Merge branch 'master' into dev-priv/master

# Conflicts:
#	system/version.py

Jenkinsfile

@@ -13,6 +13,8 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
 source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
@@ -56,14 +58,26 @@ pipeline {
   }
 
   stages {
-    stage('build release3') {
+    stage('build release3-staging') {
       agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
       when {
         branch 'devel-staging'
       }
       steps {
         phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
+    }
+
+    stage('build nightly') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+      when {
+        branch 'master-ci'
+      }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
         ])
       }
     }

release/build_release.sh

@@ -11,15 +11,19 @@ SOURCE_DIR="$(git rev-parse --show-toplevel)"
 
 if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
-  RELEASE_BRANCH=release3-staging
-  DASHCAM_BRANCH=dashcam3-staging
 else
-  exit 0
+  echo "no release files set"
+  exit 1
 fi
 
+if [ -z "$RELEASE_BRANCH" ]; then
+  echo "RELEASE_BRANCH is not set"
+  exit 1
+fi
+
+
 # set git identity
 source $DIR/identity.sh
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
@@ -27,7 +31,6 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git fetch origin $RELEASE_BRANCH
 git checkout --orphan $RELEASE_BRANCH
 
 # do the files copy
@@ -48,7 +51,6 @@ echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
-git branch --set-upstream-to=origin/$RELEASE_BRANCH
 
 # Build panda firmware
 pushd panda/
@@ -105,10 +107,12 @@ RELEASE=1 selfdrive/test/test_onroad.py
 selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 
-if [ ! -z "$PUSH" ]; then
-  echo "[-] pushing T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi
 
+if [ ! -z "$DASHCAM_BRANCH" ]; then
   # Create dashcam
   git rm selfdrive/car/*/carcontroller.py
   git commit -m "create dashcam release from release"

system/version.py

@@ -7,8 +7,8 @@ from functools import lru_cache
 from common.basedir import BASEDIR
 from system.swaglog import cloudlog
 
-RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'prod-c3']
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'test-c3']
+RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'prod-c3', 'test-c3']
 
 training_version: bytes = b"0.2.0"
 terms_version: bytes = b"2"

tools/cabana/README.md

@@ -8,13 +8,18 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an
 
 ```bash
 $ ./cabana -h
-Usage: ./cabana [options] route
+Usage: ./_cabana [options] route
 
 Options:
   -h, --help             Displays this help.
   --demo                 use a demo route instead of providing your own
   --qcam                 load qcamera
+  --ecam                 load wide road camera
+  --stream               read can messages from live streaming
+  --zmq <zmq>            the ip address on which to receive zmq messages
   --data_dir <data_dir>  local directory with routes
+  --no-vipc              do not output video
+  --dbc <dbc>            dbc file to open
 
 Arguments:
   route                  the drive to replay. find your drives at

tools/cabana/chartswidget.cc

@@ -68,10 +68,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
   main_layout->addWidget(charts_scroll);
 
-  align_charts_timer = new QTimer(this);
-  align_charts_timer->setSingleShot(true);
-  align_charts_timer->callOnTimeout(this, &ChartsWidget::alignCharts);
-
   // init settings
   use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() >
                    QApplication::style()->standardPalette().color(QPalette::Background).value();
@@ -125,9 +121,9 @@ void ChartsWidget::zoomReset() {
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
+  const auto events = can->events();
   if (can->liveStreaming()) {
     // appends incoming events to the end of series
-    const auto events = can->events();
     for (auto c : charts) {
       c->updateSeries(nullptr, events, false);
     }
@@ -135,33 +131,30 @@ void ChartsWidget::updateState() {
 
   const double cur_sec = can->currentSec();
   if (!is_zoomed) {
-    double pos = (cur_sec - display_range.first) / max_chart_range;
+    double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first));
     if (pos < 0 || pos > 0.8) {
-      const double min_event_sec = can->events()->empty() ? 0 : (can->events()->front()->mono_time / (double)1e9 - can->routeStartTime());
-      display_range.first = std::floor(std::max(min_event_sec, cur_sec - max_chart_range * 0.2));
+      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
-    display_range.second = std::floor(display_range.first + max_chart_range);
+    double max_event_sec = events->empty() ? 0 : (events->back()->mono_time / 1e9 - can->routeStartTime());
+    double max_sec = std::min(std::floor(display_range.first + max_chart_range), max_event_sec);
+    display_range.first = std::max(0.0, max_sec - max_chart_range);
+    display_range.second = display_range.first + max_chart_range;
   } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) {
     // loop in zoommed range
     can->seekTo(zoomed_range.first);
   }
 
-  setUpdatesEnabled(false);
+  charts_layout->parentWidget()->setUpdatesEnabled(false);
   const auto &range = is_zoomed ? zoomed_range : display_range;
   for (auto c : charts) {
     c->updatePlot(cur_sec, range.first, range.second);
   }
-  setUpdatesEnabled(true);
+  alignCharts();
+  charts_layout->parentWidget()->setUpdatesEnabled(true);
 }
 
 void ChartsWidget::setMaxChartRange(int value) {
   max_chart_range = settings.chart_range = value;
-  double current_sec = can->currentSec();
-  const double min_event_sec = can->events()->empty() ? 0 : (can->events()->front()->mono_time / (double)1e9 - can->routeStartTime());
-  // keep current_sec's pos
-  double pos = (current_sec - display_range.first) / (display_range.second - display_range.first);
-  display_range.first = std::floor(std::max(min_event_sec, current_sec - max_chart_range * (1.0 - pos)));
-  display_range.second = std::floor(display_range.first + max_chart_range);
   updateToolBar();
   updateState();
 }
@@ -200,7 +193,6 @@ ChartView *ChartsWidget::createChart() {
   QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset);
   QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
-  QObject::connect(chart, &ChartView::axisYUpdated, [this]() { align_charts_timer->start(100); });
   charts.push_back(chart);
   updateLayout();
   return chart;
@@ -239,9 +231,14 @@ void ChartsWidget::updateLayout() {
   columns_cb_action->setVisible(show_column_cb);
 
   n = std::min(column_count, n);
-  for (int i = 0; i < charts.size(); ++i) {
-    charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n);
+  if (charts.size() != charts_layout->count() || n != charts_layout->columnCount()) {
+    charts_layout->parentWidget()->setUpdatesEnabled(false);
+    for (int i = 0; i < charts.size(); ++i) {
+      charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n);
+    }
+    QTimer::singleShot(0, [this]() { charts_layout->parentWidget()->setUpdatesEnabled(true); });
   }
+  alignCharts(true);
 }
 
 void ChartsWidget::resizeEvent(QResizeEvent *event) {
@@ -278,13 +275,16 @@ void ChartsWidget::removeAll() {
   emit seriesChanged();
 }
 
-void ChartsWidget::alignCharts() {
+void ChartsWidget::alignCharts(bool force) {
   int plot_left = 0;
   for (auto c : charts) {
-    plot_left = qMax((qreal)plot_left, c->getYAsixLabelWidth());
+    plot_left = std::max(plot_left, c->y_label_width);
   }
-  for (auto c : charts) {
-    c->setPlotAreaLeftPosition(plot_left);
+  plot_left = std::max((plot_left / 10) * 10 + 10, 50);
+  if (std::exchange(align_to, plot_left) != align_to || force) {
+    for (auto c : charts) {
+      c->updatePlotArea(align_to);
+    }
   }
 }
 
@@ -302,15 +302,20 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter;
 
   QChart *chart = new QChart();
-  chart->setBackgroundRoundness(0);
+  chart->setBackgroundVisible(false);
   axis_x = new QValueAxis(this);
   axis_y = new QValueAxis(this);
+  axis_y->setLabelFormat("%.1f");
   chart->addAxis(axis_x, Qt::AlignBottom);
   chart->addAxis(axis_y, Qt::AlignLeft);
   chart->legend()->layout()->setContentsMargins(0, 0, 40, 0);
   chart->legend()->setShowToolTips(true);
-  chart->layout()->setContentsMargins(0, 0, 0, 0);
-  chart->setMargins({20, 11, 11, 11});
+  chart->setMargins({0, 0, 0, 0});
+
+  background = new QGraphicsRectItem(chart);
+  background->setBrush(Qt::white);
+  background->setPen(Qt::NoPen);
+  background->setZValue(chart->zValue() - 1);
 
   QToolButton *remove_btn = new QToolButton();
   remove_btn->setIcon(utils::icon("x"));
@@ -351,22 +356,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
 }
 
-qreal ChartView::getYAsixLabelWidth() const {
-  if (axis_y->max() <= axis_y->min() || axis_y->tickCount() <= 1) {
-    return 0;
-  }
-  QFontMetrics fm(axis_y->labelsFont());
-  int n = qMax(int(-qFloor(std::log10((axis_y->max() - axis_y->min()) / (axis_y->tickCount() - 1)))), 0) + 1;
-  return qMax(fm.width(QString::number(axis_y->min(), 'f', n)), fm.width(QString::number(axis_y->max(), 'f', n))) + 20;
-}
-
-void ChartView::setPlotAreaLeftPosition(int pos) {
-  if (std::ceil(chart()->plotArea().left()) != pos) {
-    const float left_margin = chart()->margins().left() + pos - chart()->plotArea().left();
-    chart()->setMargins(QMargins(left_margin, 11, 11, 11));
-  }
-}
-
 void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
   QXYSeries *series = createSeries(series_type);
   chart()->addSeries(series);
@@ -467,11 +456,21 @@ void ChartView::manageSeries() {
 
 void ChartView::resizeEvent(QResizeEvent *event) {
   QChartView::resizeEvent(event);
+  updatePlotArea();
   int x = event->size().width() - close_btn_proxy->size().width() - 11;
   close_btn_proxy->setPos(x, 8);
   manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - 5, 8);
 }
 
+void ChartView::updatePlotArea(int left) {
+  align_to = left > 0 ? left : align_to;
+  QRect r = rect();
+  background->setRect(r);
+  chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45));
+  chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 22, r.height() - 80));
+  chart()->layout()->invalidate();
+}
+
 void ChartView::updateTitle() {
   for (auto &s : sigs) {
     s.series->setName(QString("<b>%1</b> <font color=\"gray\">%2 %3</font>").arg(s.sig->name.c_str()).arg(msgName(s.msg_id)).arg(s.msg_id));
@@ -536,7 +535,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
       for (auto it = begin; it != events->end(); ++it) {
         if ((*it)->which == cereal::Event::Which::CAN) {
           for (const auto &c : (*it)->event.getCan()) {
-            if (s.source == c.getSrc() && s.address == c.getAddress()) {
+            if (s.address == c.getAddress() && s.source == c.getSrc()) {
               auto dat = c.getDat();
               double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig);
               double ts = ((*it)->mono_time / (double)1e9) - route_start_time;  // seconds
@@ -549,46 +548,47 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
         s.last_value_mono_time = events->back()->mono_time;
       }
       s.series->replace(s.vals);
-      updateAxisY();
     }
   }
+  updateAxisY();
 }
 
 // auto zoom on yaxis
 void ChartView::updateAxisY() {
   if (sigs.isEmpty()) return;
 
-  double min_y = std::numeric_limits<double>::max();
-  double max_y = std::numeric_limits<double>::lowest();
+  double min = std::numeric_limits<double>::max();
+  double max = std::numeric_limits<double>::lowest();
   for (auto &s : sigs) {
-    auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
-    for (auto it = begin; it != s.vals.end() && it->x() <= axis_x->max(); ++it) {
-      if (it->y() < min_y) min_y = it->y();
-      if (it->y() > max_y) max_y = it->y();
+    auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
+    auto last = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; });
+    for (auto it = first; it != last; ++it) {
+      if (it->y() < min) min = it->y();
+      if (it->y() > max) max = it->y();
     }
   }
+  if (min == std::numeric_limits<double>::max()) min = 0;
+  if (max == std::numeric_limits<double>::lowest()) max = 0;
 
-  if (min_y == std::numeric_limits<double>::max()) min_y = 0;
-  if (max_y == std::numeric_limits<double>::lowest()) max_y = 0;
-  if (std::abs(max_y - min_y) < 1e-3) {
-    applyNiceNumbers(min_y - 1, max_y + 1);
-  } else {
-    double range = max_y - min_y;
-    applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05);
+  double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
+  auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, axis_y->tickCount());
+  if (min_y != axis_y->min() || max_y != axis_y->max()) {
+    axis_y->setRange(min_y, max_y);
+    axis_y->setTickCount(tick_count);
+
+    QFontMetrics fm(axis_y->labelsFont());
+    int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
+    y_label_width = qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 20;  // left margin 20
   }
-  emit axisYUpdated();
 }
 
-void ChartView::applyNiceNumbers(qreal min, qreal max) {
-  int tick_count = axis_y->tickCount();
+std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
   qreal range = niceNumber((max - min), true);  // range with ceiling
   qreal step = niceNumber(range / (tick_count - 1), false);
   min = qFloor(min / step);
   max = qCeil(max / step);
   tick_count = int(max - min) + 1;
-  axis_y->setRange(min * step, max * step);
-  axis_y->setTickCount(tick_count);
-  axis_y->setLabelFormat("%.1f");
+  return {min * step, max * step, tick_count};
 }
 
 // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
@@ -642,8 +642,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     double max = chart()->mapToValue(rect.bottomRight()).x();
 
     // Prevent zooming/seeking past the end of the route
-    min = std::clamp(min, can->routeStartTime(), can->routeStartTime() + can->totalSeconds());
-    max = std::clamp(max, can->routeStartTime(), can->routeStartTime() + can->totalSeconds());
+    min = std::clamp(min, 0., can->totalSeconds());
+    max = std::clamp(max, 0., can->totalSeconds());
 
     double min_rounded = std::floor(min * 10.0) / 10.0;
     double max_rounded = std::floor(max * 10.0) / 10.0;

tools/cabana/chartswidget.h

@@ -7,7 +7,6 @@
 #include <QListWidget>
 #include <QGraphicsProxyWidget>
 #include <QSlider>
-#include <QTimer>
 #include <QtCharts/QChartView>
 #include <QtCharts/QLineSeries>
 #include <QtCharts/QScatterSeries>
@@ -18,6 +17,8 @@
 
 using namespace QtCharts;
 
+const int CHART_MIN_WIDTH = 300;
+
 class ChartView : public QChartView {
   Q_OBJECT
 
@@ -29,9 +30,8 @@ public:
   bool hasSeries(const QString &msg_id, const Signal *sig) const;
   void updateSeries(const Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true);
   void updatePlot(double cur, double min, double max);
-  void setPlotAreaLeftPosition(int pos);
-  qreal getYAsixLabelWidth() const;
   void setSeriesType(QAbstractSeries::SeriesType type);
+  void updatePlotArea(int left = 0);
 
   struct SigItem {
     QString msg_id;
@@ -49,7 +49,6 @@ signals:
   void zoomIn(double min, double max);
   void zoomReset();
   void remove();
-  void axisYUpdated();
 
 private slots:
   void msgRemoved(uint32_t address);
@@ -67,25 +66,30 @@ private:
   void dropEvent(QDropEvent *event) override;
   void leaveEvent(QEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
+  QSize sizeHint() const override { return {CHART_MIN_WIDTH, settings.chart_height}; }
   void updateAxisY();
   void updateTitle();
   void drawForeground(QPainter *painter, const QRectF &rect) override;
-  void applyNiceNumbers(qreal min, qreal max);
+  std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(QAbstractSeries::SeriesType type);
   void updateSeriesPoints();
 
+  int y_label_width = 50;
+  int align_to = 0;
   QValueAxis *axis_x;
   QValueAxis *axis_y;
   QVector<QPointF> track_pts;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
+  QGraphicsRectItem *background;
   QList<SigItem> sigs;
   double cur_sec = 0;
   const QString mime_type = "application/x-cabanachartview";
   QAbstractSeries::SeriesType series_type = QAbstractSeries::SeriesTypeLine;
   QAction *line_series_action;
   QAction *scatter_series_action;
+  friend class ChartsWidget;
  };
 
 class ChartsWidget : public QWidget {
@@ -107,7 +111,7 @@ signals:
 
 private:
   void resizeEvent(QResizeEvent *event) override;
-  void alignCharts();
+  void alignCharts(bool force = false);
   void newChart();
   ChartView * createChart();
   void removeChart(ChartView *chart);
@@ -129,7 +133,6 @@ private:
   QAction *dock_btn;
   QAction *reset_zoom_btn;
   QAction *remove_all_btn;
-  QTimer *align_charts_timer;
   QGridLayout *charts_layout;
   QList<ChartView *> charts;
   uint32_t max_chart_range = 0;
@@ -141,7 +144,7 @@ private:
   QAction *columns_cb_action;
   QComboBox *columns_cb;
   int column_count = 1;
-  const int CHART_MIN_WIDTH = 300;
+  int align_to = 0;
 };
 
 class SeriesSelector : public QDialog {