehose 모드"
|
||||
msgstr "파이어호스 모드"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/firehose.py:25
|
||||
msgid ""
|
||||
@@ -462,7 +462,7 @@ msgstr ""
|
||||
"최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
|
||||
"Wi‑Fi에 연결하세요.\n"
|
||||
"\n"
|
||||
"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니"
|
||||
"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
|
||||
"다.\n"
|
||||
"\n"
|
||||
"\n"
|
||||
@@ -470,7 +470,7 @@ msgstr ""
|
||||
"\n"
|
||||
"어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
|
||||
"\n"
|
||||
"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택"
|
||||
"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
|
||||
"적으로 가져갑니다.\n"
|
||||
"\n"
|
||||
"좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
|
||||
@@ -544,7 +544,7 @@ msgstr "LTE"
|
||||
#: selfdrive/ui/layouts/settings/developer.py:64
|
||||
#, python-format
|
||||
msgid "Longitudinal Maneuver Mode"
|
||||
msgstr "종방향 매뉴버 모드"
|
||||
msgstr "롱컨 기동 모드"
|
||||
|
||||
#: selfdrive/ui/onroad/hud_renderer.py:148
|
||||
#, python-format
|
||||
@@ -623,7 +623,7 @@ msgstr "미리보기"
|
||||
#: selfdrive/ui/widgets/prime.py:44
|
||||
#, python-format
|
||||
msgid "PRIME FEATURES:"
|
||||
msgstr "prime 기능:"
|
||||
msgstr "프라임 기능:"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/device.py:48
|
||||
#, python-format
|
||||
@@ -646,7 +646,7 @@ msgid ""
|
||||
"Pair your device with comma connect (connect.comma.ai) and claim your comma "
|
||||
"prime offer."
|
||||
msgstr ""
|
||||
"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세"
|
||||
"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
|
||||
"요."
|
||||
|
||||
#: selfdrive/ui/widgets/setup.py:91
|
||||
@@ -748,7 +748,7 @@ msgstr "규제 정보"
|
||||
#: selfdrive/ui/layouts/settings/toggles.py:98
|
||||
#, python-format
|
||||
msgid "Relaxed"
|
||||
msgstr "편안함"
|
||||
msgstr "편안한"
|
||||
|
||||
#: selfdrive/ui/widgets/prime.py:47
|
||||
#, python-format
|
||||
@@ -773,7 +773,7 @@ msgstr "재설정"
|
||||
#: selfdrive/ui/layouts/settings/device.py:51
|
||||
#, python-format
|
||||
msgid "Reset Calibration"
|
||||
msgstr "보정 재설정"
|
||||
msgstr "캘리브레이션 재설정"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/device.py:65
|
||||
#, python-format
|
||||
@@ -841,7 +841,7 @@ msgid ""
|
||||
"cycle through these personalities with your steering wheel distance button."
|
||||
msgstr ""
|
||||
"표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
|
||||
"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
|
||||
"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
|
||||
"링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
|
||||
|
||||
#: selfdrive/ui/onroad/alert_renderer.py:59
|
||||
@@ -892,7 +892,7 @@ msgstr "제거"
|
||||
|
||||
#: selfdrive/ui/layouts/sidebar.py:117
|
||||
msgid "Unknown"
|
||||
msgstr "알 수 없음"
|
||||
msgstr "알수없음"
|
||||
|
||||
#: selfdrive/ui/layouts/settings/software.py:48
|
||||
#, python-format
|
||||
@@ -994,7 +994,7 @@ msgstr "카메라 시작 중"
|
||||
#: selfdrive/ui/widgets/prime.py:63
|
||||
#, python-format
|
||||
msgid "comma prime"
|
||||
msgstr "comma prime"
|
||||
msgstr "comma 프라임"
|
||||
|
||||
#: system/ui/widgets/network.py:142
|
||||
#, python-format
|
||||
@@ -1054,7 +1054,7 @@ msgstr "지금"
|
||||
#: selfdrive/ui/layouts/settings/developer.py:71
|
||||
#, python-format
|
||||
msgid "openpilot Longitudinal Control (Alpha)"
|
||||
msgstr "openpilot 종방향 제어(알파)"
|
||||
msgstr "openpilot 롱컨 제어(알파)"
|
||||
|
||||
#: selfdrive/ui/onroad/alert_renderer.py:51
|
||||
#, python-format
|
||||
@@ -1076,9 +1076,9 @@ msgid ""
|
||||
"some turns. The Experimental mode logo will also be shown in the top right "
|
||||
"corner."
|
||||
msgstr ""
|
||||
"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 "
|
||||
"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
|
||||
"아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
|
||||
"다:<br><h4>엔드투엔드 종방향 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
|
||||
"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
|
||||
"다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
|
||||
"판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
|
||||
"으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
|
||||
@@ -1111,7 +1111,7 @@ msgstr ""
|
||||
#: selfdrive/ui/layouts/settings/toggles.py:183
|
||||
#, python-format
|
||||
msgid "openpilot longitudinal control may come in a future update."
|
||||
msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다."
|
||||
msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
|
||||
|
||||
#: selfdrive/ui/layouts/settings/device.py:26
|
||||
msgid ""
|
||||
@@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전"
|
||||
#, python-format
|
||||
msgid "{} segment of your driving is in the training dataset so far."
|
||||
msgid_plural "{} segments of your driving is in the training dataset so far."
|
||||
msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다."
|
||||
msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
|
||||
|
||||
#: selfdrive/ui/widgets/prime.py:62
|
||||
#, python-format
|
||||
@@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨"
|
||||
#: selfdrive/ui/widgets/setup.py:22
|
||||
#, python-format
|
||||
msgid "🔥 Firehose Mode 🔥"
|
||||
msgstr "🔥 Firehose 모드 🔥"
|
||||
msgstr "🔥 파이어호스 모드 🔥"
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,6 +5,7 @@
|
||||
"Português": "pt-BR",
|
||||
"Español": "es",
|
||||
"Türkçe": "tr",
|
||||
"Українська": "uk",
|
||||
"العربية": "ar",
|
||||
"ไทย": "th",
|
||||
"中文（繁體）": "zh-CHT",
|
||||
|
||||
@@ -1 +1 @@
|
||||
030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
|
||||
6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332
|
||||
@@ -15,9 +15,8 @@ LAT_PLAN_MIN_IDX = 5
|
||||
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
|
||||
|
||||
# from selfdrive/controls/lib/latcontrol_torque.py
|
||||
KP = 1.0
|
||||
KI = 0.3
|
||||
KD = 0.0
|
||||
KP = 0.8
|
||||
KI = 0.15
|
||||
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
|
||||
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
|
||||
|
||||
@@ -64,7 +63,7 @@ class LatControlTorqueExtBase:
|
||||
self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
|
||||
|
||||
self._ff = 0.0
|
||||
self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
|
||||
self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
|
||||
self._pid_log = None
|
||||
self._setpoint = 0.0
|
||||
self._measurement = 0.0
|
||||
|
||||
@@ -2,9 +2,10 @@ import json
|
||||
import os
|
||||
import random
|
||||
import time
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
import jwt
|
||||
from typing import cast
|
||||
from datetime import datetime, timedelta, UTC
|
||||
|
||||
from openpilot.common.api.base import BaseApi
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
@@ -92,7 +93,8 @@ class SunnylinkApi(BaseApi):
|
||||
|
||||
backoff = 1
|
||||
while True:
|
||||
register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
|
||||
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
|
||||
cast(str, private_key), algorithm=jwt_algo)
|
||||
try:
|
||||
if verbose or time.monotonic() - start_time < timeout / 2:
|
||||
self._status_update("Registering device to sunnylink...")
|
||||
|
||||
@@ -458,6 +458,10 @@
|
||||
"title": "Language",
|
||||
"description": ""
|
||||
},
|
||||
"LastAgnosPowerMonitorShutdown": {
|
||||
"title": "Last AGNOS Power Monitor Shutdown",
|
||||
"description": ""
|
||||
},
|
||||
"LastAthenaPingTime": {
|
||||
"title": "Last Athena Ping Time",
|
||||
"description": ""
|
||||
|
||||
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.common.utils import atomic_write_in_dir
|
||||
from openpilot.common.utils import atomic_write
|
||||
from openpilot.system.version import get_build_metadata
|
||||
from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
|
||||
from openpilot.system.statsd import METRIC_TYPE, StatLogSP
|
||||
@@ -242,7 +242,7 @@ def stats_main(end_event):
|
||||
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
|
||||
if len(result) > 0:
|
||||
stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
|
||||
with atomic_write_in_dir(stats_path) as f:
|
||||
with atomic_write(stats_path) as f:
|
||||
f.write(result)
|
||||
idx += 1
|
||||
else:
|
||||
|
||||
@@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from cereal.services import SERVICE_LIST
|
||||
from openpilot.common.api import Api
|
||||
from openpilot.common.api import Api, get_key_pair
|
||||
from openpilot.common.utils import CallbackReader, get_upload_stream
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import set_core_affinity
|
||||
@@ -554,11 +554,8 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
|
||||
|
||||
@dispatcher.add_method
|
||||
def getPublicKey() -> str | None:
|
||||
if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
|
||||
return None
|
||||
|
||||
with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
|
||||
return f.read()
|
||||
_, _, public_key = get_key_pair()
|
||||
return public_key
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
import time
|
||||
import json
|
||||
import jwt
|
||||
from typing import cast
|
||||
from pathlib import Path
|
||||
|
||||
from datetime import datetime, timedelta, UTC
|
||||
@@ -69,7 +70,9 @@ def register(show_spinner=False) -> str | None:
|
||||
start_time = time.monotonic()
|
||||
while True:
|
||||
try:
|
||||
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
|
||||
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
|
||||
cast(str, private_key), algorithm=jwt_algo)
|
||||
cloudlog.info("getting pilotauth")
|
||||
cloudlog.info("getting pilotauth")
|
||||
resp = api_get("v2/pilotauth/", method='POST', timeout=15,
|
||||
imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
|
||||
|
||||
@@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() {
|
||||
};
|
||||
|
||||
// Figure out which sensor we have
|
||||
if (!init_sensor_lambda(new OX03C10) &&
|
||||
!init_sensor_lambda(new OS04C10)) {
|
||||
if (!init_sensor_lambda(new OS04C10) &&
|
||||
!init_sensor_lambda(new OX03C10)) {
|
||||
LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
|
||||
enabled = false;
|
||||
return false;
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#include <cmath>
|
||||
|
||||
#include "system/camerad/sensors/sensor.h"
|
||||
#include "third_party/linux/include/msm_camsensor_sdk.h"
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -51,7 +52,7 @@ OS04C10::OS04C10() {
|
||||
probe_expected_data = 0x5304;
|
||||
bits_per_pixel = 12;
|
||||
mipi_format = CAM_FORMAT_MIPI_RAW_12;
|
||||
frame_data_type = 0x2c;
|
||||
frame_data_type = CSI_RAW12;
|
||||
mclk_frequency = 24000000; // Hz
|
||||
|
||||
// TODO: this was set from logs. actually calculate it out
|
||||
|
||||
@@ -4,10 +4,10 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
|
||||
const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
|
||||
|
||||
const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
// DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
|
||||
{0x0103, 0x01},
|
||||
// baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
|
||||
{0x0103, 0x01}, // software reset
|
||||
|
||||
// PLL
|
||||
// PLL + clocks
|
||||
{0x0301, 0xe4},
|
||||
{0x0303, 0x01},
|
||||
{0x0305, 0xb6},
|
||||
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x3106, 0x21},
|
||||
{0x3107, 0xa1},
|
||||
|
||||
// ?
|
||||
// Analog/timing fine-tuning block
|
||||
{0x3624, 0x00},
|
||||
{0x3625, 0x4c},
|
||||
{0x3660, 0x04},
|
||||
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x3f00, 0x0b},
|
||||
{0x3f06, 0x04},
|
||||
|
||||
// BLC
|
||||
// BLC - black level correction
|
||||
{0x400a, 0x01},
|
||||
{0x400b, 0x50},
|
||||
{0x400e, 0x08},
|
||||
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x5180, 0x70},
|
||||
{0x5181, 0x10},
|
||||
|
||||
// DPC
|
||||
// DPC - defective pixel correction
|
||||
{0x520a, 0x03},
|
||||
{0x520b, 0x06},
|
||||
{0x520c, 0x0c},
|
||||
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x4008, 0x01},
|
||||
{0x4009, 0x06},
|
||||
|
||||
// FSIN
|
||||
// FSIN - frame sync
|
||||
{0x3002, 0x22},
|
||||
{0x3663, 0x22},
|
||||
{0x368a, 0x04},
|
||||
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
{0x3816, 0x03},
|
||||
{0x3817, 0x01},
|
||||
|
||||
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS
|
||||
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS
|
||||
{0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
|
||||
{0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
|
||||
|
||||
{0x3820, 0xb3},
|
||||
{0x3821, 0x01},
|
||||
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
// initialize exposure
|
||||
{0x3503, 0x88},
|
||||
|
||||
// long
|
||||
// long exposure
|
||||
{0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
|
||||
{0x3508, 0x00}, {0x3509, 0x80},
|
||||
{0x350a, 0x04}, {0x350b, 0x00},
|
||||
|
||||
// short
|
||||
// short exposure
|
||||
{0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
|
||||
{0x350c, 0x00}, {0x350d, 0x80},
|
||||
{0x350e, 0x04}, {0x350f, 0x00},
|
||||
|
||||
// wb
|
||||
// white balance
|
||||
// b
|
||||
{0x5100, 0x06}, {0x5101, 0x7e},
|
||||
{0x5140, 0x06}, {0x5141, 0x7e},
|
||||
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
|
||||
};
|
||||
|
||||
const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
|
||||
// OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
|
||||
// based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
|
||||
{0x3c8c, 0x40},
|
||||
{0x3714, 0x24},
|
||||
{0x37c2, 0x04},
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#include <cmath>
|
||||
|
||||
#include "system/camerad/sensors/sensor.h"
|
||||
#include "third_party/linux/include/msm_camsensor_sdk.h"
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -40,8 +41,8 @@ OX03C10::OX03C10() {
|
||||
probe_expected_data = 0x5803;
|
||||
bits_per_pixel = 12;
|
||||
mipi_format = CAM_FORMAT_MIPI_RAW_12;
|
||||
frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
|
||||
mclk_frequency = 24000000; //Hz
|
||||
frame_data_type = CSI_RAW12;
|
||||
mclk_frequency = 24000000; // Hz
|
||||
|
||||
readout_time_ns = 14697000;
|
||||
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#include <string>
|
||||
#include <algorithm> // for std::clamp
|
||||
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/base.h"
|
||||
|
||||
|
||||
@@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.timeout import Timeout
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.hardware import TICI
|
||||
from openpilot.system.loggerd.xattr_cache import getxattr
|
||||
from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
@@ -221,13 +222,16 @@ class TestLoggerd:
|
||||
assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
|
||||
assert boot.launchLog == launch_log
|
||||
|
||||
for fn in ["console-ramoops", "pmsg-ramoops-0"]:
|
||||
path = Path(os.path.join("/sys/fs/pstore/", fn))
|
||||
if path.is_file():
|
||||
with open(path, "rb") as f:
|
||||
expected_val = f.read()
|
||||
bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
|
||||
assert expected_val == bootlog_val
|
||||
if TICI:
|
||||
for fn in ["console-ramoops", "pmsg-ramoops-0"]:
|
||||
path = Path(os.path.join("/sys/fs/pstore/", fn))
|
||||
if path.is_file():
|
||||
with open(path, "rb") as f:
|
||||
expected_val = f.read()
|
||||
bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
|
||||
assert expected_val == bootlog_val
|
||||
else:
|
||||
assert len(boot.pstore.entries) == 0
|
||||
|
||||
# next one should increment by one
|
||||
bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
|
||||
|
||||
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
|
||||
MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
|
||||
CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
|
||||
|
||||
TOTAL_SCONS_NODES = 2280
|
||||
TOTAL_SCONS_NODES = 2705
|
||||
MAX_BUILD_PROGRESS = 100
|
||||
|
||||
def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
|
||||
|
||||
@@ -9,6 +9,7 @@ import traceback
|
||||
from cereal import log
|
||||
import cereal.messaging as messaging
|
||||
import openpilot.system.sentry as sentry
|
||||
from openpilot.common.utils import atomic_write
|
||||
from openpilot.common.params import Params, ParamKeyFlag
|
||||
from openpilot.common.text_window import TextWindow
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
@@ -168,7 +169,7 @@ def manager_thread() -> None:
|
||||
# kick AGNOS power monitoring watchdog
|
||||
try:
|
||||
if sm.all_checks(['deviceState']):
|
||||
with open("/var/tmp/power_watchdog", "w") as f:
|
||||
with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
|
||||
f.write(str(time.monotonic()))
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
@@ -67,6 +67,7 @@ class ManagerProcess(ABC):
|
||||
enabled = True
|
||||
name = ""
|
||||
shutting_down = False
|
||||
restart_if_crash = False
|
||||
|
||||
@abstractmethod
|
||||
def prepare(self) -> None:
|
||||
@@ -167,13 +168,14 @@ class NativeProcess(ManagerProcess):
|
||||
|
||||
|
||||
class PythonProcess(ManagerProcess):
|
||||
def __init__(self, name, module, should_run, enabled=True, sigkill=False):
|
||||
def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
|
||||
self.name = name
|
||||
self.module = module
|
||||
self.should_run = should_run
|
||||
self.enabled = enabled
|
||||
self.sigkill = sigkill
|
||||
self.launcher = launcher
|
||||
self.restart_if_crash = restart_if_crash
|
||||
|
||||
def prepare(self) -> None:
|
||||
if self.enabled:
|
||||
@@ -252,6 +254,9 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
|
||||
running = []
|
||||
for p in procs:
|
||||
if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
|
||||
if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
|
||||
cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
|
||||
p.restart()
|
||||
running.append(p)
|
||||
else:
|
||||
p.stop(block=False)
|
||||
|
||||
@@ -126,7 +126,7 @@ procs = [
|
||||
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
|
||||
|
||||
PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
|
||||
PythonProcess("ui", "selfdrive.ui.ui", always_run),
|
||||
PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
|
||||
PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
|
||||
PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
|
||||
NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
|
||||
|
||||
+2
-2
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.common.utils import atomic_write_in_dir
|
||||
from openpilot.common.utils import atomic_write
|
||||
from openpilot.system.version import get_build_metadata
|
||||
from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
|
||||
|
||||
@@ -218,7 +218,7 @@ def main() -> NoReturn:
|
||||
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
|
||||
if len(result) > 0:
|
||||
stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
|
||||
with atomic_write_in_dir(stats_path) as f:
|
||||
with atomic_write(stats_path) as f:
|
||||
f.write(result)
|
||||
idx += 1
|
||||
else:
|
||||
|
||||
@@ -10,6 +10,7 @@ Quick start:
|
||||
* set `BURN_IN=1` to get a burn-in heatmap version of the UI
|
||||
* set `GRID=50` to show a 50-pixel alignment grid overlay
|
||||
* set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
|
||||
* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
|
||||
* set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
|
||||
* https://www.raylib.com/cheatsheet/cheatsheet.html
|
||||
* https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
|
||||
|
||||
@@ -7,11 +7,13 @@ import sys
|
||||
import pyray as rl
|
||||
import threading
|
||||
import platform
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from collections.abc import Callable
|
||||
from collections import deque
|
||||
from dataclasses import dataclass
|
||||
from enum import StrEnum
|
||||
from pathlib import Path
|
||||
from typing import NamedTuple
|
||||
from importlib.resources import as_file, files
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
@@ -38,6 +40,8 @@ SCALE = float(os.getenv("SCALE", "1.0"))
|
||||
GRID_SIZE = int(os.getenv("GRID", "0"))
|
||||
PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
|
||||
PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100")) # Number of functions to show in profile output
|
||||
RECORD = os.getenv("RECORD") == "1"
|
||||
RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
|
||||
|
||||
GL_VERSION = """
|
||||
#version 300 es
|
||||
@@ -200,10 +204,15 @@ class GuiApplication(GuiApplicationExt):
|
||||
else:
|
||||
self._scale = SCALE
|
||||
|
||||
# Scale, then ensure dimensions are even
|
||||
self._scaled_width = int(self._width * self._scale)
|
||||
self._scaled_height = int(self._height * self._scale)
|
||||
self._scaled_width += self._scaled_width % 2
|
||||
self._scaled_height += self._scaled_height % 2
|
||||
|
||||
self._render_texture: rl.RenderTexture | None = None
|
||||
self._burn_in_shader: rl.Shader | None = None
|
||||
self._ffmpeg_proc: subprocess.Popen | None = None
|
||||
self._textures: dict[str, rl.Texture] = {}
|
||||
self._target_fps: int = _DEFAULT_FPS
|
||||
self._last_fps_log_time: float = time.monotonic()
|
||||
@@ -264,12 +273,33 @@ class GuiApplication(GuiApplicationExt):
|
||||
rl.set_config_flags(flags)
|
||||
|
||||
rl.init_window(self._scaled_width, self._scaled_height, title)
|
||||
needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
|
||||
|
||||
needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD
|
||||
if self._scale != 1.0:
|
||||
rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
|
||||
if needs_render_texture:
|
||||
self._render_texture = rl.load_render_texture(self._width, self._height)
|
||||
rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
|
||||
|
||||
if RECORD:
|
||||
ffmpeg_args = [
|
||||
'ffmpeg',
|
||||
'-v', 'warning', # Reduce ffmpeg log spam
|
||||
'-stats', # Show encoding progress
|
||||
'-f', 'rawvideo', # Input format
|
||||
'-pix_fmt', 'rgba', # Input pixel format
|
||||
'-s', f'{self._width}x{self._height}', # Input resolution
|
||||
'-r', str(fps), # Input frame rate
|
||||
'-i', 'pipe:0', # Input from stdin
|
||||
'-vf', 'vflip,format=yuv420p', # Flip vertically and convert rgba to yuv420p
|
||||
'-c:v', 'libx264', # Video codec
|
||||
'-preset', 'ultrafast', # Encoding speed
|
||||
'-y', # Overwrite existing file
|
||||
'-f', 'mp4', # Output format
|
||||
RECORD_OUTPUT, # Output file path
|
||||
]
|
||||
self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
|
||||
|
||||
rl.set_target_fps(fps)
|
||||
|
||||
self._target_fps = fps
|
||||
@@ -314,6 +344,9 @@ class GuiApplication(GuiApplicationExt):
|
||||
|
||||
def set_modal_overlay(self, overlay, callback: Callable | None = None):
|
||||
if self._modal_overlay.overlay is not None:
|
||||
if hasattr(self._modal_overlay.overlay, 'hide_event'):
|
||||
self._modal_overlay.overlay.hide_event()
|
||||
|
||||
if self._modal_overlay.callback is not None:
|
||||
self._modal_overlay.callback(-1)
|
||||
|
||||
@@ -377,6 +410,16 @@ class GuiApplication(GuiApplicationExt):
|
||||
rl.unload_image(image)
|
||||
return texture
|
||||
|
||||
def close_ffmpeg(self):
|
||||
if self._ffmpeg_proc is not None:
|
||||
self._ffmpeg_proc.stdin.flush()
|
||||
self._ffmpeg_proc.stdin.close()
|
||||
try:
|
||||
self._ffmpeg_proc.wait(timeout=5)
|
||||
except subprocess.TimeoutExpired:
|
||||
self._ffmpeg_proc.terminate()
|
||||
self._ffmpeg_proc.wait()
|
||||
|
||||
def close(self):
|
||||
if not rl.is_window_ready():
|
||||
return
|
||||
@@ -400,6 +443,8 @@ class GuiApplication(GuiApplicationExt):
|
||||
if not PC:
|
||||
self._mouse.stop()
|
||||
|
||||
self.close_ffmpeg()
|
||||
|
||||
rl.close_window()
|
||||
|
||||
@property
|
||||
@@ -477,6 +522,15 @@ class GuiApplication(GuiApplicationExt):
|
||||
self._draw_grid()
|
||||
|
||||
rl.end_drawing()
|
||||
|
||||
if RECORD:
|
||||
image = rl.load_image_from_texture(self._render_texture.texture)
|
||||
data_size = image.width * image.height * 4
|
||||
data = bytes(rl.ffi.buffer(image.data, data_size))
|
||||
self._ffmpeg_proc.stdin.write(data)
|
||||
self._ffmpeg_proc.stdin.flush()
|
||||
rl.unload_image(image)
|
||||
|
||||
self._monitor_fps()
|
||||
self._frame += 1
|
||||
|
||||
@@ -514,6 +568,8 @@ class GuiApplication(GuiApplicationExt):
|
||||
# Clear the overlay and execute the callback
|
||||
original_modal = self._modal_overlay
|
||||
self._modal_overlay = ModalOverlay()
|
||||
if hasattr(original_modal.overlay, 'hide_event'):
|
||||
original_modal.overlay.hide_event()
|
||||
if original_modal.callback is not None:
|
||||
original_modal.callback(result)
|
||||
return True
|
||||
@@ -602,6 +658,7 @@ class GuiApplication(GuiApplicationExt):
|
||||
# Strict mode: terminate UI if FPS drops too much
|
||||
if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
|
||||
cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
|
||||
self.close_ffmpeg()
|
||||
os._exit(1)
|
||||
|
||||
def _draw_touch_points(self):
|
||||
|
||||
@@ -128,8 +128,12 @@ def init_egl() -> bool:
|
||||
def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
|
||||
assert _egl.initialized, "EGL not initialized"
|
||||
|
||||
# Duplicate fd since EGL needs it
|
||||
dup_fd = os.dup(fd)
|
||||
try:
|
||||
# Duplicate fd since EGL needs it
|
||||
dup_fd = os.dup(fd)
|
||||
except OSError as e:
|
||||
cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
|
||||
return None
|
||||
|
||||
# Create image attributes for EGL
|
||||
img_attrs = [
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, MouseEvent
|
||||
from openpilot.system.hardware import TICI
|
||||
from collections import deque
|
||||
|
||||
MIN_VELOCITY = 2 # px/s, changes from auto scroll to steady state
|
||||
MIN_VELOCITY = 10 # px/s, changes from auto scroll to steady state
|
||||
MIN_VELOCITY_FOR_CLICKING = 2 * 60 # px/s, accepts clicks while auto scrolling below this velocity
|
||||
MIN_DRAG_PIXELS = 12
|
||||
AUTO_SCROLL_TC_SNAP = 0.025
|
||||
@@ -67,16 +67,18 @@ class GuiScrollPanel2:
|
||||
print()
|
||||
return self.get_offset()
|
||||
|
||||
def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]:
|
||||
"""Returns (max_offset, min_offset) for the given bounds and content size."""
|
||||
return 0.0, min(0.0, bounds_size - content_size)
|
||||
|
||||
def _update_state(self, bounds_size: float, content_size: float) -> None:
|
||||
"""Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
|
||||
if self._state == ScrollState.AUTO_SCROLL:
|
||||
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
|
||||
# simple exponential return if out of bounds
|
||||
out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
|
||||
out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
|
||||
if out_of_bounds and self._handle_out_of_bounds:
|
||||
if self.get_offset() < (bounds_size - content_size): # too far right
|
||||
target = bounds_size - content_size
|
||||
else: # too far left
|
||||
target = 0.0
|
||||
target = max_offset if self.get_offset() > max_offset else min_offset
|
||||
|
||||
dt = rl.get_frame_time() or 1e-6
|
||||
factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
|
||||
@@ -88,6 +90,7 @@ class GuiScrollPanel2:
|
||||
# Steady once we are close enough to the target
|
||||
if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
|
||||
self.set_offset(target)
|
||||
self._velocity = 0.0
|
||||
self._state = ScrollState.STEADY
|
||||
|
||||
elif abs(self._velocity) < MIN_VELOCITY:
|
||||
@@ -102,7 +105,9 @@ class GuiScrollPanel2:
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
|
||||
content_size: float) -> None:
|
||||
out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
|
||||
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
|
||||
# simple exponential return if out of bounds
|
||||
out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
|
||||
if DEBUG:
|
||||
print('Mouse event:', mouse_event)
|
||||
|
||||
@@ -201,8 +206,8 @@ class GuiScrollPanel2:
|
||||
def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
|
||||
return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
|
||||
|
||||
def get_offset(self) -> int:
|
||||
return round(self._offset.x if self._horizontal else self._offset.y)
|
||||
def get_offset(self) -> float:
|
||||
return self._offset.x if self._horizontal else self._offset.y
|
||||
|
||||
def set_offset(self, value: float) -> None:
|
||||
if self._horizontal:
|
||||
|
||||
@@ -244,7 +244,7 @@ class TermsPage(Widget):
|
||||
pass
|
||||
|
||||
def _render(self, _):
|
||||
scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)
|
||||
scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
|
||||
|
||||
if scroll_offset <= self._scrolled_down_offset:
|
||||
# don't show back if not enabled
|
||||
|
||||
@@ -104,46 +104,53 @@ class Widget(abc.ABC):
|
||||
|
||||
# Keep track of whether mouse down started within the widget's rectangle
|
||||
if self.enabled and self.__was_awake:
|
||||
for mouse_event in gui_app.mouse_events:
|
||||
if not self._multi_touch and mouse_event.slot != 0:
|
||||
continue
|
||||
|
||||
# Ignores touches/presses that start outside our rect
|
||||
# Allows touch to leave the rect and come back in focus if mouse did not release
|
||||
if mouse_event.left_pressed and self._touch_valid():
|
||||
if rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
|
||||
self._handle_mouse_press(mouse_event.pos)
|
||||
self.__is_pressed[mouse_event.slot] = True
|
||||
self.__tracking_is_pressed[mouse_event.slot] = True
|
||||
self._handle_mouse_event(mouse_event)
|
||||
|
||||
# Callback such as scroll panel signifies user is scrolling
|
||||
elif not self._touch_valid():
|
||||
self.__is_pressed[mouse_event.slot] = False
|
||||
self.__tracking_is_pressed[mouse_event.slot] = False
|
||||
|
||||
elif mouse_event.left_released:
|
||||
self._handle_mouse_event(mouse_event)
|
||||
if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
|
||||
self._handle_mouse_release(mouse_event.pos)
|
||||
self.__is_pressed[mouse_event.slot] = False
|
||||
self.__tracking_is_pressed[mouse_event.slot] = False
|
||||
|
||||
# Mouse/touch is still within our rect
|
||||
elif rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
|
||||
if self.__tracking_is_pressed[mouse_event.slot]:
|
||||
self.__is_pressed[mouse_event.slot] = True
|
||||
self._handle_mouse_event(mouse_event)
|
||||
|
||||
# Mouse/touch left our rect but may come back into focus later
|
||||
elif not rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
|
||||
self.__is_pressed[mouse_event.slot] = False
|
||||
self._handle_mouse_event(mouse_event)
|
||||
self._process_mouse_events()
|
||||
|
||||
self.__was_awake = device.awake
|
||||
|
||||
return ret
|
||||
|
||||
def _process_mouse_events(self) -> None:
|
||||
hit_rect = self._hit_rect
|
||||
touch_valid = self._touch_valid()
|
||||
|
||||
for mouse_event in gui_app.mouse_events:
|
||||
if not self._multi_touch and mouse_event.slot != 0:
|
||||
continue
|
||||
|
||||
mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
|
||||
# Ignores touches/presses that start outside our rect
|
||||
# Allows touch to leave the rect and come back in focus if mouse did not release
|
||||
if mouse_event.left_pressed and touch_valid:
|
||||
if mouse_in_rect:
|
||||
self._handle_mouse_press(mouse_event.pos)
|
||||
self.__is_pressed[mouse_event.slot] = True
|
||||
self.__tracking_is_pressed[mouse_event.slot] = True
|
||||
self._handle_mouse_event(mouse_event)
|
||||
|
||||
# Callback such as scroll panel signifies user is scrolling
|
||||
elif not touch_valid:
|
||||
self.__is_pressed[mouse_event.slot] = False
|
||||
self.__tracking_is_pressed[mouse_event.slot] = False
|
||||
|
||||
elif mouse_event.left_released:
|
||||
self._handle_mouse_event(mouse_event)
|
||||
if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
|
||||
self._handle_mouse_release(mouse_event.pos)
|
||||
self.__is_pressed[mouse_event.slot] = False
|
||||
self.__tracking_is_pressed[mouse_event.slot] = False
|
||||
|
||||
# Mouse/touch is still within our rect
|
||||
elif mouse_in_rect:
|
||||
if self.__tracking_is_pressed[mouse_event.slot]:
|
||||
self.__is_pressed[mouse_event.slot] = True
|
||||
self._handle_mouse_event(mouse_event)
|
||||
|
||||
# Mouse/touch left our rect but may come back into focus later
|
||||
elif not mouse_in_rect:
|
||||
self.__is_pressed[mouse_event.slot] = False
|
||||
self._handle_mouse_event(mouse_event)
|
||||
|
||||
@abc.abstractmethod
|
||||
def _render(self, rect: rl.Rectangle) -> bool | int | None:
|
||||
"""Render the widget within the given rectangle."""
|
||||
@@ -359,6 +366,10 @@ class NavWidget(Widget, abc.ABC):
|
||||
self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
|
||||
self._nav_bar.render()
|
||||
|
||||
# draw black above widget when dismissing
|
||||
if self._rect.y > 0:
|
||||
rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)
|
||||
|
||||
return ret
|
||||
|
||||
def show_event(self):
|
||||
|
||||
+119
-48
@@ -179,11 +179,11 @@ class MiciLabel(Widget):
|
||||
if self._needs_scroll:
|
||||
# draw black fade on left and right
|
||||
fade_width = 20
|
||||
rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.Color(0, 0, 0, 0), rl.BLACK)
|
||||
rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK)
|
||||
if self._scroll_state != ScrollState.STARTING:
|
||||
rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.Color(0, 0, 0, 0))
|
||||
rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK)
|
||||
|
||||
rl.end_scissor_mode()
|
||||
rl.end_scissor_mode()
|
||||
|
||||
|
||||
# TODO: This should be a Widget class
|
||||
@@ -412,6 +412,7 @@ class UnifiedLabel(Widget):
|
||||
max_width: int | None = None,
|
||||
elide: bool = True,
|
||||
wrap_text: bool = True,
|
||||
scroll: bool = False,
|
||||
line_height: float = 1.0,
|
||||
letter_spacing: float = 0.0):
|
||||
super().__init__()
|
||||
@@ -426,10 +427,23 @@ class UnifiedLabel(Widget):
|
||||
self._max_width = max_width
|
||||
self._elide = elide
|
||||
self._wrap_text = wrap_text
|
||||
self._scroll = scroll
|
||||
self._line_height = line_height * 0.9
|
||||
self._letter_spacing = letter_spacing # 0.1 = 10%
|
||||
self._spacing_pixels = font_size * letter_spacing
|
||||
|
||||
# Scroll state
|
||||
self._scroll = scroll
|
||||
self._needs_scroll = False
|
||||
self._scroll_offset = 0
|
||||
self._scroll_pause_t: float | None = None
|
||||
self._scroll_state: ScrollState = ScrollState.STARTING
|
||||
|
||||
# Scroll mode does not support eliding or multiline wrapping
|
||||
if self._scroll:
|
||||
self._elide = False
|
||||
self._wrap_text = False
|
||||
|
||||
# Cached data
|
||||
self._cached_text: str | None = None
|
||||
self._cached_wrapped_lines: list[str] = []
|
||||
@@ -446,7 +460,7 @@ class UnifiedLabel(Widget):
|
||||
def set_text(self, text: str | Callable[[], str]):
|
||||
"""Update the text content."""
|
||||
self._text = text
|
||||
self._cached_text = None # Invalidate cache
|
||||
# No need to update cache here, will be done on next render if needed
|
||||
|
||||
@property
|
||||
def text(self) -> str:
|
||||
@@ -463,15 +477,17 @@ class UnifiedLabel(Widget):
|
||||
|
||||
def set_font_size(self, size: int):
|
||||
"""Update the font size."""
|
||||
self._font_size = size
|
||||
self._spacing_pixels = size * self._letter_spacing # Recalculate spacing
|
||||
self._cached_text = None # Invalidate cache
|
||||
if self._font_size != size:
|
||||
self._font_size = size
|
||||
self._spacing_pixels = size * self._letter_spacing # Recalculate spacing
|
||||
self._cached_text = None # Invalidate cache
|
||||
|
||||
def set_letter_spacing(self, letter_spacing: float):
|
||||
"""Update letter spacing (as percentage, e.g., 0.1 = 10%)."""
|
||||
self._letter_spacing = letter_spacing
|
||||
self._spacing_pixels = self._font_size * letter_spacing
|
||||
self._cached_text = None # Invalidate cache
|
||||
if self._letter_spacing != letter_spacing:
|
||||
self._letter_spacing = letter_spacing
|
||||
self._spacing_pixels = self._font_size * letter_spacing
|
||||
self._cached_text = None # Invalidate cache
|
||||
|
||||
def set_font_weight(self, font_weight: FontWeight):
|
||||
"""Update the font weight."""
|
||||
@@ -488,6 +504,12 @@ class UnifiedLabel(Widget):
|
||||
"""Update the vertical text alignment."""
|
||||
self._alignment_vertical = alignment_vertical
|
||||
|
||||
def reset_scroll(self):
|
||||
"""Reset scroll state to initial position."""
|
||||
self._scroll_offset = 0
|
||||
self._scroll_pause_t = None
|
||||
self._scroll_state = ScrollState.STARTING
|
||||
|
||||
def set_max_width(self, max_width: int | None):
|
||||
"""Set the maximum width constraint for wrapping/eliding."""
|
||||
if self._max_width != max_width:
|
||||
@@ -526,6 +548,9 @@ class UnifiedLabel(Widget):
|
||||
# Elide lines if needed (for width constraint)
|
||||
self._cached_wrapped_lines = [self._elide_line(line, content_width) for line in self._cached_wrapped_lines]
|
||||
|
||||
if self._scroll:
|
||||
self._cached_wrapped_lines = self._cached_wrapped_lines[:1] # Only first line for scrolling
|
||||
|
||||
# Process each line: measure and find emojis
|
||||
self._cached_line_sizes = []
|
||||
self._cached_line_emojis = []
|
||||
@@ -538,6 +563,11 @@ class UnifiedLabel(Widget):
|
||||
size = rl.Vector2(0, self._font_size * FONT_SCALE)
|
||||
else:
|
||||
size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
|
||||
|
||||
# This is the only line
|
||||
if self._scroll:
|
||||
self._needs_scroll = size.x > content_width
|
||||
|
||||
self._cached_line_sizes.append(size)
|
||||
|
||||
# Calculate total height
|
||||
@@ -597,13 +627,13 @@ class UnifiedLabel(Widget):
|
||||
return self._cached_total_height
|
||||
return 0.0
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
def _render(self, _):
|
||||
"""Render the label."""
|
||||
if rect.width <= 0 or rect.height <= 0:
|
||||
if self._rect.width <= 0 or self._rect.height <= 0:
|
||||
return
|
||||
|
||||
# Determine available width
|
||||
available_width = rect.width
|
||||
available_width = self._rect.width
|
||||
if self._max_width is not None:
|
||||
available_width = min(available_width, self._max_width)
|
||||
|
||||
@@ -631,7 +661,7 @@ class UnifiedLabel(Widget):
|
||||
line_height_needed = size.y * self._line_height
|
||||
|
||||
# Check if this line fits
|
||||
if current_height + line_height_needed > rect.height:
|
||||
if current_height + line_height_needed > self._rect.height:
|
||||
# This line doesn't fit
|
||||
if len(visible_lines) == 0:
|
||||
# First line doesn't fit by height - still show it (will be clipped by scissor if needed)
|
||||
@@ -675,51 +705,92 @@ class UnifiedLabel(Widget):
|
||||
|
||||
# Calculate vertical alignment offset
|
||||
if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP:
|
||||
start_y = rect.y
|
||||
start_y = self._rect.y
|
||||
elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
|
||||
start_y = rect.y + rect.height - total_visible_height
|
||||
start_y = self._rect.y + self._rect.height - total_visible_height
|
||||
else: # TEXT_ALIGN_MIDDLE
|
||||
start_y = rect.y + (rect.height - total_visible_height) / 2
|
||||
start_y = self._rect.y + (self._rect.height - total_visible_height) / 2
|
||||
|
||||
# Only scissor when we know there is a single scrolling line
|
||||
# Pad a little since descenders like g or j may overflow below rect from font_scale
|
||||
if self._needs_scroll:
|
||||
rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y - self._font_size / 2), int(self._rect.width), int(self._rect.height + self._font_size))
|
||||
|
||||
# Render each line
|
||||
current_y = start_y
|
||||
for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
|
||||
# Calculate horizontal position
|
||||
if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
|
||||
line_x = rect.x + self._text_padding
|
||||
elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
|
||||
line_x = rect.x + (rect.width - size.x) / 2
|
||||
elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
|
||||
line_x = rect.x + rect.width - size.x - self._text_padding
|
||||
if self._needs_scroll:
|
||||
if self._scroll_state == ScrollState.STARTING:
|
||||
if self._scroll_pause_t is None:
|
||||
self._scroll_pause_t = rl.get_time() + 2.0
|
||||
if rl.get_time() >= self._scroll_pause_t:
|
||||
self._scroll_state = ScrollState.SCROLLING
|
||||
self._scroll_pause_t = None
|
||||
|
||||
elif self._scroll_state == ScrollState.SCROLLING:
|
||||
self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
|
||||
# don't fully hide
|
||||
if self._scroll_offset <= -size.x - self._rect.width / 3:
|
||||
self._scroll_offset = 0
|
||||
self._scroll_state = ScrollState.STARTING
|
||||
self._scroll_pause_t = None
|
||||
else:
|
||||
line_x = rect.x + self._text_padding
|
||||
self.reset_scroll()
|
||||
|
||||
# Render line with emojis
|
||||
line_pos = rl.Vector2(line_x, current_y)
|
||||
prev_index = 0
|
||||
self._render_line(line, size, emojis, current_y)
|
||||
|
||||
for start, end, emoji in emojis:
|
||||
# Draw text before emoji
|
||||
text_before = line[prev_index:start]
|
||||
if text_before:
|
||||
rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
|
||||
width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
|
||||
line_pos.x += width_before.x
|
||||
|
||||
# Draw emoji
|
||||
tex = emoji_tex(emoji)
|
||||
emoji_scale = self._font_size / tex.height * FONT_SCALE
|
||||
rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
|
||||
# Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
|
||||
line_pos.x += self._font_size * FONT_SCALE
|
||||
prev_index = end
|
||||
|
||||
# Draw remaining text after last emoji
|
||||
text_after = line[prev_index:]
|
||||
if text_after:
|
||||
rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
|
||||
# Draw 2nd instance for scrolling
|
||||
if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
|
||||
text2_scroll_offset = size.x + self._rect.width / 3
|
||||
self._render_line(line, size, emojis, current_y, text2_scroll_offset)
|
||||
|
||||
# Move to next line (if not last line)
|
||||
if idx < len(visible_lines) - 1:
|
||||
# Use current line's height * line_height for spacing to next line
|
||||
current_y += size.y * self._line_height
|
||||
|
||||
if self._needs_scroll:
|
||||
# draw black fade on left and right
|
||||
fade_width = 20
|
||||
rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK)
|
||||
if self._scroll_state != ScrollState.STARTING:
|
||||
rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK)
|
||||
|
||||
rl.end_scissor_mode()
|
||||
|
||||
def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
|
||||
# Calculate horizontal position
|
||||
if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
|
||||
line_x = self._rect.x + self._text_padding
|
||||
elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
|
||||
line_x = self._rect.x + (self._rect.width - size.x) / 2
|
||||
elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
|
||||
line_x = self._rect.x + self._rect.width - size.x - self._text_padding
|
||||
else:
|
||||
line_x = self._rect.x + self._text_padding
|
||||
line_x += self._scroll_offset + x_offset
|
||||
|
||||
# Render line with emojis
|
||||
line_pos = rl.Vector2(line_x, current_y)
|
||||
prev_index = 0
|
||||
|
||||
for start, end, emoji in emojis:
|
||||
# Draw text before emoji
|
||||
text_before = line[prev_index:start]
|
||||
if text_before:
|
||||
rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
|
||||
width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
|
||||
line_pos.x += width_before.x
|
||||
|
||||
# Draw emoji
|
||||
tex = emoji_tex(emoji)
|
||||
emoji_scale = self._font_size / tex.height * FONT_SCALE
|
||||
rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
|
||||
# Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
|
||||
line_pos.x += self._font_size * FONT_SCALE
|
||||
prev_index = end
|
||||
|
||||
# Draw remaining text after last emoji
|
||||
text_after = line[prev_index:]
|
||||
if text_after:
|
||||
rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
|
||||
|
||||
@@ -4,7 +4,7 @@ import numpy as np
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.common.filter_simple import BounceFilter
|
||||
from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
|
||||
|
||||
CHAR_FONT_SIZE = 42
|
||||
CHAR_NEAR_FONT_SIZE = CHAR_FONT_SIZE * 2
|
||||
@@ -204,6 +204,7 @@ class MiciKeyboard(Widget):
|
||||
self._text: str = ""
|
||||
|
||||
self._bg_scale_filter = BounceFilter(1.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
|
||||
self._selected_key_filter = FirstOrderFilter(0.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps)
|
||||
|
||||
def get_candidate_character(self) -> str:
|
||||
# return str of character about to be added to text
|
||||
@@ -309,6 +310,9 @@ class MiciKeyboard(Widget):
|
||||
self._text += ' '
|
||||
|
||||
def _update_state(self):
|
||||
# update selected key filter
|
||||
self._selected_key_filter.update(self._closest_key[0] is not None)
|
||||
|
||||
# unselect key after animation plays
|
||||
if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t:
|
||||
self._closest_key = (None, float('inf'))
|
||||
@@ -335,8 +339,9 @@ class MiciKeyboard(Widget):
|
||||
key.set_font_size(SELECTED_CHAR_FONT_SIZE)
|
||||
|
||||
# draw black circle behind selected key
|
||||
circle_alpha = int(self._selected_key_filter.x * 225)
|
||||
rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
|
||||
SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, 225), rl.BLANK)
|
||||
SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
|
||||
else:
|
||||
# move other keys away from selected key a bit
|
||||
dx = key.original_position.x - self._closest_key[0].original_position.x
|
||||
|
||||
@@ -124,7 +124,7 @@ class Scroller(Widget):
|
||||
self.scroll_panel.set_enabled(scroll_enabled and self.enabled)
|
||||
self.scroll_panel.update(self._rect, content_size)
|
||||
if not self._snap_items:
|
||||
return self.scroll_panel.get_offset()
|
||||
return round(self.scroll_panel.get_offset())
|
||||
|
||||
# Snap closest item to center
|
||||
center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
|
||||
@@ -224,12 +224,15 @@ class Scroller(Widget):
|
||||
|
||||
# Scale each element around its own origin when scrolling
|
||||
scale = self._zoom_filter.x
|
||||
rl.rl_push_matrix()
|
||||
rl.rl_scalef(scale, scale, 1.0)
|
||||
rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
|
||||
(1 - scale) * (y + item.rect.height / 2) / scale, 0)
|
||||
item.render()
|
||||
rl.rl_pop_matrix()
|
||||
if scale != 1.0:
|
||||
rl.rl_push_matrix()
|
||||
rl.rl_scalef(scale, scale, 1.0)
|
||||
rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
|
||||
(1 - scale) * (y + item.rect.height / 2) / scale, 0)
|
||||
item.render()
|
||||
rl.rl_pop_matrix()
|
||||
else:
|
||||
item.render()
|
||||
|
||||
# Draw scroll indicator
|
||||
if SCROLL_BAR and not self._horizontal and len(visible_items) > 0:
|
||||
|
||||
@@ -99,7 +99,7 @@ class DirectoryTarChunkReader(BinaryChunkReader):
|
||||
create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
|
||||
|
||||
self.f = open(cache_file, "rb")
|
||||
return super().__init__(self.f)
|
||||
super().__init__(self.f)
|
||||
|
||||
def __del__(self):
|
||||
self.f.close()
|
||||
|
||||
@@ -133,7 +133,7 @@ class TestBaseUpdate:
|
||||
class ParamsBaseUpdateTest(TestBaseUpdate):
|
||||
def _test_finalized_update(self, branch, version, agnos_version, release_notes):
|
||||
assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}")
|
||||
assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n"
|
||||
assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode()
|
||||
super()._test_finalized_update(branch, version, agnos_version, release_notes)
|
||||
|
||||
def send_check_for_updates_signal(self, updated: ManagerProcess):
|
||||
|
||||
+1
-1
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
|
||||
RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
|
||||
TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
|
||||
MASTER_SP_BRANCHES = ['master']
|
||||
RELEASE_BRANCHES = ['release-tizi-staging', 'release-tici', 'release-tizi', 'nightly']
|
||||
RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
|
||||
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
|
||||
|
||||
SP_BRANCH_MIGRATIONS = {
|
||||
|
||||
@@ -275,16 +275,13 @@ void BinaryViewModel::refresh() {
|
||||
row_count = can->lastMessage(msg_id).dat.size();
|
||||
items.resize(row_count * column_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;
|
||||
}
|
||||
endResetModel();
|
||||
updateState();
|
||||
}
|
||||
|
||||
void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
|
||||
auto &item = items[row * column_count + col];
|
||||
item.valid = true;
|
||||
if (item.val != val || item.bg_color != color) {
|
||||
item.val = val;
|
||||
item.bg_color = color;
|
||||
|
||||
@@ -322,6 +322,32 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
|
||||
}
|
||||
}
|
||||
|
||||
QStringList ChartsWidget::serializeChartIds() const {
|
||||
QStringList chart_ids;
|
||||
for (auto c : charts) {
|
||||
QStringList ids;
|
||||
for (const auto& s : c->sigs)
|
||||
ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name);
|
||||
chart_ids += ids.join(',');
|
||||
}
|
||||
std::reverse(chart_ids.begin(), chart_ids.end());
|
||||
return chart_ids;
|
||||
}
|
||||
|
||||
void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
|
||||
for (const auto& chart_id : chart_ids) {
|
||||
int index = 0;
|
||||
for (const auto& part : chart_id.split(',')) {
|
||||
const auto sig_parts = part.split('|');
|
||||
if (sig_parts.size() != 2) continue;
|
||||
MessageId msg_id = MessageId::fromString(sig_parts[0]);
|
||||
if (auto* msg = dbc()->msg(msg_id))
|
||||
if (auto* sig = msg->sig(sig_parts[1]))
|
||||
showChart(msg_id, sig, true, index++ > 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ChartsWidget::setColumnCount(int n) {
|
||||
n = std::clamp(n, 1, MAX_COLUMN_COUNT);
|
||||
if (column_count != n) {
|
||||
|
||||
@@ -43,6 +43,8 @@ public:
|
||||
ChartsWidget(QWidget *parent = nullptr);
|
||||
void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
|
||||
inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
|
||||
QStringList serializeChartIds() const;
|
||||
void restoreChartsFromIds(const QStringList &chart_ids);
|
||||
|
||||
public slots:
|
||||
void setColumnCount(int n);
|
||||
|
||||
@@ -20,6 +20,12 @@ struct MessageId {
|
||||
return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
|
||||
}
|
||||
|
||||
inline static MessageId fromString(const QString &str) {
|
||||
auto parts = str.split(':');
|
||||
if (parts.size() != 2) return {};
|
||||
return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)};
|
||||
}
|
||||
|
||||
bool operator==(const MessageId &other) const {
|
||||
return source == other.source && address == other.address;
|
||||
}
|
||||
|
||||
@@ -118,10 +118,7 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
|
||||
}
|
||||
}
|
||||
|
||||
void DetailWidget::setMessage(const MessageId &message_id) {
|
||||
if (std::exchange(msg_id, message_id) == message_id) return;
|
||||
|
||||
tabbar->blockSignals(true);
|
||||
int DetailWidget::findOrAddTab(const MessageId& message_id) {
|
||||
int index = tabbar->count() - 1;
|
||||
for (/**/; index >= 0; --index) {
|
||||
if (tabbar->tabData(index).value<MessageId>() == message_id) break;
|
||||
@@ -131,6 +128,14 @@ void DetailWidget::setMessage(const MessageId &message_id) {
|
||||
tabbar->setTabData(index, QVariant::fromValue(message_id));
|
||||
tabbar->setTabToolTip(index, msgName(message_id));
|
||||
}
|
||||
return index;
|
||||
}
|
||||
|
||||
void DetailWidget::setMessage(const MessageId &message_id) {
|
||||
if (std::exchange(msg_id, message_id) == message_id) return;
|
||||
|
||||
tabbar->blockSignals(true);
|
||||
int index = findOrAddTab(message_id);
|
||||
tabbar->setCurrentIndex(index);
|
||||
tabbar->blockSignals(false);
|
||||
|
||||
@@ -142,6 +147,29 @@ void DetailWidget::setMessage(const MessageId &message_id) {
|
||||
setUpdatesEnabled(true);
|
||||
}
|
||||
|
||||
std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
|
||||
QStringList msgs;
|
||||
for (int i = 0; i < tabbar->count(); ++i) {
|
||||
MessageId id = tabbar->tabData(i).value<MessageId>();
|
||||
msgs.append(id.toString());
|
||||
}
|
||||
return std::make_pair(msg_id.toString(), msgs);
|
||||
}
|
||||
|
||||
void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
|
||||
tabbar->blockSignals(true);
|
||||
for (const auto& str_id : msg_ids) {
|
||||
MessageId id = MessageId::fromString(str_id);
|
||||
if (dbc()->msg(id) != nullptr)
|
||||
findOrAddTab(id);
|
||||
}
|
||||
tabbar->blockSignals(false);
|
||||
|
||||
auto active_id = MessageId::fromString(active_msg_id);
|
||||
if (dbc()->msg(active_id) != nullptr)
|
||||
setMessage(active_id);
|
||||
}
|
||||
|
||||
void DetailWidget::refresh() {
|
||||
QStringList warnings;
|
||||
auto msg = dbc()->msg(msg_id);
|
||||
@@ -244,13 +272,13 @@ CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
|
||||
main_layout->addWidget(welcome_widget = createWelcomeWidget());
|
||||
}
|
||||
|
||||
void CenterWidget::setMessage(const MessageId &msg_id) {
|
||||
DetailWidget* CenterWidget::ensureDetailWidget() {
|
||||
if (!detail_widget) {
|
||||
delete welcome_widget;
|
||||
welcome_widget = nullptr;
|
||||
layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
|
||||
}
|
||||
detail_widget->setMessage(msg_id);
|
||||
return detail_widget;
|
||||
}
|
||||
|
||||
void CenterWidget::clear() {
|
||||
|
||||
@@ -34,9 +34,12 @@ public:
|
||||
DetailWidget(ChartsWidget *charts, QWidget *parent);
|
||||
void setMessage(const MessageId &message_id);
|
||||
void refresh();
|
||||
std::pair<QString, QStringList> serializeMessageIds() const;
|
||||
void restoreTabs(const QString active_msg_id, const QStringList &msg_ids);
|
||||
|
||||
private:
|
||||
void createToolBar();
|
||||
int findOrAddTab(const MessageId& message_id);
|
||||
void showTabBarContextMenu(const QPoint &pt);
|
||||
void editMsg();
|
||||
void removeMsg();
|
||||
@@ -60,7 +63,9 @@ class CenterWidget : public QWidget {
|
||||
Q_OBJECT
|
||||
public:
|
||||
CenterWidget(QWidget *parent);
|
||||
void setMessage(const MessageId &msg_id);
|
||||
void setMessage(const MessageId &message_id) { ensureDetailWidget()->setMessage(message_id); }
|
||||
DetailWidget* getDetailWidget() { return detail_widget; }
|
||||
DetailWidget* ensureDetailWidget();
|
||||
void clear();
|
||||
|
||||
private:
|
||||
|
||||
+45
-1
@@ -235,6 +235,8 @@ void MainWindow::DBCFileChanged() {
|
||||
title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
|
||||
}
|
||||
setWindowFilePath(title.join(" | "));
|
||||
|
||||
QTimer::singleShot(0, this, &::MainWindow::restoreSessionState);
|
||||
}
|
||||
|
||||
void MainWindow::selectAndOpenStream() {
|
||||
@@ -311,11 +313,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
|
||||
}
|
||||
|
||||
void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
|
||||
if (can) {
|
||||
QObject::connect(can, &QObject::destroyed, this, [=]() { startStream(stream, dbc_file); });
|
||||
can->deleteLater();
|
||||
} else {
|
||||
startStream(stream, dbc_file);
|
||||
}
|
||||
}
|
||||
|
||||
void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
|
||||
center_widget->clear();
|
||||
delete messages_widget;
|
||||
delete video_splitter;
|
||||
|
||||
delete can;
|
||||
can = stream;
|
||||
can->setParent(this); // take ownership
|
||||
can->start();
|
||||
@@ -563,6 +573,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
|
||||
settings.message_header_state = messages_widget->saveHeaderState();
|
||||
}
|
||||
|
||||
saveSessionState();
|
||||
QWidget::closeEvent(event);
|
||||
}
|
||||
|
||||
@@ -607,6 +618,39 @@ void MainWindow::toggleFullScreen() {
|
||||
}
|
||||
}
|
||||
|
||||
void MainWindow::saveSessionState() {
|
||||
settings.recent_dbc_file = "";
|
||||
settings.active_msg_id = "";
|
||||
settings.selected_msg_ids.clear();
|
||||
settings.active_charts.clear();
|
||||
|
||||
for (auto &f : dbc()->allDBCFiles())
|
||||
if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; }
|
||||
|
||||
if (auto *detail = center_widget->getDetailWidget()) {
|
||||
auto [active_id, ids] = detail->serializeMessageIds();
|
||||
settings.active_msg_id = active_id;
|
||||
settings.selected_msg_ids = ids;
|
||||
}
|
||||
if (charts_widget)
|
||||
settings.active_charts = charts_widget->serializeChartIds();
|
||||
}
|
||||
|
||||
void MainWindow::restoreSessionState() {
|
||||
if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return;
|
||||
|
||||
QString dbc_file;
|
||||
for (auto& f : dbc()->allDBCFiles())
|
||||
if (!f->isEmpty()) { dbc_file = f->filename; break; }
|
||||
if (dbc_file != settings.recent_dbc_file) return;
|
||||
|
||||
if (!settings.selected_msg_ids.isEmpty())
|
||||
center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids);
|
||||
|
||||
if (charts_widget != nullptr && !settings.active_charts.empty())
|
||||
charts_widget->restoreChartsFromIds(settings.active_charts);
|
||||
}
|
||||
|
||||
// HelpOverlay
|
||||
HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
|
||||
setAttribute(Qt::WA_NoSystemBackground, true);
|
||||
|
||||
@@ -44,6 +44,7 @@ signals:
|
||||
void updateProgressBar(uint64_t cur, uint64_t total, bool success);
|
||||
|
||||
protected:
|
||||
void startStream(AbstractStream *stream, QString dbc_file);
|
||||
bool eventFilter(QObject *obj, QEvent *event) override;
|
||||
void remindSaveChanges();
|
||||
void closeFile(SourceSet s = SOURCE_ALL);
|
||||
@@ -72,6 +73,8 @@ protected:
|
||||
void updateLoadSaveMenus();
|
||||
void createDockWidgets();
|
||||
void eventsMerged();
|
||||
void saveSessionState();
|
||||
void restoreSessionState();
|
||||
|
||||
VideoWidget *video_widget = nullptr;
|
||||
QDockWidget *video_dock;
|
||||
|
||||
@@ -41,6 +41,10 @@ void settings_op(SettingOperation op) {
|
||||
op(s, "log_path", settings.log_path);
|
||||
op(s, "drag_direction", (int &)settings.drag_direction);
|
||||
op(s, "suppress_defined_signals", settings.suppress_defined_signals);
|
||||
op(s, "recent_dbc_file", settings.recent_dbc_file);
|
||||
op(s, "active_msg_id", settings.active_msg_id);
|
||||
op(s, "selected_msg_ids", settings.selected_msg_ids);
|
||||
op(s, "active_charts", settings.active_charts);
|
||||
}
|
||||
|
||||
Settings::Settings() {
|
||||
|
||||
@@ -46,6 +46,12 @@ public:
|
||||
QByteArray message_header_state;
|
||||
DragDirection drag_direction = MsbFirst;
|
||||
|
||||
// session data
|
||||
QString recent_dbc_file;
|
||||
QString active_msg_id;
|
||||
QStringList selected_msg_ids;
|
||||
QStringList active_charts;
|
||||
|
||||
signals:
|
||||
void changed();
|
||||
};
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user