diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index efddde720d..5873e7aee6 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -204,11 +204,12 @@ jobs: $UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST selfdrive/loggerd && \ + $UNIT_TEST system/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + $UNIT_TEST system/ubloxd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ - ./selfdrive/locationd/test/test_glonass_runner && \ + ./system/ubloxd/tests/test_glonass_runner && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST system/hardware/tici && \ @@ -219,7 +220,7 @@ jobs: ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ - ./selfdrive/loggerd/tests/test_logger &&\ + ./system/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ diff --git a/.gitignore b/.gitignore index 2b283d3b11..be6629f212 100644 --- a/.gitignore +++ b/.gitignore @@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd selfdrive/ui/_ui selfdrive/test/longitudinal_maneuvers/out -selfdrive/visiond/visiond -selfdrive/sensord/_gpsd -selfdrive/sensord/_sensord system/camerad/camerad system/camerad/test/ae_gray_test selfdrive/modeld/_modeld diff --git a/Jenkinsfile b/Jenkinsfile index 30c045e419..4e80b5fa3c 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -157,10 +157,11 @@ pipeline { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["test power draw", "python system/hardware/tici/test_power_draw.py"], - ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], - ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], + ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], + ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } @@ -192,11 +193,11 @@ pipeline { steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) phone_steps("tici-bmx-lsm", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) } } diff --git a/README.md b/README.md index 4896d9ff72..a71a9e671e 100755 --- a/README.md +++ b/README.md @@ -108,7 +108,10 @@ Directory Structure ├── clocksd # Broadcasts current time ├── hardware # Hardware abstraction classes ├── logcatd # systemd journal as a service - └── proclogd # Logs information from /proc + ├── loggerd # Logger and uploader of car data + ├── proclogd # Logs information from /proc + ├── sensord # IMU interface code + └── ubloxd # u-blox GNSS module interface code └── selfdrive # Code needed to drive the car ├── assets # Fonts, images, and sounds for UI ├── athena # Allows communication with the app @@ -117,12 +120,10 @@ Directory Structure ├── controls # Planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation - ├── loggerd # Logger and uploader of car data ├── manager # Daemon that starts/stops all other daemons as needed ├── modeld # Driving and monitoring model runners ├── monitoring # Daemon to determine driver attention ├── navd # Turn-by-turn navigation - ├── sensord # IMU interface code ├── test # Unit tests, system tests, and a car simulator └── ui # The UI diff --git a/RELEASES.md b/RELEASES.md index 0ea4241a35..55b0dbad7e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,8 +1,10 @@ Version 0.9.2 (2023-03-XX) ======================== * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Buick LaCrosse 2017-19 support thanks to koch-cf! +* Škoda Fabia 2022-23 support thanks to jyoung8607! -Version 0.9.1 (2023-02-23) +Version 0.9.1 (2023-02-28) ======================== * New driving model * 30% improved height estimation resulting in better driving performance for tall cars diff --git a/SConstruct b/SConstruct index 007931b7f5..387d2e76f4 100644 --- a/SConstruct +++ b/SConstruct @@ -398,6 +398,7 @@ SConscript([ 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', + 'system/ubloxd/SConscript', ]) if arch != "Darwin": SConscript(['system/logcatd/SConscript']) @@ -424,10 +425,10 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['selfdrive/boardd/SConscript']) -SConscript(['selfdrive/loggerd/SConscript']) +SConscript(['system/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) -SConscript(['selfdrive/sensord/SConscript']) +SConscript(['system/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) diff --git a/cereal b/cereal index b88523f05a..c516d5e985 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit b88523f05ac958f87a8f6d57c3f4bb20da55f216 +Subproject commit c516d5e9856fdb1f5ca856e430ac69aebb2ff017 diff --git a/common/params.cc b/common/params.cc index 5e3361a70f..428830a112 100644 --- a/common/params.cc +++ b/common/params.cc @@ -98,8 +98,8 @@ std::unordered_map keys = { {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CurrentBootlog", PERSISTENT}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, - {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, @@ -111,7 +111,7 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, @@ -138,7 +138,7 @@ std::unordered_map keys = { {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemeris", PERSISTENT | DONT_LOG}, + {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, @@ -155,7 +155,8 @@ std::unordered_map keys = { {"NavSettingTime24h", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavdRender", PERSISTENT}, - {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"OpenpilotEnabledToggle", PERSISTENT}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, diff --git a/docs/CARS.md b/docs/CARS.md index 3c33ce1c37..60b805cb0c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 237 Supported Cars +# 239 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| @@ -116,7 +117,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| @@ -125,14 +126,14 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| @@ -148,7 +149,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| @@ -161,9 +162,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| @@ -178,10 +180,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| -|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 77be7e51d8..5619cc8a51 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -83,7 +83,7 @@ common sensorsd ^^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_sensord_sensors + :project: system_sensord_sensors boardd ^^^^^^ diff --git a/docs/overview.rst b/docs/overview.rst index cc4c582155..b9a5700528 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -5,7 +5,7 @@ openpilot :maxdepth: 4 Debugging - selfdrive/loggerd/README.md + system/loggerd/README.md Driver Monitoring Process Replay diff --git a/laika_repo b/laika_repo index 278b44ba8c..6fadabd860 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 278b44ba8c2dec28adc5b30cce13dabc195f15fc +Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4 diff --git a/opendbc b/opendbc index 510bfc0695..b7d4a6e271 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71 +Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf diff --git a/panda b/panda index d2c2d5f926..d70fa4e120 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d2c2d5f926537a132a253277998ef350fe866d27 +Subproject commit d70fa4e1200ad47c66587c78fd90030a3be1cc43 diff --git a/poetry.lock b/poetry.lock index 91e1b5c826..b7554ac03a 100644 --- a/poetry.lock +++ b/poetry.lock @@ -113,9 +113,12 @@ category = "dev" optional = false python-versions = "*" +[package.dependencies] +packaging = ">20.6" + [package.source] type = "url" -url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" +url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" [[package]] name = "appdirs" @@ -457,6 +460,14 @@ python-versions = "*" docutils = ">=0.12" Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6" +[[package]] +name = "brotli" +version = "1.0.9" +description = "Python bindings for the Brotli compression library" +category = "dev" +optional = false +python-versions = "*" + [[package]] name = "cachecontrol" version = "0.12.11" @@ -600,6 +611,17 @@ category = "dev" optional = false python-versions = ">=3.6" +[[package]] 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"sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"}, diff --git a/pyproject.toml b/pyproject.toml index 6b4b0bb5fa..47994779b2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -83,7 +83,7 @@ mypy = "^0.961" myst-parser = "^0.18.0" natsort = "^8.1.0" numpy = "^1.23.0" -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } +opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } pandas = "^1.4.3" parameterized = "^0.8.1" paramiko = "^2.11.0" @@ -107,6 +107,7 @@ types-certifi = "^2021.10.8" types-pycurl = "^7.45.1" types-PyYAML = "^6.0" types-requests = "^2.28.11" +types-tabulate = "^0.8.10" [tool.poetry.group.xx] @@ -116,7 +117,7 @@ optional = true aenum = "^3.1.11" aiohttp = "^3.8.1" albumentations = "^1.2.1" -apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" } +apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" } azure-cli-core = "^2.38.0" azure-common = "^1.1.28" azure-core = "^1.24.2" @@ -126,7 +127,7 @@ azure-storage-nspkg = "~3.1" blosc = "==1.9.2" cloudpickle = "^2.1.0" configargparse = "^1.5.3" -cupy-cuda113 = "^10.6.0" +cupy-cuda11x = "^11.6.0" datadog = "^0.44.0" dotmap = "^1.3.30" einops = "^0.5.0" @@ -165,14 +166,15 @@ scikit-learn = "^1.1.1" segmentation-models-pytorch = "==0.2.1" simplejson = "^3.17.6" SQLAlchemy = "^1.4.39" -torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } +torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" } torchsummary = "^1.5.1" -torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } -triton = "^1.1.1" +torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" } +triton = "^2.0.0" Werkzeug = "^2.1.2" zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } omegaconf = "^2.3.0" osmnx = "==1.2.2" +tritonclient = {version = "2.28.0", extras = ["http"]} [build-system] diff --git a/release/check-submodules.sh b/release/check-submodules.sh index 2585db6bd7..5f4e307e49 100755 --- a/release/check-submodules.sh +++ b/release/check-submodules.sh @@ -1,7 +1,7 @@ #!/bin/bash while read hash submodule ref; do - git -C $submodule fetch --depth 300 origin master + git -C $submodule fetch --depth 1000 origin master git -C $submodule branch -r --contains $hash | grep "origin/master" if [ "$?" -eq 0 ]; then echo "$submodule ok" diff --git a/release/files_common b/release/files_common index 5b310d5c80..a20f71018b 100644 --- a/release/files_common +++ b/release/files_common @@ -219,14 +219,15 @@ system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py -selfdrive/locationd/__init__.py -selfdrive/locationd/.gitignore -selfdrive/locationd/SConscript -selfdrive/locationd/ubloxd.cc -selfdrive/locationd/ublox_msg.cc -selfdrive/locationd/ublox_msg.h -selfdrive/locationd/generated/* +system/ubloxd/.gitignore +system/ubloxd/SConscript +system/ubloxd/generated/* +system/ubloxd/*.h +system/ubloxd/*.cc +selfdrive/locationd/__init__.py +selfdrive/locationd/SConscript +selfdrive/locationd/.gitignore selfdrive/locationd/laikad.py selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc @@ -253,35 +254,36 @@ system/proclogd/main.cc system/proclogd/proclog.cc system/proclogd/proclog.h -selfdrive/loggerd/.gitignore -selfdrive/loggerd/SConscript -selfdrive/loggerd/encoder/encoder.cc -selfdrive/loggerd/encoder/encoder.h -selfdrive/loggerd/encoder/v4l_encoder.cc -selfdrive/loggerd/encoder/v4l_encoder.h -selfdrive/loggerd/video_writer.cc -selfdrive/loggerd/video_writer.h -selfdrive/loggerd/logger.cc -selfdrive/loggerd/logger.h -selfdrive/loggerd/loggerd.cc -selfdrive/loggerd/loggerd.h -selfdrive/loggerd/encoderd.cc -selfdrive/loggerd/bootlog.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.h +system/loggerd/.gitignore +system/loggerd/SConscript +system/loggerd/encoder/encoder.cc +system/loggerd/encoder/encoder.h +system/loggerd/encoder/v4l_encoder.cc +system/loggerd/encoder/v4l_encoder.h +system/loggerd/video_writer.cc +system/loggerd/video_writer.h +system/loggerd/logger.cc +system/loggerd/logger.h +system/loggerd/loggerd.cc +system/loggerd/loggerd.h +system/loggerd/encoderd.cc +system/loggerd/bootlog.cc +system/loggerd/encoder/ffmpeg_encoder.cc +system/loggerd/encoder/ffmpeg_encoder.h -selfdrive/loggerd/__init__.py -selfdrive/loggerd/config.py -selfdrive/loggerd/uploader.py -selfdrive/loggerd/deleter.py -selfdrive/loggerd/xattr_cache.py +system/loggerd/__init__.py +system/loggerd/config.py +system/loggerd/uploader.py +system/loggerd/deleter.py +system/loggerd/xattr_cache.py -selfdrive/sensord/SConscript -selfdrive/sensord/sensors_qcom2.cc -selfdrive/sensord/sensors/*.cc -selfdrive/sensord/sensors/*.h -selfdrive/sensord/sensord -selfdrive/sensord/pigeond.py +system/sensord/.gitignore +system/sensord/SConscript +system/sensord/sensors_qcom2.cc +system/sensord/sensors/*.cc +system/sensord/sensors/*.h +system/sensord/sensord +system/sensord/pigeond.py selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py @@ -577,13 +579,14 @@ opendbc/tesla_can.dbc opendbc/tesla_radar.dbc opendbc/tesla_powertrain.dbc -tinygrad_repo/accel/opencl/* -tinygrad_repo/tinygrad/llops/ops_opencl.py tinygrad_repo/openpilot/compile.py tinygrad_repo/extra/onnx.py +tinygrad_repo/extra/onnx_ops.py tinygrad_repo/extra/thneed.py tinygrad_repo/extra/utils.py -tinygrad_repo/tinygrad/llops/ops_gpu.py -tinygrad_repo/tinygrad/shape/* +tinygrad_repo/tinygrad/codegen/ast.py +tinygrad_repo/tinygrad/codegen/gpu.py tinygrad_repo/tinygrad/nn/* +tinygrad_repo/tinygrad/runtime/ops_gpu.py +tinygrad_repo/tinygrad/shape/* tinygrad_repo/tinygrad/*.py diff --git a/release/files_tici b/release/files_tici index c8abd720d5..b4e0c50516 100644 --- a/release/files_tici +++ b/release/files_tici @@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -selfdrive/sensord/rawgps/* +system/sensord/rawgps/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png index 03765a0376..e2d943e537 100644 Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png new file mode 100644 index 0000000000..d8bc5f1371 Binary files /dev/null and b/selfdrive/assets/img_driver_face_static.png differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d1cc4cea83..7cb6d5b845 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader from common.params import Params from common.realtime import sec_since_boot, set_core_affinity from system.hardware import HARDWARE, PC, AGNOS -from selfdrive.loggerd.config import ROOT -from selfdrive.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR from system.swaglog import SWAGLOG_DIR, cloudlog from system.version import get_commit, get_origin, get_short_branch, get_version diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5d885c2c79..4faa08d536 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -113,32 +113,35 @@ bool safety_setter_thread(std::vector pandas) { return false; } - // set to ELM327 for fingerprinting + // initialize to ELM327 without OBD multiplexing for fingerprinting + bool obd_multiplexing_enabled = false; for (int i = 0; i < pandas.size(); i++) { - const uint16_t safety_param = (i > 0) ? 1U : 0U; - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); } - // wait for FW query at OBD port to finish + // openpilot can switch between multiplexing modes for different FW queries while (true) { if (do_exit || !check_all_connected(pandas) || !ignition) { return false; } - if (p.getBool("FirmwareObdQueryDone")) { - LOGW("finished FW query at OBD port"); + bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled"); + if (obd_multiplexing_requested != obd_multiplexing_enabled) { + for (int i = 0; i < pandas.size(); i++) { + const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + } + obd_multiplexing_enabled = obd_multiplexing_requested; + p.putBool("ObdMultiplexingChanged", true); + } + + if (p.getBool("FirmwareQueryDone")) { + LOGW("finished FW query"); break; } util::sleep_for(20); } - // set to ELM327 to finish fingerprinting and for potential ECU knockouts - for (Panda *panda : pandas) { - panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); - } - - p.putBool("ObdMultiplexingDisabled", true); - std::string params; LOGW("waiting for params to set safety model"); while (true) { diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f61d9ee1a6..f292b921cf 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -84,9 +84,9 @@ def main() -> NoReturn: params.remove("PandaSignatures") # Flash all Pandas in DFU mode - for p in PandaDFU.list(): - cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") - PandaDFU(p).recover() + for serial in PandaDFU.list(): + cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") + PandaDFU(serial).recover() time.sleep(1) panda_serials = Panda.list() diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index b8ebbd88a3..d614f0b126 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase): cp.safetyConfigs = [safety_config]*num_pandas params = Params() - params.put_bool("FirmwareObdQueryDone", True) + params.put_bool("FirmwareQueryDone", True) params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py new file mode 100755 index 0000000000..3b2369b39b --- /dev/null +++ b/selfdrive/boardd/tests/test_pandad.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +import time +import unittest + +import cereal.messaging as messaging +from panda import Panda +from selfdrive.test.helpers import phone_only +from selfdrive.manager.process_config import managed_processes +from system.hardware import HARDWARE + + +class TestPandad(unittest.TestCase): + + def tearDown(self): + managed_processes['pandad'].stop() + + def _wait_for_boardd(self): + sm = messaging.SubMaster(['peripheralState']) + for _ in range(30): + sm.update(1000) + if sm.updated['peripheralState']: + break + + if not sm.updated['peripheralState']: + raise Exception("boardd failed to start") + + @phone_only + def test_in_dfu(self): + HARDWARE.recover_internal_panda() + time.sleep(1) + + managed_processes['pandad'].start() + self._wait_for_boardd() + + @phone_only + def test_in_bootstub(self): + with Panda() as p: + p.reset(enter_bootstub=True) + assert p.bootstub + managed_processes['pandad'].start() + self._wait_for_boardd() + + #def test_out_of_date_fw(self): + # pass + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c056f7ca3d..58cde85817 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -73,7 +73,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} -def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): +def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS): # limits due to driver torque driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER @@ -93,29 +93,37 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque return int(round(float(apply_torque))) -def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): - # limits due to comparison of commanded torque VS motor reported torque - max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX) - min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX) +def apply_dist_to_meas_limits(val, val_last, val_meas, + STEER_DELTA_UP, STEER_DELTA_DOWN, + STEER_ERROR_MAX, STEER_MAX): + # limits due to comparison of commanded val VS measured val (torque/angle/curvature) + max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX) + min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX) - apply_torque = clip(apply_torque, min_lim, max_lim) + val = clip(val, min_lim, max_lim) - # slow rate if steer torque increases in magnitude - if apply_torque_last > 0: - apply_torque = clip(apply_torque, - max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP), - apply_torque_last + LIMITS.STEER_DELTA_UP) + # slow rate if val increases in magnitude + if val_last > 0: + val = clip(val, + max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP), + val_last + STEER_DELTA_UP) else: - apply_torque = clip(apply_torque, - apply_torque_last - LIMITS.STEER_DELTA_UP, - min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP)) + val = clip(val, + val_last - STEER_DELTA_UP, + min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP)) - return int(round(float(apply_torque))) + return float(val) + + +def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS): + return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque, + LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN, + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX))) def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): # pick angle rate limits based on wind up/down - steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) + steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last) rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 370772c902..6a131c77de 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus +from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint @@ -80,12 +80,13 @@ def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) ecu_rx_addrs = set() + params = Params() if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 - cached_params = Params().get("CarParamsCache") + cached_params = params.get("CarParamsCache") if cached_params is not None: cached_params = car.CarParams.from_bytes(cached_params) if cached_params.carName == "mock": @@ -98,6 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas): cached = True else: cloudlog.warning("Getting VIN & FW versions") + set_obd_multiplexing(params, True) vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) @@ -113,10 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("Malformed VIN", vin=vin, error=True) vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) - - params = Params() params.put("CarVin", vin) - disable_obd_multiplexing(params) + + # disable OBD multiplexing for potential ECU knockouts + set_obd_multiplexing(params, False) + params.put_bool("FirmwareQueryDone", True) finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 @@ -180,7 +183,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) if candidate is None: - cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) + cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True) candidate = "mock" CarInterface, CarController, CarState = interfaces[candidate] diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 20a44bce21..b418179e0e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,6 +1,6 @@ from opendbc.can.packer import CANPacker from common.realtime import DT_CTRL -from selfdrive.car import apply_toyota_steer_torque_limits +from selfdrive.car import apply_meas_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags @@ -67,7 +67,7 @@ class CarController: # steer torque new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) if not lkas_active or not lkas_control_bit: apply_steer = 0 self.apply_steer_last = apply_steer diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 16ebb4fa11..8799f073c9 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -50,6 +50,7 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 3 self.STEER_MAX = 261 # higher than this faults the EPS + STEER_THRESHOLD = 120 RAM_DT = {CAR.RAM_1500, } @@ -62,6 +63,7 @@ class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.fca + CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms @@ -73,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram), CAR.RAM_HD: [ ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram), - ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram), + ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram), ], } @@ -93,13 +95,13 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { FINGERPRINTS = { CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 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288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 + 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 }], CAR.PACIFICA_2020: [{ 55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8 @@ -135,7 +137,7 @@ FINGERPRINTS = { }], CAR.JEEP_CHEROKEE_2019: [{ # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], } @@ -180,79 +182,153 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { - CAR.RAM_1500: { + CAR.JEEP_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ - b'68294063AH', - b'68294063AG', - b'68434860AC', - b'68527375AD', - b'68453503AC', + b'68402971AD', ], (Ecu.srs, 0x744, None): [ - b'68441329AB', - b'68490898AA', - b'68428609AB', - b'68500728AA', + b'68355363AB', ], (Ecu.abs, 0x747, None): [ - b'68432418AD', - b'68432418AB', - b'68436004AE', - b'68438454AD', - b'68436004AD', - b'68535469AB', - b'68438454AC', + b'68408639AD', ], (Ecu.fwdRadar, 0x753, None): [ - b'68320950AL', - b'68320950AJ', - b'68454268AB', - b'68475160AG', - b'04672892AB', - b'68475160AE', + b'68456722AC', ], (Ecu.eps, 0x75A, None): [ - b'68273275AG', - b'68469901AA', - b'68552788AA', + b'68453431AA', ], (Ecu.engine, 0x7e0, None): [ - b'68448163AJ', - b'68500630AD', - b'68539650AD', + b'05035674AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + ], + }, + + CAR.RAM_1500: { + (Ecu.combinationMeter, 0x742, None): [ + b'68294051AG', + b'68294051AI', + b'68294052AG', + b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434858AC', + b'68434860AC', + b'68453503AC', + b'68453505AC', + b'68453511AC', + b'68453513AD', + b'68453514AD', + b'68510283AG', + b'68527375AD', + ], + (Ecu.srs, 0x744, None): [ + b'68428609AB', + b'68441329AB', + b'68473844AB', + b'68490898AA', + b'68500728AA', + b'68615033AA', + ], + (Ecu.abs, 0x747, None): [ + b'68292406AH', + b'68432418AB', + b'68432418AD', + b'68436004AD', + b'68436004AE', + b'68438454AC', + b'68438454AD', + b'68438456AE', + b'68438456AF', + b'68535469AB', + b'68535470AC', + b'68586307AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672892AB', + b'04672932AB', + b'68320950AH', + b'68320950AI', + b'68320950AJ', + b'68320950AL', + b'68320950AM', + b'68454268AB', + b'68475160AE', + b'68475160AF', + b'68475160AG', + ], + (Ecu.eps, 0x75A, None): [ + b'68273275AF', + b'68273275AG', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AB', + b'68469901AA', + b'68522583AB', + b'68522585AB', + b'68552788AA', + b'68552790AA', + b'68585112AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'05036065AE ', + b'05036066AE ', + b'68378701AI ', b'68378758AM ', + b'68448163AJ', + b'68448165AK', + b'68500630AD', + b'68500630AE', + b'68539650AD', ], (Ecu.transmission, 0x7e1, None): [ b'68360078AL', - b'68384328AD', - b'68360085AL', + b'68360080AM', b'68360081AM', - b'68502994AD', + b'68360085AL', + b'68384328AD', + b'68384332AD', b'68445533AB', - b'68540431AB', b'68484467AC', + b'68502994AD', + b'68540431AB', ], }, CAR.RAM_HD: { (Ecu.combinationMeter, 0x742, None): [ b'68361606AH', + b'68437735AC', b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', ], (Ecu.srs, 0x744, None): [ b'68399794AC', b'68428503AA', b'68428505AA', + b'68428507AA', ], (Ecu.abs, 0x747, None): [ b'68334977AH', + b'68455481AC', + b'68504022AA', b'68504022AB', - b'68530686AB', b'68504022AC', + b'68530686AB', + b'68530686AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', b'68484694AE', ], (Ecu.eps, 0x761, None): [ @@ -260,7 +336,13 @@ FW_VERSIONS = { b'68507906AB', ], (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370931CT', + b'52401032AE', b'52421132AF', + b'68527616AD ', b'M2370131MB', b'M2421132MB', ], diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index e5d550fac8..86bae91b06 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg from selfdrive.boardd.boardd import can_list_to_can_capnp from system.swaglog import cloudlog +EcuAddrBusType = Tuple[int, Optional[int], int] + def make_tester_present_msg(addr, bus, subaddr=None): dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] @@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd return False -def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]: +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]: addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] - queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list} + queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} responses = queries return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) -def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]], - responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]: - ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),) +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType], + responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]: + ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index f97225e9f2..21af1062f3 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -37,7 +37,7 @@ class CarState(CarStateBase): # steering wheel ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"] ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"] - ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5) ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1 ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) # ret.espDisabled = False # TODO: find traction control signal diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 951cd09ba0..50c7d93987 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -24,12 +24,13 @@ class CarControllerParams: BUTTONS_STEP = 10 / 2 CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 - STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold, Nm + STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits # TODO: unify field names used by curvature and angle control cars - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032]) + # ~2 m/s^3 up, ~-3 m/s^3 down + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration @@ -164,6 +165,7 @@ FW_VERSIONS = { b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -177,6 +179,7 @@ FW_VERSIONS = { b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index dd3b19f6de..7ae9bee404 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import capnp +import copy from dataclasses import dataclass, field import struct from typing import Dict, List, Optional, Tuple @@ -57,10 +58,12 @@ class Request: whitelist_ecus: List[int] = field(default_factory=list) rx_offset: int = 0x8 bus: int = 1 + # Whether this query should be run on the first auxiliary panda (CAN FD cars for example) + auxiliary: bool = False # FW responses from these queries will not be used for fingerprinting logging: bool = False - # These requests are done once OBD multiplexing is disabled, after all others - non_obd: bool = False + # boardd toggles OBD multiplexing on/off as needed + obd_multiplexing: bool = True @dataclass @@ -71,3 +74,10 @@ class FwQueryConfig: non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) # Ecus added for data collection, not to be fingerprinted on extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + + def __post_init__(self): + for i in range(len(self.requests)): + if self.requests[i].auxiliary: + new_request = copy.deepcopy(self.requests[i]) + new_request.bus += 4 + self.requests.append(new_request) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 8092ac0b76..f85b7f6b7d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Optional, Set, Tuple +from typing import Any, Dict, List, Set from tqdm import tqdm import panda.python.uds as uds from cereal import car from common.params import Params -from selfdrive.car.ecu_addrs import get_ecu_addrs +from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} -REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] +REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] def chunks(l, n=128): @@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None): def get_brand_addrs(): brand_addrs = defaultdict(set) for brand, cars in VERSIONS.items(): + # Add ecus in database + extra ecus to match against + brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} return brand_addrs @@ -146,38 +148,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): return True, set() -def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]: - queries = list() - parallel_queries = list() +def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: + params = Params() + # queries are split by OBD multiplexing mode + queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []} + parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} responses = set() - for brand, r in REQUESTS: + for brand, config, r in REQUESTS: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue for brand_versions in VERSIONS[brand].values(): - for ecu_type, addr, sub_addr in brand_versions: + for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus: # Only query ecus in whitelist if whitelist is not empty if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: a = (addr, sub_addr, r.bus) # Build set of queries if sub_addr is None: - if a not in parallel_queries: - parallel_queries.append(a) + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) else: # subaddresses must be queried one by one - if [a] not in queries: - queries.append([a]) + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) # Build set of expected responses to filter response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) responses.add((response_addr, sub_addr, r.bus)) - queries.insert(0, parallel_queries) + for obd_multiplexing in queries: + queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) ecu_responses = set() - for query in queries: - ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + for obd_multiplexing in queries: + set_obd_multiplexing(params, obd_multiplexing) + for query in queries[obd_multiplexing]: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) return ecu_responses @@ -185,9 +192,9 @@ def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = get_brand_addrs() - brand_matches = {brand: set() for brand, _ in REQUESTS} + brand_matches = {brand: set() for brand, _, _ in REQUESTS} - brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS) + brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS) for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -198,13 +205,13 @@ def get_brand_ecu_matches(ecu_rx_addrs): return brand_matches -def disable_obd_multiplexing(params): - if not params.get_bool("ObdMultiplexingDisabled"): - params.put_bool("FirmwareObdQueryDone", True) - - cloudlog.warning("Waiting for OBD multiplexing to be disabled") - params.get_bool("ObdMultiplexingDisabled", block=True) - cloudlog.warning("OBD multiplexing disabled") +def set_obd_multiplexing(params: Params, obd_multiplexing: bool): + if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing: + cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}") + params.remove("ObdMultiplexingChanged") + params.put_bool("ObdMultiplexingEnabled", obd_multiplexing) + params.get_bool("ObdMultiplexingChanged", block=True) + cloudlog.warning("OBD multiplexing set successfully") def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): @@ -212,7 +219,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand all_car_fw = [] brand_matches = get_brand_ecu_matches(ecu_rx_addrs) - matched_brand: Optional[str] = None for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) @@ -220,21 +226,14 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand # Try to match using FW returned from this brand only matches = match_fw_to_car_exact(build_fw_dict(car_fw)) if len(matches) == 1: - matched_brand = brand break - disable_obd_multiplexing(Params()) - - # Do non-OBD queries for matched brand, or all if no match is found - for brand in FW_QUERY_CONFIGS.keys(): - if brand == matched_brand or matched_brand is None: - all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress)) - return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): versions = VERSIONS.copy() + params = Params() # Each brand can define extra ECUs to query for data collection for brand, config in FW_QUERY_CONFIGS.items(): @@ -250,19 +249,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # ECUs using a subaddress need be queried one by one, the rest can be done in parallel addrs = [] parallel_addrs = [] - logging_addrs = [] ecu_types = {} for brand, brand_versions in versions.items(): - for candidate, ecu in brand_versions.items(): + for ecu in brand_versions.values(): for ecu_type, addr, sub_addr in ecu.keys(): a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type - if a not in logging_addrs and candidate == "debug": - logging_addrs.append(a) - if sub_addr is None: if a not in parallel_addrs: parallel_addrs.append(a) @@ -274,16 +269,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for brand, r in requests: + for brand, config, r in requests: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue - # Or if request is not designated for current multiplexing mode - elif r.non_obd == obd_multiplexed: - continue + + # Toggle OBD multiplexing for each request + if r.bus % 4 == 1: + set_obd_multiplexing(params, r.obd_multiplexing) try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and @@ -294,15 +290,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - ecu_key = (brand, tx_addr, sub_addr) - f.ecu = ecu_types.get(ecu_key, Ecu.unknown) + f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) f.fwVersion = version f.address = tx_addr f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus - f.logging = r.logging or ecu_key in logging_addrs + f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus + f.obdMultiplexing = r.obd_multiplexing if sub_addr is not None: f.subAddress = sub_addr diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 73085d30b0..2a996c0ff6 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.gm import gmcan from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons @@ -30,7 +30,6 @@ class CarController: self.cancel_counter = 0 self.lka_steering_cmd_counter = 0 - self.sent_lka_steering_cmd = False self.lka_icon_status_last = (False, False) self.params = CarControllerParams(self.CP) @@ -59,24 +58,22 @@ class CarController: # - until we're in sync with camera so counters align when relay closes, preventing a fault. # openpilot can subtly drift, so this is activated throughout a drive to stay synced out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4 - if not self.sent_lka_steering_cmd or out_of_sync: + if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync: steer_step = self.params.STEER_STEP - if CS.loopback_lka_steering_cmd_updated: - self.lka_steering_cmd_counter += 1 - self.sent_lka_steering_cmd = True + self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0 # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we # received the ASCMLKASteeringCmd loopback confirmation too recently last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6 if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus - if not self.sent_lka_steering_cmd: + if CS.loopback_lka_steering_cmd_ts_nanos == 0: self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) else: apply_steer = 0 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 3c7d35f2dc..2f9c952876 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -37,7 +37,8 @@ class CarState(CarStateBase): # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 - self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] + if self.loopback_lka_steering_cmd_updated: + self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"] if self.CP.networkLocation == NetworkLocation.fwdCamera: self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index c28274011e..f501c8c7dd 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -3,12 +3,11 @@ from cereal import car from math import fabs from panda import Panda -from common.numpy_fast import interp from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config -from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR -from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD -from selfdrive.controls.lib.drive_helpers import apply_center_deadzone +from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG +from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus +from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -45,48 +44,12 @@ class CarInterface(CarInterfaceBase): else: return CarInterfaceBase.get_steer_feedforward_default - @staticmethod - def torque_from_lateral_accel_bolt(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): - friction_interp = interp( - apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), - [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], - [-torque_params.friction, torque_params.friction] - ) - friction = friction_interp if friction_compensation else 0.0 - steer_torque = lateral_accel_value / torque_params.latAccelFactor - - # TODO: - # 1. Learn the correction factors from data - # 2. Generalize the logic to other GM torque control platforms - steer_break_pts = [-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0] - steer_lataccel_factors = [1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5] - steer_correction_factor = interp( - steer_torque, - steer_break_pts, - steer_lataccel_factors - ) - - vego_break_pts = [0.0, 10.0, 15.0, 20.0, 100.0] - vego_lataccel_factors = [1.5, 1.5, 1.25, 1.0, 1.0] - vego_correction_factor = interp( - vego, - vego_break_pts, - vego_lataccel_factors, - ) - - return (steer_torque + friction) / (steer_correction_factor * vego_correction_factor) - - def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: - if self.CP.carFingerprint == CAR.BOLT_EUV: - return self.torque_from_lateral_accel_bolt - else: - return self.torque_from_lateral_accel_linear - @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False + use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct @@ -115,7 +78,6 @@ class CarInterface(CarInterfaceBase): ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 - ret.longitudinalActuatorDelayUpperBound = 0.5 if experimental_long: ret.pcmCruise = False @@ -125,7 +87,7 @@ class CarInterface(CarInterfaceBase): else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway - ret.radarUnavailable = False + ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults ret.pcmCruise = False # stock non-adaptive cruise control is kept off # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS @@ -138,7 +100,8 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \ + (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable) # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] @@ -149,6 +112,7 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz + ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG @@ -184,7 +148,13 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + + elif candidate == CAR.BUICK_LACROSSE: + ret.mass = 1712. + STD_CARGO_KG + ret.wheelbase = 2.91 + ret.steerRatio = 15.8 + ret.centerToFront = ret.wheelbase * 0.4 # wild guess + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 @@ -223,7 +193,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.8 ret.centerToFront = ret.wheelbase * 0.4 tire_stiffness_factor = 1.0 - ret.steerActuatorDelay = 0.12 + ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 207af6bb05..0d13cb9827 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -14,8 +14,8 @@ class CarControllerParams: STEER_STEP = 3 # Active control frames per command (~33hz) INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness - STEER_DELTA_DOWN = 15 - STEER_DRIVER_ALLOWANCE = 65 + STEER_DELTA_DOWN = 25 + STEER_DRIVER_ALLOWANCE = 50 STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_FACTOR = 100 NEAR_STOP_BRAKE_PHASE = 0.5 # m/s @@ -66,6 +66,7 @@ class CAR: CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" MALIBU = "CHEVROLET MALIBU PREMIER 2017" ACADIA = "GMC ACADIA DENALI 2018" + BUICK_LACROSSE = "BUICK LACROSSE 2017" BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE = "CADILLAC ESCALADE 2017" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" @@ -99,6 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), + CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), @@ -151,6 +153,15 @@ FINGERPRINTS = { # Volt Premier w/ ACC 2018 { 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 + }, + # Volt Premier 2018 w/ flashed firmware, no radar + { + 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 + }], + CAR.BUICK_LACROSSE: [ + # LaCrosse Premium AWD 2017 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 }], CAR.BUICK_REGAL : [ # Regal TourX Essence w/ ACC 2018 diff --git a/selfdrive/loggerd/__init__.py b/selfdrive/car/honda/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/__init__.py rename to selfdrive/car/honda/tests/__init__.py diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c085c3fe80..009a549afd 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -186,7 +186,7 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.UDS_VERSION_RESPONSE], bus=1, logging=True, - non_obd=True, + obd_multiplexing=False, ), ], extra_ecus=[ @@ -368,10 +368,12 @@ FW_VERSIONS = { b'57114-TWA-A050\x00\x00', b'57114-TWA-A530\x00\x00', b'57114-TWA-B520\x00\x00', + b'57114-TWB-H030\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TWA-A440\x00\x00', b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ b'78109-TWA-A010\x00\x00', @@ -385,6 +387,7 @@ FW_VERSIONS = { b'78109-TWA-A230\x00\x00', b'78109-TWA-L010\x00\x00', b'78109-TWA-L210\x00\x00', + b'78109-TWA-H210\x00\x00', ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TWA-A910\x00\x00', @@ -396,16 +399,19 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TWA-A070\x00\x00', b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TVA-A160\x00\x00', b'39990-TVA-A150\x00\x00', b'39990-TVA-A340\x00\x00', + b'39990-TWB-H120\x00\x00', ], }, CAR.CIVIC: { diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 5cfaeb40b0..d8fe4b5b16 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -3,7 +3,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import clip from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.hyundai import hyundaicanfd, hyundaican from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR @@ -60,7 +60,7 @@ class CarController: # steering torque new_steer = int(round(actuators.steer * self.params.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/loggerd/tests/__init__.py b/selfdrive/car/hyundai/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/tests/__init__.py rename to selfdrive/car/hyundai/tests/__init__.py diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5135ccd80e..273693455f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -224,7 +224,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k), CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), @@ -335,10 +335,15 @@ FINGERPRINTS = { HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description + +HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf110) # Alt long description + HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ p16(0xf100) + HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) FW_QUERY_CONFIG = FwQueryConfig( @@ -355,22 +360,46 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries (camera) + + # CAN-FD queries (from camera) + # TODO: combine shared whitelists with CAN requests Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar], - bus=4, + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], + bus=0, + auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar], - bus=5, + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], + bus=1, + auxiliary=True, + obd_multiplexing=False, + ), + + # CAN-FD debugging queries + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parking], + bus=0, + auxiliary=True, + ), + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parking], + bus=1, + auxiliary=True, + obd_multiplexing=False, ), ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.parking, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) + (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], ) @@ -512,7 +541,6 @@ FW_VERSIONS = { b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', - b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -525,7 +553,6 @@ FW_VERSIONS = { b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', ], (Ecu.engine, 0x7e0, None): [ @@ -587,6 +614,7 @@ FW_VERSIONS = { b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', @@ -1553,6 +1581,8 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', ], }, CAR.IONIQ_5: { @@ -1563,9 +1593,11 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', ], }, CAR.TUCSON_4TH_GEN: { @@ -1628,6 +1660,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', @@ -1636,14 +1669,17 @@ FW_VERSIONS = { CAR.KIA_SORENTO_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', ], }, CAR.KIA_NIRO_HEV_2ND_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f1e2081d05..249818369c 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -18,7 +18,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float] +TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 @@ -131,7 +131,7 @@ class CarInterfaceBase(ABC): return self.get_steer_feedforward_default @staticmethod - def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): + def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction_interp = interp( apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 524a02a370..cb401a8abd 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.mazda import mazdacan from selfdrive.car.mazda.values import CarControllerParams, Buttons @@ -23,8 +23,8 @@ class CarController: if CC.latActive: # calculate steer and also set limits due to driver torque new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, - CS.out.steeringTorque, CarControllerParams) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, + CS.out.steeringTorque, CarControllerParams) if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 24d85877d7..a6dbf4a39e 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,5 +1,5 @@ from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.subaru import subarucan from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams @@ -34,7 +34,7 @@ class CarController: # limits due to driver torque new_steer = int(round(apply_steer)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 5c7d3f5e4d..9c4447631d 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -273,9 +273,11 @@ FW_VERSIONS = { b'\xa3 \031\024\000', b'\xa3 \x14\x01', b'\xf1\x00\xbb\r\x05', + b'\xa3 \x18&\x00', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x04\x00', + b'\x8d\xc0\x00\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00e!\x1f@ \x11', @@ -292,6 +294,7 @@ FW_VERSIONS = { b'\xcb\"`p\a', b'\xf1\x00\xa2\x10\n', b'\xcf"`p\x07', + b'\xb6\xa2`A\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\032\xf6B0\000', @@ -299,6 +302,7 @@ FW_VERSIONS = { b'\032\xf6b`\000', b'\x1a\xf6B`\x00', b'\x1a\xf6b0\x00', + b'\x1a\xe6B1\x00', ], }, CAR.FORESTER_PREGLOBAL: { diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index a541abe13d..d4bb19cb02 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -27,6 +27,8 @@ non_tested_cars = [ HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter + TOYOTA.RAV4_TSS2_2023, + TOYOTA.RAV4H_TSS2_2023, ] CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) @@ -50,6 +52,7 @@ routes = [ CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), + CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), @@ -207,6 +210,7 @@ routes = [ CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), + CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4), CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 3efdd7404e..d3e4de1798 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -10,7 +10,6 @@ from common.realtime import DT_CTRL from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.interfaces import get_torque_params -from selfdrive.car.hyundai.values import CAR as HYUNDAI CAR_MODELS = all_known_cars() @@ -22,14 +21,6 @@ MAX_LAT_ACCEL = 3.0 # m/s^2 # jerk is measured over half a second JERK_MEAS_FRAMES = 0.5 / DT_CTRL -# TODO: update the max measured lateral accel for these cars -ABOVE_LIMITS_CARS = [ - HYUNDAI.KONA_EV, - HYUNDAI.KONA_HEV, - HYUNDAI.KONA, - HYUNDAI.KONA_EV_2022, -] - car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) @@ -52,9 +43,6 @@ class TestLateralLimits(unittest.TestCase): if CP.notCar: raise unittest.SkipTest - if CP.carFingerprint in ABOVE_LIMITS_CARS: - raise unittest.SkipTest - CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams cls.control_params = CarControllerParams(CP) cls.torque_params = get_torque_params(cls.car_model) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index cc1681bce1..75051316fa 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] NISSAN ROGUE 2019: [.nan, 1.5, .nan] +# Toyota LTA also has torque +TOYOTA RAV4 2023: [.nan, 3.0, .nan] +TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] + # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 6f8cfe0ce6..cb423e1d87 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548] +HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 61243424f0..5feef12206 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -50,12 +50,14 @@ HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 HONDA E 2020: HONDA CIVIC (BOSCH) 2019 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 +BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 +SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 2e0d7009c8..66a7b57f01 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car from common.numpy_fast import clip, interp -from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg +from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command @@ -60,7 +60,7 @@ class CarController: # steer torque new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) + apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: @@ -76,6 +76,11 @@ class CarController: apply_steer_req = 0 self.steer_rate_counter = 0 + # Never actuate with LKA on cars that only support LTA + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + apply_steer = 0 + apply_steer_req = 0 + # TODO: probably can delete this. CS.pcm_acc_status uses a different signal # than CS.cruiseState.enabled. confirm they're not meaningfully different if not CC.enabled and CS.pcm_acc_status: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 8b3fd048d9..33a87451e9 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,8 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR +from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ + MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -20,16 +21,22 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] - if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): + # BRAKE_MODULE is on a different address for these cars + if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + if candidate in ANGLE_CONTROL_CAR: + ret.dashcamOnly = True + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False - steering_angle_deadzone_deg = 0.0 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True @@ -40,9 +47,8 @@ class CarInterface(CarInterfaceBase): # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': - steering_angle_deadzone_deg = 0.2 ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -102,7 +108,8 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 diff --git a/selfdrive/sensord/__init__.py b/selfdrive/car/toyota/tests/__init__.py similarity index 100% rename from selfdrive/sensord/__init__.py rename to selfdrive/car/toyota/tests/__init__.py diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py new file mode 100755 index 0000000000..5648f75fe7 --- /dev/null +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python3 +import unittest + +from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR + + +class TestToyotaInterfaces(unittest.TestCase): + def test_angle_car_set(self): + self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 7e360cc4e1..a78b70608c 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt): "SETME_X1": 1, "SETME_X3": 3, "PERCENTAGE": 100, - "SETME_X64": 0x64, + "SETME_X64": 0, "ANGLE": 0, "STEER_ANGLE_CMD": steer, "STEER_REQUEST": steer_req, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 0fcabe163c..2398e012d6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -67,8 +67,10 @@ class CAR: RAV4H = "TOYOTA RAV4 HYBRID 2017" RAV4_TSS2 = "TOYOTA RAV4 2019" RAV4_TSS2_2022 = "TOYOTA RAV4 2022" + RAV4_TSS2_2023 = "TOYOTA RAV4 2023" RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019" RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022" + RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023" MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 SIENNA = "TOYOTA SIENNA 2018" @@ -115,11 +117,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), - CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]), + CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"), CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"), - CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), + CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ @@ -157,14 +159,16 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), + CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"), + CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), @@ -172,7 +176,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), @@ -527,14 +531,18 @@ FW_VERSIONS = { CAR.CAMRY_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F152606370\x00\x00\x00\x00\x00\x00', b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', + b'\x01F152606431\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -542,12 +550,15 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CAMRYH_TSS2: { @@ -712,6 +723,7 @@ FW_VERSIONS = { b'8646FF404000 ', b'8646FF406000 ', b'8646FF407000 ', + b'8646FF407100 ', ], }, CAR.CHRH_TSS2: { @@ -1453,6 +1465,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AJ2000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.RAV4H_TSS2: { (Ecu.engine, 0x700, None): [ b'\x01896634A15000\x00\x00\x00\x00', @@ -1540,6 +1569,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4H_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15264283200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AE1001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.SIENNA: { (Ecu.engine, 0x700, None): [ b'\x01896630832100\x00\x00\x00\x00', @@ -1636,6 +1682,7 @@ FW_VERSIONS = { b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00', @@ -1727,6 +1774,7 @@ FW_VERSIONS = { b'\x018966378B2100\x00\x00\x00\x00', b'\x018966378B3000\x00\x00\x00\x00', b'\x018966378B4100\x00\x00\x00\x00', + b'\x018966378G2000\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', b'\x018966378B2000\x00\x00\x00\x00', ], @@ -1749,6 +1797,7 @@ FW_VERSIONS = { CAR.LEXUS_NXH_TSS2: { (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152678210\x00\x00\x00\x00\x00\x00', @@ -1758,6 +1807,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', @@ -2094,6 +2144,7 @@ DBC = { CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2104,6 +2155,7 @@ DBC = { CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2118,8 +2170,8 @@ DBC = { EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, - CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2128,10 +2180,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera -RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2} +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} + +# these cars use the Lane Tracing Assist (LTA) message for lateral control +ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, - CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, + CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 5d00b5a52f..c17b632450 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker from common.numpy_fast import clip from common.conversions import Conversions as CV from common.realtime import DT_CTRL -from selfdrive.car import apply_std_steer_torque_limits +from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.volkswagen import mqbcan, pqcan from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams @@ -44,7 +44,7 @@ class CarController: if CC.latActive: new_steer = int(round(actuators.steer * self.CCP.STEER_MAX)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) + apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP) if apply_steer == 0: hcaEnabled = False self.hcaEnabledFrameCount = 0 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 64d1246880..f3cd2808a8 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -228,13 +228,13 @@ class CarState(CarStateBase): ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) if self.CP.pcmCruise: - ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) + ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7) else: ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 # Update ACC setpoint. When the setpoint reads as 255, the driver has not # yet established an ACC setpoint, so treat it as zero. - ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS + ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint ret.cruiseState.speed = 0 @@ -516,12 +516,12 @@ class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) - ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed + ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status + ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed ] fwd_radar_checks = [ ("ACC_System", 50), # From J428 ACC radar control module - ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module + ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module ] bsm_radar_signals = [ ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 521c68184d..2f8bd8661b 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -187,6 +187,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 + elif candidate == CAR.SKODA_FABIA_MK4: + ret.mass = 1266 + STD_CARGO_KG + ret.wheelbase = 2.56 + elif candidate == CAR.SKODA_KAMIQ_MK1: ret.mass = 1265 + STD_CARGO_KG ret.wheelbase = 2.66 diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 130f107950..84200c2921 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } - return packer.make_can_msg("ACC_GRA_Anziege", bus, values) + return packer.make_can_msg("ACC_GRA_Anzeige", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index cd30bef73b..bdd82088a1 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -36,7 +36,7 @@ class CarControllerParams: if CP.carFingerprint in PQ_CARS: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz - self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) @@ -129,6 +129,7 @@ class CAR: AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants + SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq @@ -239,9 +240,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), + CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), - CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), + CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ @@ -291,6 +293,7 @@ FW_VERSIONS = { b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', + b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158L \xf1\x893611', @@ -302,17 +305,19 @@ FW_VERSIONS = { b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', ], }, CAR.ATLAS_MK1: { @@ -392,6 +397,7 @@ FW_VERSIONS = { b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026NF\xf1\x899528', b'\xf1\x8704L906056CL\xf1\x893823', @@ -512,6 +518,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', @@ -739,12 +746,14 @@ FW_VERSIONS = { b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', + b'\xf1\x8783A907115K \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158FM\xf1\x893757', b'\xf1\x8709G927158GC\xf1\x893821', b'\xf1\x8709G927158GD\xf1\x893820', + b'\xf1\x8709G927158GM\xf1\x893936', b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', @@ -775,6 +784,7 @@ FW_VERSIONS = { b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', + b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -1006,6 +1016,23 @@ FW_VERSIONS = { b'\xf1\x875Q0907572P \xf1\x890682', ], }, + CAR.SKODA_FABIA_MK4: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018CF\xf1\x891905', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300051M \xf1\x891936', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144S \xf1\x896042', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + ], + }, CAR.SKODA_KAMIQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705C906032M \xf1\x891333', @@ -1049,27 +1076,43 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', b'\xf1\x8704L906026DE\xf1\x895418', + b'\xf1\x8704L906026EJ\xf1\x893661', + b'\xf1\x8704L906026HT\xf1\x893617', + b'\xf1\x8783A907115E \xf1\x890001', + b'\xf1\x8705E906018DJ\xf1\x890915', b'\xf1\x875NA907115E \xf1\x890003', + b'\xf1\x875NA907115E \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', + b'\xf1\x870DL300011N \xf1\x892014', b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', + b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\0161213001211001205212112052100', + b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', + b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', ], }, CAR.SKODA_OCTAVIA_MK3: { @@ -1139,6 +1182,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264A \xf1\x890002', ], @@ -1148,12 +1192,14 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300041H \xf1\x894905', b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870D9300043F \xf1\x895202', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2c359ec32a..1391d6570c 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -112,9 +112,6 @@ class Controls: if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"): - self.CP.dashcamOnly = False - # read params self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") @@ -280,8 +277,9 @@ class Controls: # Alert if fan isn't spinning for 5 seconds if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: - if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + # allow enough time for the fan controller in the panda to recover from stalls + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: self.events.add(EventName.fanMalfunction) else: self.last_functional_fan_frame = self.sm.frame diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index a85e48649f..e4ddfb5326 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -292,7 +292,7 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging rpy = sm['liveCalibration'].rpyCalib yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) - angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°" + angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)" return NormalPermanentAlert("Calibration Invalid", angles) @@ -317,9 +317,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - text = "Cruise Mode Disabled" + text = "Enable Adaptive Cruise to Engage" if CP.carName == "honda": - text = "Main Switch Off" + text = "Enable Main Switch to Engage" return NoEntryAlert(text) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 9129693e5a..2f56094379 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -64,10 +64,10 @@ class LatControlTorque(LatControl): error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, - lateral_accel_deadzone, CS.vEgo, friction_compensation=False) + lateral_accel_deadzone, friction_compensation=False) ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, desired_lateral_accel - actual_lateral_accel, - lateral_accel_deadzone, CS.vEgo, friction_compensation=True) + lateral_accel_deadzone, friction_compensation=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 2ef9051122..e959b14ee3 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -122,8 +122,9 @@ class LongitudinalPlanner: self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) + self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N] - self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) + self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N] self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 543274d841..14934254af 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -19,9 +19,11 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) uiPlan = ui_send.uiPlan + uiPlan.frameId = sm['modelV2'].frameId uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() pm.send('uiPlan', ui_send) def plannerd_thread(sm=None, pm=None): diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 92fc2468bb..18c8e79026 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -72,7 +72,6 @@ class TestStartup(unittest.TestCase): params.clear_all() params.put_bool("Passive", False) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("ObdMultiplexingDisabled", True) # Build capnn version of FW array if fw_versions is not None: @@ -109,6 +108,10 @@ class TestStartup(unittest.TestCase): finger = _FINGERPRINTS[car_model][0] for _ in range(1000): + # controlsd waits for boardd to echo back that it has changed the multiplexing mode + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] pm.send('can', can_list_to_can_capnp(msgs)) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 07ce5ebddb..3a0ff33cb6 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = { b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2021 SONATA HYBRID b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py new file mode 100755 index 0000000000..9ac8bfc80e --- /dev/null +++ b/selfdrive/debug/internal/check_frame_frequencies.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 + +import time +import statistics +import cereal.messaging as messaging + +from typing import Dict + +camera_states = [ + 'roadCameraState', + 'wideRoadCameraState', + 'driverCameraState' +] + +def fmt(val): + ref = 0.05 + return f"{val:.6f} ({100 * val / ref:.2f}%)" + +if __name__ == "__main__": + sm = messaging.SubMaster(camera_states) + + prev_sof = {state: None for state in camera_states} + diffs: Dict[str, list] = {state: [] for state in camera_states} + + st = time.monotonic() + while True: + sm.update() + + for state in camera_states: + if sm.updated[state]: + if prev_sof[state] is not None: + diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9) + prev_sof[state] = sm[state].timestampSof + + if time.monotonic() - st > 10: + for state in camera_states: + values = diffs[state] + ref = 0.05 + print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}") + diffs[state] = [] + + print() + st = time.monotonic() diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index ba7d96dba0..dc6688324f 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -74,7 +74,7 @@ if __name__ == "__main__": elif msg.which() == "carParams": CP = msg.carParams - car_fw = CP.carFw + car_fw = [fw for fw in CP.carFw if not fw.logging] if len(car_fw) == 0: print("no fw") break diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore index 86a228a6ff..11b9f127b2 100644 --- a/selfdrive/locationd/.gitignore +++ b/selfdrive/locationd/.gitignore @@ -1,6 +1,3 @@ -ubloxd -ubloxd_test params_learner paramsd locationd -test/test_glonass_runner diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 61a0ed7f42..740f827a49 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,20 +1,6 @@ Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] - -if GetOption('kaitai'): - generated = Dir('generated').srcnode().abspath - cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" - env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) - env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) - glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) - - # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 - patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') - env.Depends(patch, glonass) - -glonass_obj = env.Object('generated/glonass.cpp') -env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] @@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf) if File("liblocationd.cc").exists(): liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) - lenv.Depends(liblocationd, libkf) - -if GetOption('test'): - env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file + lenv.Depends(liblocationd, libkf) \ No newline at end of file diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index e85cd0ad42..59176c586b 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import json import math import os import time @@ -8,7 +7,7 @@ from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor from datetime import datetime from enum import IntEnum -from typing import List, Optional +from typing import List, Optional, Dict, Any import numpy as np @@ -17,9 +16,9 @@ from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed -from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem +from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -28,15 +27,53 @@ from selfdrive.locationd.models.gnss_kf import States as GStates from system.swaglog import cloudlog MAX_TIME_GAP = 10 -EPHEMERIS_CACHE = 'LaikadEphemeris' +EPHEMERIS_CACHE = 'LaikadEphemerisV3' DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 +class LogEphemerisType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + qcom = 3 + +class EphemerisSource(IntEnum): + gnssChip = 0 + internet = 1 + cache = 2 + unknown = 3 + +def get_log_eph_type(ephem): + if ephem.eph_type == EphemerisType.NAV: + source_type = LogEphemerisType.nav + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = LogEphemerisType.qcom + else: + assert ephem.file_epoch is not None + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = LogEphemerisType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = LogEphemerisType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + return source_type + +def get_log_eph_source(ephem): + if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': + source = EphemerisSource.gnssChip + elif ephem.file_name == EPHEMERIS_CACHE: + source = EphemerisSource.cache + else: + source = EphemerisSource.internet + return source + + class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, - valid_ephem_types=(EphemerisType.NAV,), + def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False, + valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), save_ephemeris=False, use_qcom=False): """ valid_const: GNSS constellation which can be used @@ -51,10 +88,11 @@ class Laikad: self.auto_fetch_navs = auto_fetch_navs self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None - - self.last_fetch_navs_t = None self.got_first_gnss_msg = False - self.last_cached_t = None + + self.last_report_time = GPSTime(0, 0) + self.last_fetch_navs_t = GPSTime(0, 0) + self.last_cached_t = GPSTime(0, 0) self.save_ephemeris = save_ephemeris self.load_cache() @@ -64,59 +102,94 @@ class Laikad: self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom + self.first_log_time = None + self.ttff = -1 def load_cache(self): if not self.save_ephemeris: return - cache = Params().get(EPHEMERIS_CACHE) - if not cache: + cache_bytes = Params().get(EPHEMERIS_CACHE) + if not cache_bytes: return + nav_dict = {} try: - cache = json.loads(cache, object_hook=deserialize_hook) - if cache['version'] == CACHE_VERSION: - self.astro_dog.add_navs(cache['navs']) - self.last_fetch_navs_t = cache['last_fetch_navs_t'] - else: - cache['navs'] = {} - except json.decoder.JSONDecodeError: + ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] + for e in sum([glonass_navs, gps_navs], []): + if e.prn not in nav_dict: + nav_dict[e.prn] = [] + nav_dict[e.prn].append(e) + self.astro_dog.add_navs(nav_dict) + except Exception: cloudlog.exception("Error parsing cache") - timestamp = self.last_fetch_navs_t.as_datetime() if self.last_fetch_navs_t is not None else 'Nan' cloudlog.debug( - f"Loaded navs ({sum([len(v) for v in cache['navs']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['navs'].keys())} " + - f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.navs_fetched_times._ranges]}") + f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ") - def cache_ephemeris(self, t: GPSTime): - if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): - put_nonblocking(EPHEMERIS_CACHE, json.dumps( - {'version': CACHE_VERSION, 'last_fetch_navs_t': self.last_fetch_navs_t, 'navs': self.astro_dog.navs}, - cls=CacheSerializer)) + def cache_ephemeris(self): + + if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): + nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], + 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) + + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") - self.last_cached_t = t + self.last_cached_t = self.last_report_time + + def create_ephem_statuses(self): + ephemeris_statuses = [] + prns_to_check = list(self.astro_dog.get_all_ephem_prns()) + prns_to_check.sort() + for prn in prns_to_check: + eph = self.astro_dog.get_eph(prn, self.last_report_time) + if eph is not None: + status = log.GnssMeasurements.EphemerisStatus.new_message() + status.constellationId = ConstellationId.from_rinex_char(prn[0]).value + status.svId = get_sv_id(prn) + status.type = get_log_eph_type(eph).value + status.source = get_log_eph_source(eph).value + ephemeris_statuses.append(status) + return ephemeris_statuses + def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: - min_measurements = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6 - position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 + position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - #TODO median abs residual is decent estimate of std, can be improved with measurements stds and/or DOP - position_std = np.median(np.abs(pr_residuals)) * np.ones(3) - velocity_solution, prr_residuals = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) + + position_std_residual = np.median(np.abs(pr_residuals)) + position_std = np.median(np.abs(pos_std))/10 + position_std = max(position_std_residual, position_std) * np.ones(3) + + velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None - velocity_estimate = velocity_solution[:3] - velocity_std = np.median(np.abs(prr_residuals)) * np.ones(3) + + velocity_std_residual = np.median(np.abs(prr_residuals)) + velocity_std = np.median(np.abs(vel_std))/10 + velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) + return position_estimate, position_std, velocity_estimate, velocity_std def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) - # TODO support GLONASS - return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + # TODO: Understand and use remaining unknown constellations + try: + good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + except NotImplementedError: + good_constellation = False + # gpsWeek 65535 is received rarely from quectel, this cannot be + # passed to GnssMeasurements's gpsWeek (Int16) + good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max + return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True else: @@ -133,6 +206,7 @@ class Laikad: week = report.gpsWeek tow = report.rcvTow new_meas = read_raw_ublox(report) + self.last_report_time = GPSTime(week, tow) return week, tow, new_meas def is_ephemeris(self, gnss_msg): @@ -147,28 +221,34 @@ class Laikad: if self.gps_week is None: return ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) + else: if gnss_msg.which() == 'ephemeris': - ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris) + data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) + ephem = GPSEphemeris(data_struct, file_name='ublox') elif gnss_msg.which() == 'glonassEphemeris': - ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris) + data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) + ephem = GLONASSEphemeris(data_struct, file_name='ublox') else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return - self.astro_dog.add_navs({ephem.prn: [ephem]}) - self.cache_ephemeris(t=ephem.epoch) + self.astro_dog.add_navs({ephem.prn: [ephem]}) + self.cache_ephemeris() def process_report(self, new_meas, t): # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] processed_measurements = process_measurements(new_meas, self.astro_dog) if self.last_fix_pos is not None: - corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog) - instant_fix = self.get_lsq_fix(t, corrected_measurements) - #instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.last_fix_pos else: - corrected_measurements = [] - instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) + return corrected_measurements + + def calc_fix(self, t, measurements): + instant_fix = self.get_lsq_fix(t, measurements) if instant_fix is None: return None else: @@ -176,60 +256,53 @@ class Laikad: self.last_fix_t = t self.last_fix_pos = position_estimate self.lat_fix_pos_std = position_std - if (t*1e9) % 10 == 0: - cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") - return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements + return position_estimate, position_std, velocity_estimate, velocity_std def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): + out_msg = messaging.new_message("gnssMeasurements") + t = gnss_mono_time * 1e-9 + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} + if self.first_log_time is None: + self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) - return None elif self.is_good_report(gnss_msg): - week, tow, new_meas = self.read_report(gnss_msg) - if len(new_meas) == 0: - return None - self.gps_week = week - t = gnss_mono_time * 1e-9 if week > 0: self.got_first_gnss_msg = True latest_msg_t = GPSTime(week, tow) if self.auto_fetch_navs: self.fetch_navs(latest_msg_t, block) - output = self.process_report(new_meas, t) - if output is None: - return None - position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output + corrected_measurements = self.process_report(new_meas, t) + msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] - self.update_localizer(position_estimate, t, corrected_measurements) - meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] - msg = messaging.new_message("gnssMeasurements") + fix = self.calc_fix(t, corrected_measurements) measurement_msg = log.LiveLocationKalman.Measurement.new_message + if fix is not None: + position_estimate, position_std, velocity_estimate, velocity_std = fix + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) + msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)) + msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)) + self.update_localizer(self.last_fix_pos, t, corrected_measurements) P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) - msg.gnssMeasurements = { - "gpsWeek": week, - "gpsTimeOfWeek": tow, - "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), + msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(), - valid=kf_valid), - "kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), + valid=kf_valid) + msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(), - valid=kf_valid), - "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)), - "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), - - "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs - } - return msg - - #elif gnss_msg.which() == 'ionoData': - # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. + valid=kf_valid) + msg_dict['gpsWeek'] = self.last_report_time.week + msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow + msg_dict['timeToFirstFix'] = self.ttff + msg_dict['ephemerisStatuses'] = self.create_ephem_statuses() + out_msg.gnssMeasurements = msg_dict + return out_msg def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid @@ -241,7 +314,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - if len(est_pos) > 0: + if est_pos is not None and len(est_pos) > 0: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: @@ -266,7 +339,7 @@ class Laikad: def fetch_navs(self, t: GPSTime, block): # Download new navs if 1 hour of navs data left - if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (self.last_fetch_navs_t is None or abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): + if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir ret = None @@ -284,7 +357,7 @@ class Laikad: self.last_fetch_navs_t = ret[2] else: self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret - self.cache_ephemeris(t=t) + self.cache_ephemeris() def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): @@ -314,31 +387,8 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() - ephem = meas.sat_ephemeris - assert ephem is not None - week, time_of_week = -1, -1 - if ephem.eph_type == EphemerisType.NAV: - source_type = EphemerisSourceType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = EphemerisSourceType.qcom - else: - assert ephem.file_epoch is not None - week = ephem.file_epoch.week - time_of_week = ephem.file_epoch.tow - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = EphemerisSourceType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = EphemerisSourceType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - - c.ephemerisSource.type = source_type.value - c.ephemerisSource.gpsWeek = week - c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c - def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: @@ -354,69 +404,29 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -class CacheSerializer(json.JSONEncoder): - - def default(self, o): - if isinstance(o, Ephemeris): - return o.to_json() - if isinstance(o, GPSTime): - return o.__dict__ - if isinstance(o, np.ndarray): - return o.tolist() - return json.JSONEncoder.default(self, o) - - -def deserialize_hook(dct): - if 'ephemeris' in dct: - return Ephemeris.from_json(dct) - if 'week' in dct: - return GPSTime(dct['week'], dct['tow']) - return dct - - -class EphemerisSourceType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - - -def process_msg(laikad, gnss_msg, mono_time, block=False): - # TODO: Understand and use remaining unknown constellations - if gnss_msg.which() == "drMeasurementReport": - if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']: - return None - - if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max: - # gpsWeek 65535 is received rarely from quectel, this cannot be - # passed to GnssMeasurements's gpsWeek (Int16) - return None - - return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) - - def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) os.mkdir(DOWNLOADS_CACHE_FOLDER) -def main(sm=None, pm=None, qc=None): +def main(sm=None, pm=None): #clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) - if use_qcom or (qc is not None and qc): - raw_gnss_socket = "qcomGnss" + if use_qcom: + raw_name = "qcomGnss" else: - raw_gnss_socket = "ubloxGnss" + raw_name = "ubloxGnss" + raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000) if sm is None: - sm = messaging.SubMaster([raw_gnss_socket, 'clocks']) + sm = messaging.SubMaster(['clocks',]) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time - use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ + use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ if replay or "CI" in os.environ: @@ -425,22 +435,17 @@ def main(sm=None, pm=None, qc=None): laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: - sm.update() - - if sm.updated[raw_gnss_socket]: - gnss_msg = sm[raw_gnss_socket] - - msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) - if msg is None: - # TODO: beautify this, locationd needs a valid message - msg = messaging.new_message("gnssMeasurements") - pm.send('gnssMeasurements', msg) + for in_msg in messaging.drain_sock(raw_gnss_sock): + out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) + pm.send('gnssMeasurements', out_msg) + sm.update(0) if not laikad.got_first_gnss_msg and sm.updated['clocks']: clocks_msg = sm['clocks'] t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) if laikad.auto_fetch_navs: laikad.fetch_navs(t, block=replay) + if __name__ == "__main__": main() diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index a292a3c936..b7e42a9df8 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -14,7 +14,7 @@ #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" #define VISION_DECIMATION 2 #define SENSOR_DECIMATION 10 #include "selfdrive/locationd/models/live_kf.h" diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index d89f521228..e184dc3ec4 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,21 +1,51 @@ #!/usr/bin/env python3 import time import unittest -from collections import defaultdict +from cereal import log +import cereal.messaging as messaging +from common.params import Params from datetime import datetime from unittest import mock -from unittest.mock import patch +#from unittest.mock import patch +from tqdm import tqdm + -from common.params import Params from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType, GPSEphemeris +from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime -from laika.helpers import ConstellationId, TimeRangeHolder -from laika.raw_gnss import GNSSMeasurement, read_raw_ublox -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg +from laika.helpers import ConstellationId +from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader +from selfdrive.manager.process_config import managed_processes + +from selfdrive.test.process_replay.helpers import OpenpilotPrefix + + +def get_ublox_gnss(ubloxraw): + with OpenpilotPrefix(): + managed_processes['ubloxd'].start() + timeout_ms = 30 + pm = messaging.PubMaster(['ubloxRaw']) + sock = messaging.sub_sock('ubloxGnss', timeout=timeout_ms) + + log_msgs = [] + log_t = [] + for x in tqdm(ubloxraw): + pm.send(x.which(), x.as_builder()) + ret = messaging.recv_one(sock) + if ret is not None: + msg = log.Event.new_message(ubloxGnss=ret.ubloxGnss.to_dict()) + msg.logMonoTime = x.logMonoTime + log_msgs.append(msg) + log_t.append(1e-9 * x.logMonoTime) + assert managed_processes['ubloxd'].get_process_state_msg().running + assert len(log_msgs) > 1 or len(ubloxraw) == 0 + managed_processes['ubloxd'].stop() + return log_t, log_msgs + def get_log(segs=range(0)): @@ -23,7 +53,8 @@ def get_log(segs=range(0)): for i in segs: logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - all_logs = [m for m in logs if m.which() == 'ubloxGnss'] + raw_logs = [m for m in logs if m.which() == 'ubloxRaw'] + all_logs = get_ublox_gnss(raw_logs)[1] low_gnss = [] for m in all_logs: if m.ubloxGnss.which() != 'measurementReport': @@ -31,21 +62,31 @@ def get_log(segs=range(0)): MAX_MEAS = 7 if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: - mb = m.as_builder() + mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict()) + mb.logMonoTime = m.logMonoTime mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 low_gnss.append(mb.as_reader()) else: low_gnss.append(m) - return all_logs, low_gnss +def get_log_qcom(segs=range(0)): + logs = [] + for i in segs: + logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i))) + all_logs = [m for m in logs if m.which() == 'qcomGnss'] + return all_logs def verify_messages(lr, laikad, return_one_success=False): good_msgs = [] for m in lr: - msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) + if m.which() == 'ubloxGnss': + gnss_msg = m.ubloxGnss + else: + gnss_msg = m.qcomGnss + msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) if return_one_success: @@ -55,10 +96,16 @@ def verify_messages(lr, laikad, return_one_success=False): def get_first_gps_time(logs): for m in logs: - if m.ubloxGnss.which == 'measurementReport': - new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) - if len(new_meas) > 0: - return new_meas[0].recv_time + if m.which() == 'ubloxGnss': + if m.ubloxGnss.which == 'measurementReport': + new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time + else: + if m.qcomGnss.which == 'measurementReport': + new_meas = read_raw_qcom(m.qcomGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time def get_measurement_mock(gpstime, sat_ephemeris): @@ -79,6 +126,7 @@ class TestLaikad(unittest.TestCase): logs, low_gnss = get_log(range(1)) cls.logs = logs cls.low_gnss = low_gnss + cls.logs_qcom = get_log_qcom(range(1)) first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -90,9 +138,9 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) + # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) - ephem = laikad.astro_dog.navs['G01'][0] self.assertIsNotNone(ephem) @@ -105,6 +153,7 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) self.assertNotEqual(ephem, ephem2) + def test_fetch_navs_with_wrong_clocks(self): laikad = Laikad() @@ -127,40 +176,11 @@ class TestLaikad(unittest.TestCase): check_has_navs() self.assertEqual(laikad.last_fetch_navs_t, real_current_time) - def test_ephemeris_source_in_msg(self): - data_mock = defaultdict(str) - data_mock['sv_id'] = 1 - - gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - # Verify gps satellite returns same source - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nasa source by using older date - gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nav source type - ephem = GPSEphemeris(data_mock, gpstime) - meas = get_measurement_mock(gpstime, ephem) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - def test_laika_online(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 554 + correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -177,12 +197,15 @@ class TestLaikad(unittest.TestCase): self.assertTrue(kf_valid) def test_laika_online_nav_only(self): - laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) - # Disable fetch_orbits to test NAV only - correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 554 - self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) + # Disable fetch_orbits to test NAV only + correct_msgs = verify_messages(logs, laikad) + correct_msgs_expected = 44 if use_qcom else 560 + valid_fix_expected = 43 if use_qcom else 560 + + self.assertEqual(correct_msgs_expected, len(correct_msgs)) + self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @mock.patch('laika.downloader.download_and_cache_file') def test_laika_offline(self, downloader_mock): @@ -195,8 +218,9 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(0, len(correct_msgs)) - self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + expected_msgs = 376 + self.assertEqual(expected_msgs, len(correct_msgs)) + self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) @@ -212,65 +236,87 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) prn = "R01" self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) - print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime()) def test_get_navs_in_process(self): - laikad = Laikad(auto_update=False) - has_navs = False - for m in self.logs: - laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - if has_navs: - break - self.assertTrue(has_navs) - self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) + for auto_fetch_navs in [True, False]: + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) + has_navs = False + has_fix = False + seen_chip_eph = False + seen_internet_eph = False + + for m in logs: + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss + out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.navs.values() + has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 + vals = laikad.astro_dog.qcom_polys.values() + has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 + has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid + if len(out_msg.gnssMeasurements.ephemerisStatuses): + seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + + self.assertTrue(has_navs or has_polys) + self.assertTrue(has_fix) + self.assertTrue(seen_chip_eph or auto_fetch_navs) + self.assertTrue(seen_internet_eph or not auto_fetch_navs) + self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): - laikad = Laikad(auto_update=True, save_ephemeris=True) + use_qcom = True + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom) + def wait_for_cache(): + max_time = 2 + while Params().get(EPHEMERIS_CACHE) is None: + time.sleep(0.1) + max_time -= 0.1 + if max_time < 0: + self.fail("Cache has not been written after 2 seconds") - def wait_for_cache(): - max_time = 2 - while Params().get(EPHEMERIS_CACHE) is None: - time.sleep(0.1) - max_time -= 0.1 - if max_time < 0: - self.fail("Cache has not been written after 2 seconds") + # Test cache with no ephemeris + laikad.last_report_time = GPSTime(1,0) + laikad.cache_ephemeris() + wait_for_cache() + Params().remove(EPHEMERIS_CACHE) - # Test cache with no ephemeris - laikad.cache_ephemeris(t=GPSTime(0, 0)) - wait_for_cache() - Params().remove(EPHEMERIS_CACHE) + #laikad.astro_dog.get_navs(self.first_gps_time) + msg = verify_messages(logs, laikad, return_one_success=True) + laikad.cache_ephemeris() + wait_for_cache() - #laikad.astro_dog.get_navs(self.first_gps_time) - laikad.fetch_navs(self.first_gps_time, block=True) - - # Wait for cache to save - wait_for_cache() - - # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True) - # Verify navs are loaded from cache - self.dict_has_values(laikad.astro_dog.navs) - # Verify cache is working for only nav by running a segment - msg = verify_messages(self.logs, laikad, return_one_success=True) - self.assertIsNotNone(msg) - - with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: - # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently - laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() - laikad.fetch_navs(self.first_gps_time, block=False) - mock_method.assert_not_called() - - # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) - msg = verify_messages(self.logs, laikad, return_one_success=True) + # Check both nav and orbits separate + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, + save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False) + # Verify navs are loaded from cache + self.dict_has_values(laikad.astro_dog.navs) + # Verify cache is working for only nav by running a segment + msg = verify_messages(logs, laikad, return_one_success=True) + self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) + self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) self.assertIsNotNone(msg) - # Verify orbit data is not downloaded - mock_method.assert_not_called() + + + + #TODO test cache with only orbits + #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: + # # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently + # laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() + # laikad.fetch_navs(self.first_gps_time, block=False) + # mock_method.assert_not_called() + + # # Verify cache is working for only orbits by running a segment + # laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) + # msg = verify_messages(self.logs, laikad, return_one_success=True) + # self.assertIsNotNone(msg) + # # Verify orbit data is not downloaded + # mock_method.assert_not_called() + #break def test_low_gnss_meas(self): cnt = 0 @@ -282,12 +328,10 @@ class TestLaikad(unittest.TestCase): gm = msg.gnssMeasurements if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: cnt += 1 - self.assertEqual(cnt, 554) + self.assertEqual(cnt, 560) def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) - - if __name__ == "__main__": unittest.main() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 865966d6c5..1b10cee806 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -29,14 +29,14 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), - ("DisengageOnAccelerator", "1"), + ("DisengageOnAccelerator", "0"), ("GsmMetered", "1"), ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), @@ -153,7 +153,7 @@ def manager_thread() -> None: for param in ("DoUninstall", "DoShutdown", "DoReboot"): if params.get_bool(param): shutdown = True - params.put("LastManagerExitReason", param) + params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") cloudlog.warning(f"Shutting down manager - {param} set") if shutdown: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 8fc4d94e55..57c42aaaaa 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run +def ublox_available() -> bool: + return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + def ublox(started, params, CP: car.CarParams) -> bool: - use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + use_ublox = ublox_available() params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox +def qcomgps(started, params, CP: car.CarParams) -> bool: + return started and not ublox_available() + procs = [ # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), @@ -34,12 +40,12 @@ procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), - NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), - NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), + NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), @@ -47,21 +53,21 @@ procs = [ PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("controlsd", "selfdrive.controls.controlsd"), - PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), + PythonProcess("deleter", "system.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), - NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), - PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), + PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), - PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), + PythonProcess("uploader", "system.loggerd.uploader", offroad=True), PythonProcess("statsd", "selfdrive.statsd", offroad=True), # debug procs diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 7bbc1b3477..c7e0dc5d86 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath - tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"] + tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"] if not GetOption('pc_thneed'): # use FLOAT16 on device for speed + don't cache the CL kernels for space tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 6b704cbfa8..1bfca8e95a 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -2,7 +2,7 @@ To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) ## Supercombo -### Supercombo input format (Full size: 393738 x float32) +### Supercombo input format (Full size: 799906 x float32) * **image stream** * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 @@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr * Channel 4 represents the half-res U channel * Channel 5 represents the half-res V channel * **desire** - * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8 + * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 * **traffic convention** * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 -* **recurrent state** - * The recurrent state vector that is fed back into the GRU for temporal context : 512 +* **feature buffer** + * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128 ### Supercombo output format (Full size: XXX x float32) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index a483fa4db4..13759c62f8 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:736ddc08497d7596bae4d9515a8efb996676be80e67a6d34d632bb8af2ed3fa9 -size 45962515 +oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea +size 46011200 diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 7dc002727e..e64907149c 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -13,7 +13,7 @@ from system.swaglog import cloudlog from system.hardware import HARDWARE from common.file_helpers import atomic_write_in_dir from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index c64f522352..bd026f5710 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ba947edbb131a2a36ced7c490dfcf3280ad5b167 +82db08d52b155336e9a1dadd11485d5acdf2eba0 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 7dc0b139a3..2b9096b423 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -238,21 +238,12 @@ def torqued_rcv_callback(msg, CP, cfg, fsm): return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman' -def ublox_rcv_callback(msg): +def ublox_rcv_callback(msg, CP, cfg, fsm): msg_class, msg_id = msg.ubloxRaw[2:4] if (msg_class, msg_id) in {(1, 7 * 16)}: - return ["gpsLocationExternal"] + return ["gpsLocationExternal"], True elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}: - return ["ubloxGnss"] - else: - return [] - - -def laika_rcv_callback(msg, CP, cfg, fsm): - if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport": - return ["gnssMeasurements"], True - elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport": - return ["gnssMeasurements"], True + return ["ubloxGnss"], True else: return [], False @@ -331,7 +322,7 @@ CONFIGS = [ pub_sub={ "cameraOdometry": ["liveLocationKalman"], "accelerometer": [], "gyroscope": [], - "gpsLocationExternal": [], "liveCalibration": [], "carState": [], + "gpsLocationExternal": [], "liveCalibration": [], "carState": [], "gpsLocation": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, @@ -371,9 +362,9 @@ CONFIGS = [ }, ignore=["logMonoTime"], init_callback=get_car_params, - should_recv_callback=laika_rcv_callback, + should_recv_callback=None, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, + fake_pubsubmaster=False, ), ProcessConfig( proc_name="torqued", @@ -395,10 +386,10 @@ def replay_process(cfg, lr, fingerprint=None): if cfg.fake_pubsubmaster: return python_replay_process(cfg, lr, fingerprint) else: - return cpp_replay_process(cfg, lr, fingerprint) + return replay_process_with_sockets(cfg, lr, fingerprint) -def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): +def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -406,13 +397,19 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): params.put_bool("DisengageOnAccelerator", True) params.put_bool("WideCameraOnly", False) params.put_bool("DisableLogging", False) - params.put_bool("UbloxAvailable", True) - params.put_bool("ObdMultiplexingDisabled", True) os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" - os.environ['SKIP_FW_QUERY'] = "" - os.environ['FINGERPRINT'] = "" + os.environ["SKIP_FW_QUERY"] = "" + os.environ["FINGERPRINT"] = "" + + if lr is not None: + services = {m.which() for m in lr} + params.put_bool("UbloxAvailable", "ubloxGnss" in services) + + if lr is not None: + services = {m.which() for m in lr} + params.put_bool("UbloxAvailable", "ubloxGnss" in services) if cfg is not None: # Clear all custom processConfig environment variables @@ -449,9 +446,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): if CP.openpilotLongitudinalControl: params.put_bool("ExperimentalLongitudinalEnabled", True) - # controlsd process configuration assume all routes are out of dashcam - params.put_bool("DashcamOverride", True) - def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] @@ -467,12 +461,6 @@ def python_replay_process(cfg, lr, fingerprint=None): all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - # laikad needs decision between submaster ubloxGnss and qcomGnss, prio given to ubloxGnss - if cfg.proc_name == "laikad": - args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs)) - service = "qcomGnss" if args[2] else "ubloxGnss" - pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks'] - controlsState = None initialized = False for msg in lr: @@ -488,10 +476,10 @@ def python_replay_process(cfg, lr, fingerprint=None): if fingerprint is not None: os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = fingerprint - setup_env(cfg=cfg, controlsState=controlsState) + setup_env(cfg=cfg, controlsState=controlsState, lr=lr) else: CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP, cfg=cfg, controlsState=controlsState) + setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr) assert(type(managed_processes[cfg.proc_name]) is PythonProcess) managed_processes[cfg.proc_name].prepare() @@ -520,7 +508,7 @@ def python_replay_process(cfg, lr, fingerprint=None): recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm) else: recv_socks = [s for s in cfg.pub_sub[msg.which()] if - (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0] + (fsm.frame + 1) % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0] should_recv = bool(len(recv_socks)) if msg.which() == 'can': @@ -543,49 +531,53 @@ def python_replay_process(cfg, lr, fingerprint=None): return log_msgs -def cpp_replay_process(cfg, lr, fingerprint=None): - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] # We get responses here +def replay_process_with_sockets(cfg, lr, fingerprint=None): + sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pm = messaging.PubMaster(cfg.pub_sub.keys()) all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - log_msgs = [] # We need to fake SubMaster alive since we can't inject a fake clock - setup_env(simulation=True, cfg=cfg) + setup_env(simulation=True, cfg=cfg, lr=lr) + + if cfg.proc_name == "laikad": + ublox = Params().get_bool("UbloxAvailable") + keys = set(cfg.pub_sub.keys()) - ({"qcomGnss", } if ublox else {"ubloxGnss", }) + pub_msgs = [msg for msg in pub_msgs if msg.which() in keys] managed_processes[cfg.proc_name].prepare() managed_processes[cfg.proc_name].start() + log_msgs = [] try: - with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"): - while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): + # Wait for process to startup + with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"): + while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): time.sleep(0) - # Make sure all subscribers are connected - sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets} - for s in sub_sockets: - messaging.recv_one_or_none(sockets[s]) + # Make sure all subscribers are connected + sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets} + for s in sub_sockets: + messaging.recv_one_or_none(sockets[s]) - for i, msg in enumerate(pub_msgs): + # Do the replay + cnt = 0 + for msg in pub_msgs: + with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): pm.send(msg.which(), msg.as_builder()) + while not pm.all_readers_updated(msg.which()): + time.sleep(0) - resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg) + resp_sockets = cfg.pub_sub[msg.which()] + if cfg.should_recv_callback is not None: + resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None) for s in resp_sockets: - response = messaging.recv_one_retry(sockets[s]) - - if response is None: - print(f"Warning, no response received {i}") - else: - - response = response.as_builder() - response.logMonoTime = msg.logMonoTime - response = response.as_reader() - log_msgs.append(response) - - if not len(resp_sockets): # We only need to wait if we didn't already wait for a response - while not pm.all_readers_updated(msg.which()): - time.sleep(0) + m = messaging.recv_one_retry(sockets[s]) + m = m.as_builder() + m.logMonoTime = msg.logMonoTime + log_msgs.append(m.as_reader()) + cnt += 1 finally: managed_processes[cfg.proc_name].signal(signal.SIGKILL) managed_processes[cfg.proc_name].stop() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e9016cc27c..556781738d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -70753c5f491de7432ff22f4ef560820ce9919b2e +50f1e873095fe2462d2aadb9c401bda76759c01c diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 569090f606..a2dd938e2f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS) ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 @@ -29,12 +29,12 @@ source_segments = [ ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 # Enable when port is tested and dashcamOnly is no longer set + #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS ] @@ -53,7 +53,6 @@ segments = [ ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), @@ -71,7 +70,7 @@ def run_test_process(data): res = None if not args.upload_only: lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) + res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) # save logs so we can upload when updating refs save_log(cur_log_fn, log_msgs) @@ -89,7 +88,7 @@ def get_log_data(segment): return (segment, f.read()) -def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): +def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: @@ -97,7 +96,10 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore ref_log_msgs = list(LogReader(ref_log_path)) - log_msgs = replay_process(cfg, lr) + try: + log_msgs = replay_process(cfg, lr) + except Exception as e: + raise Exception("failed on segment: " + segment) from e # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 84511771f7..07a3c61bc5 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -15,7 +15,7 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 238b822ec9..46dd4901e5 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -28,7 +28,7 @@ CONFIGS = [ }, ignore=[], command="./ubloxd", - path="selfdrive/locationd/", + path="system/ubloxd", segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", wait_for_response=True ), diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index eedeff31f1..531e0b04d1 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -18,7 +18,7 @@ from common.params import Params from common.realtime import DT_TRML, sec_since_boot from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS -from selfdrive.loggerd.config import get_available_percent +from system.loggerd.config import get_available_percent from selfdrive.statsd import statlog from system.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 61a575f141..65fb45b678 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -10,7 +10,7 @@ import glob from typing import NoReturn from common.file_helpers import mkdirs_exists_ok -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT import selfdrive.sentry as sentry from system.swaglog import cloudlog from system.version import get_commit diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index dd30b5feff..abbf434d69 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -24,8 +24,6 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -const float VALID_POS_STD = 50.0; // m - const QString ICON_SUFFIX = ".png"; MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { @@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) { } } - // TODO should check a valid/status flag - if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){ - auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements(); - auto laikad_pos = laikad_location.getPositionECEF(); - auto laikad_pos_ecef = laikad_pos.getValue(); - auto laikad_pos_std = laikad_pos.getStd(); - auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue(); - - laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD; - - if (laikad_valid && !locationd_valid) { - ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]}; - Geodetic laikad_pos_geodetic = ecef2geodetic(ecef); - last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon); - - // Compute NED velocity - LocalCoord converter(ecef); - ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]}; - Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector(); - - float velocity = ned_vel.norm(); - velocity_filter.update(velocity); - - // Convert NED velocity to angle - if (velocity > 1.0) { - float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0); - if (last_bearing) { - float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading - last_bearing = fmod(*last_bearing + delta + 360.0, 360.0); - } else { - last_bearing = new_bearing; - } - } - } - } - if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) { qWarning() << "Got new navRoute from navd. Opening map:" << allow_open; diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 2f366a9b38..327c7537a2 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -27,7 +27,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { } DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { - face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); + face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } void DriverViewScene::showEvent(QShowEvent* event) { diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 98c636b0a4..009798a569 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -573,7 +573,10 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) const int arc_l = 133; const float arc_t_default = 6.7; const float arc_t_extend = 12.0; - QColor arc_color = QColor::fromRgbF(0.09, 0.945, 0.26, 0.4*(1.0-dm_fade_state)*(s->engaged())); + QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(), + 0.545 + 0.4 * s->engaged(), + 0.545 - 0.285 * s->engaged(), + 0.4 * (1.0 - dm_fade_state)); float delta_x = -scene.driver_pose_sins[1] * arc_l / 2; float delta_y = -scene.driver_pose_sins[0] * arc_l / 2; painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap)); @@ -645,16 +648,18 @@ void AnnotatedCameraWidget::paintGL() { } // Wide or narrow cam dependent on speed - float v_ego = sm["carState"].getCarState().getVEgo(); - if ((v_ego < 10) || s->wide_cam_only) { - wide_cam_requested = true; - } else if (v_ego > 15) { - wide_cam_requested = false; + bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); + if (has_wide_cam) { + float v_ego = sm["carState"].getCarState().getVEgo(); + if ((v_ego < 10) || available_streams.size() == 1) { + wide_cam_requested = true; + } else if (v_ego > 15) { + wide_cam_requested = false; + } + wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); + // for replay of old routes, never go to widecam + wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; } - wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); - // TODO: also detect when ecam vision stream isn't available - // for replay of old routes, never go to widecam - wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 582217c1d7..ccf9bf8053 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -11,14 +11,11 @@ #define NVME "/dev/nvme0n1" #define USERDATA "/dev/disk/by-partlabel/userdata" -void Reset::doReset() { - // best effort to wipe nvme and sd card +void Reset::doErase() { + // best effort to wipe nvme std::system("sudo umount " NVME); std::system("yes | sudo mkfs.ext4 " NVME); - // we handle two cases here - // * user-prompted factory reset - // * recovering from a corrupt userdata by formatting int rm = std::system("sudo rm -rf /data/*"); std::system("sudo umount " USERDATA); int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA); @@ -30,22 +27,26 @@ void Reset::doReset() { rebootBtn->show(); } +void Reset::startReset() { + body->setText(tr("Resetting device...\nThis may take up to a minute.")); + rejectBtn->hide(); + rebootBtn->hide(); + confirmBtn->hide(); +#ifdef __aarch64__ + QTimer::singleShot(100, this, &Reset::doErase); +#endif +} + void Reset::confirm() { const QString confirm_txt = tr("Are you sure you want to reset your device?"); if (body->text() != confirm_txt) { body->setText(confirm_txt); } else { - body->setText(tr("Resetting device...")); - rejectBtn->hide(); - rebootBtn->hide(); - confirmBtn->hide(); -#ifdef __aarch64__ - QTimer::singleShot(100, this, &Reset::doReset); -#endif + startReset(); } } -Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { +Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(45, 220, 45, 45); main_layout->setSpacing(0); @@ -56,7 +57,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->addSpacing(60); - body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); + body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -82,10 +83,16 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); + bool recover = mode == ResetMode::RECOVER; rejectBtn->setVisible(!recover); rebootBtn->setVisible(recover); if (recover) { - body->setText(tr("Unable to mount data partition. Press confirm to reset your device.")); + body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); + } + + // automatically start if we're just finishing up an ABL reset + if (mode == ResetMode::FORMAT) { + startReset(); } setStyleSheet(R"( @@ -108,9 +115,17 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { } int main(int argc, char *argv[]) { - bool recover = argc > 1 && strcmp(argv[1], "--recover") == 0; + ResetMode mode = ResetMode::USER_RESET; + if (argc > 1) { + if (strcmp(argv[1], "--recover") == 0) { + mode = ResetMode::RECOVER; + } else if (strcmp(argv[1], "--format") == 0) { + mode = ResetMode::FORMAT; + } + } + QApplication a(argc, argv); - Reset reset(recover); + Reset reset(mode); setMainWindow(&reset); return a.exec(); } diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h index 3a4994077c..04a191d829 100644 --- a/selfdrive/ui/qt/setup/reset.h +++ b/selfdrive/ui/qt/setup/reset.h @@ -2,18 +2,25 @@ #include #include +enum ResetMode { + USER_RESET, // user initiated a factory reset from openpilot + RECOVER, // userdata is corrupt for some reason, give a chance to recover + FORMAT, // finish up an ABL factory reset +}; + class Reset : public QWidget { Q_OBJECT public: - explicit Reset(bool recover = false, QWidget *parent = 0); + explicit Reset(ResetMode mode, QWidget *parent = 0); private: QLabel *body; QPushButton *rejectBtn; QPushButton *rebootBtn; QPushButton *confirmBtn; - void doReset(); + void doErase(); + void startReset(); private slots: void confirm(); diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 392be68a12..de5021c8bc 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -34,7 +34,7 @@ bool is_elf(char *fname) { void Setup::download(QString url) { CURL *curl = curl_easy_init(); if (!curl) { - emit finished(false); + emit finished(url, tr("Something went wrong. Reboot the device.")); return; } @@ -53,15 +53,24 @@ void Setup::download(QString url) { curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str()); curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list); + curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L); int ret = curl_easy_perform(curl); long res_status = 0; curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status); - if (ret == CURLE_OK && res_status == 200 && is_elf(tmpfile)) { - rename(tmpfile, "/tmp/installer"); - emit finished(true); + + if (ret != CURLE_OK || res_status != 200) { + emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); + } else if (!is_elf(tmpfile)) { + emit finished(url, tr("No custom software found at this URL.")); } else { - emit finished(false); + rename(tmpfile, "/tmp/installer"); + + FILE *fp_url = fopen("/tmp/installer_url", "w"); + fprintf(fp_url, "%s", url.toStdString().c_str()); + fclose(fp_url); + + emit finished(url); } curl_slist_free_all(list); @@ -234,10 +243,10 @@ QWidget * Setup::downloading() { return widget; } -QWidget * Setup::download_failed() { +QWidget * Setup::download_failed(QLabel *url, QLabel *body) { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 225, 55, 55); + main_layout->setContentsMargins(55, 185, 55, 55); main_layout->setSpacing(0); QLabel *title = new QLabel(tr("Download Failed")); @@ -246,7 +255,13 @@ QWidget * Setup::download_failed() { main_layout->addSpacing(67); - QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); + url->setWordWrap(true); + url->setAlignment(Qt::AlignTop | Qt::AlignLeft); + url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;"); + main_layout->addWidget(url); + + main_layout->addSpacing(48); + body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); @@ -271,7 +286,7 @@ QWidget * Setup::download_failed() { restart->setProperty("primary", true); blayout->addWidget(restart); QObject::connect(restart, &QPushButton::clicked, this, [=]() { - setCurrentIndex(2); + setCurrentIndex(1); }); widget->setStyleSheet(R"( @@ -304,15 +319,19 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { downloading_widget = downloading(); addWidget(downloading_widget); - failed_widget = download_failed(); + QLabel *url_label = new QLabel(); + QLabel *body_label = new QLabel(); + failed_widget = download_failed(url_label, body_label); addWidget(failed_widget); - QObject::connect(this, &Setup::finished, [=](bool success) { - // hide setup on success - qDebug() << "finished" << success; - if (success) { + QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) { + qDebug() << "finished" << url << error; + if (error.isEmpty()) { + // hide setup on success QTimer::singleShot(3000, this, &QWidget::hide); } else { + url_label->setText(url); + body_label->setText(error); setCurrentWidget(failed_widget); } }); diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index f990b5a6cb..bf5d97070d 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -15,13 +16,13 @@ private: QWidget *getting_started(); QWidget *network_setup(); QWidget *downloading(); - QWidget *download_failed(); + QWidget *download_failed(QLabel *url, QLabel *body); QWidget *failed_widget; QWidget *downloading_widget; signals: - void finished(bool success); + void finished(const QString &url, const QString &error = ""); public slots: void nextPage(); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8c7a7072e2..de3b64cffd 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { @@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() { } } +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { int w = width(), h = height(); @@ -366,6 +372,13 @@ void CameraWidget::vipcThread() { if (!vipc_client->connected) { clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); + if (!vipc_client->connect(false)) { QThread::msleep(100); continue; @@ -400,4 +413,5 @@ void CameraWidget::vipcThread() { void CameraWidget::clearFrames() { std::lock_guard lk(frame_lock); frames.clear(); + available_streams.clear(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index f8b97be03e..9135620d35 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -41,6 +41,7 @@ signals: void clicked(); void vipcThreadConnected(VisionIpcClient *); void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); protected: void paintGL() override; @@ -71,6 +72,7 @@ protected: int stream_stride = 0; std::atomic active_stream_type; std::atomic requested_stream_type; + std::set available_streams; QThread *vipc_thread = nullptr; // Calibration @@ -88,4 +90,7 @@ protected: protected slots: void vipcConnected(VisionIpcClient *vipc_client); void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); }; + +Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index b40812af7c..5f3511d3cc 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -576,18 +576,10 @@ location set Are you sure you want to reset your device? Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest? - - Resetting device... - Gerät wird zurückgesetzt... - System Reset System auf Werkseinstellungen zurücksetzen - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Zurücksetzen auf Werkseinstellungen wurde ausgewählt. Drücke Annehmen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um mit dem Starten des Gerätes fortzufahren. - Cancel Abbrechen @@ -601,8 +593,17 @@ location set Bestätigen - Unable to mount data partition. Press confirm to reset your device. - Datenpartition kann nicht geöffnet werden. Drücke Annehmen, um dein Gerät auf Werkseinstellungen zurückzusetzen. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -702,6 +703,14 @@ location set Start over Von neuem beginnen + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index ed08a52df5..1e0223606b 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -574,18 +574,10 @@ location set Are you sure you want to reset your device? 初期化してもよろしいですか？ - - Resetting device... - デバイスが初期化されます... - System Reset システムを初期化 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。 - Cancel キャンセル @@ -599,8 +591,17 @@ location set 確認 - Unable to mount data partition. Press confirm to reset your device. - 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -700,6 +701,14 @@ location set Start over 最初からやり直す + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 7b742a5048..be11f2efde 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -403,7 +403,7 @@ location set Waiting for GPS - GPS를 기다리는 중 + GPS 수신중 입니다 @@ -574,18 +574,10 @@ location set Are you sure you want to reset your device? 장치를 초기화 하시겠습니까? - - Resetting device... - 장치 초기화중... - System Reset 장치 초기화 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요. - Cancel 취소 @@ -599,8 +591,18 @@ location set 확인 - Unable to mount data partition. Press confirm to reset your device. - 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 장치를 초기화하려면 확인을 누르세요. + + + Press confirm to erase all content and settings. Press cancel to resume boot. + 모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요. + + + Resetting device... +This may take up to a minute. + 장치 초기화 중... +최대 1분이 소요될 수 있습니다. @@ -700,6 +702,14 @@ location set Start over 다시 시작 + + Something went wrong. Reboot the device. + 문제가 발생했습니다. 장치를 재부팅하세요. + + + No custom software found at this URL. + 이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다. + SetupWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a25c51de3c..8dc3a9830d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -578,18 +578,10 @@ trabalho definido Are you sure you want to reset your device? Tem certeza que quer resetar seu dispositivo? - - Resetting device... - Resetando dispositivo... - System Reset Resetar Sistema - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot. - Cancel Cancelar @@ -603,8 +595,18 @@ trabalho definido Confirmar - Unable to mount data partition. Press confirm to reset your device. - Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. + + + Press confirm to erase all content and settings. Press cancel to resume boot. + Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. + + + Resetting device... +This may take up to a minute. + Redefinindo o dispositivo +Isso pode levar até um minuto. @@ -704,6 +706,14 @@ trabalho definido Start over Inicializar + + No custom software found at this URL. + Não há software personalizado nesta URL. + + + Something went wrong. Reboot the device. + Algo deu errado. Reinicie o dispositivo. + SetupWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index ce394ecb97..45f91f1cdb 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -311,18 +311,6 @@ Installing... กำลังติดตั้ง... - - Receiving objects: - กำลังรับข้อมูล: - - - Resolving deltas: - การแก้ไขเดลต้า: - - - Updating files: - กำลังอัปเดตไฟล์: - MapETA @@ -586,18 +574,10 @@ location set Are you sure you want to reset your device? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? - - Resetting device... - กำลังรีเซ็ตอุปกรณ์... - System Reset รีเซ็ตระบบ - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ - Cancel ยกเลิก @@ -611,8 +591,18 @@ location set ยืนยัน - Unable to mount data partition. Press confirm to reset your device. - ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ + Resetting device... +This may take up to a minute. + กำลังรีเซ็ตอุปกรณ์... +อาจใช้เวลาถึงหนึ่งนาที + + + Press confirm to erase all content and settings. Press cancel to resume boot. + กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ @@ -684,18 +674,6 @@ location set Waiting for internet กำลังรอสัญญาณอินเตอร์เน็ต - - Choose Software to Install - เลือกซอฟต์แวร์ที่จะติดตั้ง - - - Dashcam - กล้องติดรถยนต์ - - - Custom Software - ซอฟต์แวร์ที่กำหนดเอง - Enter URL ป้อน URL @@ -724,6 +702,14 @@ location set Start over เริ่มต้นใหม่ + + Something went wrong. Reboot the device. + มีบางอย่างผิดพลาด รีบูตอุปกรณ์ + + + No custom software found at this URL. + ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้ + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 68c1bb766f..cfc055ac98 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -572,18 +572,10 @@ location set Are you sure you want to reset your device? 您确定要重置您的设备吗？ - - Resetting device... - 正在重置设备…… - System Reset 恢复出厂设置 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。 - Cancel 取消 @@ -597,8 +589,17 @@ location set 确认 - Unable to mount data partition. Press confirm to reset your device. - 无法挂载数据分区。 确认以重置您的设备。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Resetting device... +This may take up to a minute. + @@ -698,6 +699,14 @@ location set Start over 重来 + + No custom software found at this URL. + + + + Something went wrong. Reboot the device. + + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 71315e118f..83db0b7301 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -200,7 +200,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 Your device is pointed %1° %2 and %3° %4. @@ -574,18 +574,10 @@ location set Are you sure you want to reset your device? 您確定要重置你的設備嗎？ - - Resetting device... - 重置設備中… - System Reset 系統重置 - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。 - Cancel 取消 @@ -599,8 +591,17 @@ location set 確認 - Unable to mount data partition. Press confirm to reset your device. - 無法掛載數據分區。請按確認重置您的設備。 + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + 無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定 + + + Press confirm to erase all content and settings. Press cancel to resume boot. + 按下確認以刪除所有內容及設定 按下取消來繼續開機 + + + Resetting device... +This may take up to a minute. + 設備重置中 此過程可能需要幾分鐘 @@ -700,6 +701,14 @@ location set Start over 重新開始 + + No custom software found at this URL. + 無法在此URL找到定制的軟體 + + + Something went wrong. Reboot the device. + 發生了一些錯誤 請重新啟動您的設備 + SetupWidget @@ -1019,11 +1028,11 @@ location set openpilot longitudinal control may come in a future update. - + 未來可能會推出openpilot縱向控制 An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 Enable experimental longitudinal control to allow Experimental mode. diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 50843de68e..50ffc84f4f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -234,7 +234,6 @@ void UIState::updateStatus() { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; - wide_cam_only = Params().getBool("WideCameraOnly"); } started_prev = scene.started; emit offroadTransition(!scene.started); @@ -252,12 +251,10 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", - "uiPlan", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", }); Params params; - wide_cam_only = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index ad2a1fe1f4..4c4bd462e7 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -150,7 +150,6 @@ public: QString language; QTransform car_space_transform; - bool wide_cam_only; signals: void uiUpdate(const UIState &s); diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index e15d4c3433..5964eb49dc 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" if file in plural_only: diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 7ee3738057..9ef5d89a4e 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -157,9 +157,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setHighConversionGain(frame_data.high_conversion_gain); framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction); framed.setTargetGreyFraction(frame_data.target_grey_fraction); - framed.setLensPos(frame_data.lens_pos); - framed.setLensErr(frame_data.lens_err); - framed.setLensTruePos(frame_data.lens_true_pos); framed.setProcessingTime(frame_data.processing_time); const float ev = c->cur_ev[frame_data.frame_id % 3]; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 088b9f7939..07d1291a2a 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -66,11 +66,6 @@ typedef struct FrameMetadata { float measured_grey_fraction; float target_grey_fraction; - // Focus - unsigned int lens_pos; - float lens_err; - float lens_true_pos; - float processing_time; } FrameMetadata; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 92b3bde413..94116b11cd 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1175,7 +1175,7 @@ void CameraState::set_camera_exposure(float grey_frac) { // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD uint32_t hcg_time = exposure_time; uint32_t lcg_time = hcg_time; - uint32_t spd_time = exposure_time_max + VS_TIME_MAX_OX03C10; + uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 83fcb8f7a9..4db4bfd4d8 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -58,7 +58,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { // SC ctrl {0x3001, 0x03}, // io_pad_oen - {0x3002, 0xf8}, // io_pad_oen + {0x3002, 0xfc}, // io_pad_oen {0x3005, 0x80}, // io_pad_out {0x3007, 0x01}, // io_pad_sel {0x3008, 0x80}, // io_pad_sel @@ -85,6 +85,9 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3882, 0x8}, {0x3883, 0x0D}, {0x3836, 0x1F}, {0x3837, 0x40}, + {0x3892, 0x44}, + {0x3823, 0x48}, + {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI {0x3020, 0x05}, // SC_CTRL_20 @@ -179,8 +182,8 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3820, 0x04}, {0x3821, 0x19}, - {0x3832, 0x00}, - {0x3834, 0x00}, + {0x3832, 0xF0}, + {0x3834, 0xF0}, {0x384c, 0x02}, {0x384d, 0x0d}, {0x3850, 0x00}, diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py old mode 100644 new mode 100755 index 8233834d11..9725cd689c --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -24,13 +24,10 @@ BASE_CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), @@ -41,7 +38,6 @@ BASE_CONFIG = [ AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), @@ -64,6 +60,11 @@ BASE_CONFIG = [ CONFIGS = { "tici": [ + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), + AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), + *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), @@ -72,11 +73,13 @@ CONFIGS = { ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111), - AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111), - AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), @@ -91,12 +94,6 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - - *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)), - *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)), - *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)), - *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)), - *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)), ], } @@ -132,3 +129,12 @@ class Amplifier: self.set_config(config) self.set_global_shutdown(amp_disabled=False) + + +if __name__ == "__main__": + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + + amp = Amplifier() + amp.initialize_configuration(model) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 9c1cc930c1..46db097da1 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -452,6 +452,12 @@ class Tici(HardwareBase): # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") + # TODO: remove the if once agnos 7 ships + # Turn off fan, turned on by the ABL + if os.path.exists('/sys/class/gpio/gpio49/'): + gpio_init(GPIO.SOM_ST_IO, True) + gpio_set(GPIO.SOM_ST_IO, 0) + # *** IRQ config *** # move these off the default core diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index fe31b9311d..082a402f15 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -10,6 +10,8 @@ class GPIO: STM_RST_N = 124 STM_BOOT0 = 134 + SOM_ST_IO = 49 + LTE_RST_N = 50 LTE_PWRKEY = 116 LTE_BOOT = 52 diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 2460152998..f563933285 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -3,6 +3,7 @@ import unittest import time import math from dataclasses import dataclass +from tabulate import tabulate from system.hardware import HARDWARE, TICI from system.hardware.tici.power_monitor import get_power @@ -20,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), - Proc('modeld', 1.15, atol=0.2), + Proc('modeld', 0.93, atol=0.2), Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ] @@ -58,15 +59,16 @@ class TestPowerDraw(unittest.TestCase): manager_cleanup() - print("-"*35) - print(f"Baseline {baseline:.2f}W\n") + tab = [] + tab.append(['process', 'expected (W)', 'current (W)']) for proc in PROCS: cur = used[proc.name] expected = proc.power - print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W") + tab.append([proc.name, round(expected, 2), round(cur, 2)]) with self.subTest(proc=proc.name): self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) - print("-"*35) + print(tabulate(tab)) + print(f"Baseline {baseline:.2f}W\n") if __name__ == "__main__": diff --git a/selfdrive/loggerd/.gitignore b/system/loggerd/.gitignore similarity index 100% rename from selfdrive/loggerd/.gitignore rename to system/loggerd/.gitignore diff --git a/selfdrive/loggerd/README.md b/system/loggerd/README.md similarity index 100% rename from selfdrive/loggerd/README.md rename to system/loggerd/README.md diff --git a/selfdrive/loggerd/SConscript b/system/loggerd/SConscript similarity index 100% rename from selfdrive/loggerd/SConscript rename to system/loggerd/SConscript diff --git a/selfdrive/sensord/tests/__init__.py b/system/loggerd/__init__.py similarity index 100% rename from selfdrive/sensord/tests/__init__.py rename to system/loggerd/__init__.py diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc similarity index 86% rename from selfdrive/loggerd/bootlog.cc rename to system/loggerd/bootlog.cc index e882e4cf8d..becd293c02 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -2,8 +2,9 @@ #include #include "cereal/messaging/messaging.h" +#include "common/params.h" #include "common/swaglog.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" static kj::Array build_boot_log() { @@ -48,7 +49,8 @@ static kj::Array build_boot_log() { } int main(int argc, char** argv) { - const std::string path = LOG_ROOT + "/boot/" + logger_get_route_name(); + const std::string timestr = logger_get_route_name(); + const std::string path = LOG_ROOT + "/boot/" + timestr; LOGW("bootlog to %s", path.c_str()); // Open bootlog @@ -61,5 +63,8 @@ int main(int argc, char** argv) { // Write bootlog file.write(build_boot_log().asBytes()); + // Write out bootlog param to match routes with bootlog + Params().put("CurrentBootlog", timestr.c_str()); + return 0; } diff --git a/selfdrive/loggerd/config.py b/system/loggerd/config.py similarity index 100% rename from selfdrive/loggerd/config.py rename to system/loggerd/config.py diff --git a/selfdrive/loggerd/deleter.py b/system/loggerd/deleter.py similarity index 89% rename from selfdrive/loggerd/deleter.py rename to system/loggerd/deleter.py index 5606288024..5fb2b9eb41 100644 --- a/selfdrive/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -3,8 +3,8 @@ import os import shutil import threading from system.swaglog import cloudlog -from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent -from selfdrive.loggerd.uploader import listdir_by_creation +from system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from system.loggerd.uploader import listdir_by_creation MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/selfdrive/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/encoder.cc rename to system/loggerd/encoder/encoder.cc index 943f37803d..08eaf0ff01 100644 --- a/selfdrive/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -1,5 +1,5 @@ #include -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" VideoEncoder::~VideoEncoder() {} diff --git a/selfdrive/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h similarity index 97% rename from selfdrive/loggerd/encoder/encoder.h rename to system/loggerd/encoder/encoder.h index 21ef65cf12..88dd5cee23 100644 --- a/selfdrive/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.cc rename to system/loggerd/encoder/ffmpeg_encoder.cc index 5f8d140e8b..275da34f18 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -1,6 +1,6 @@ #pragma clang diagnostic ignored "-Wdeprecated-declarations" -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #include #include diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h similarity index 92% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.h rename to system/loggerd/encoder/ffmpeg_encoder.h index 497a28b651..9095a6e815 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -11,8 +11,8 @@ extern "C" { #include } -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/loggerd.h" class FfmpegEncoder : public VideoEncoder { public: diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc similarity index 99% rename from selfdrive/loggerd/encoder/v4l_encoder.cc rename to system/loggerd/encoder/v4l_encoder.cc index 88aeb21256..16e7246ff4 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #include "common/util.h" #include "common/timing.h" diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h similarity index 95% rename from selfdrive/loggerd/encoder/v4l_encoder.h rename to system/loggerd/encoder/v4l_encoder.h index c2a53dd6ef..d4b0a1211d 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -1,7 +1,7 @@ #pragma once #include "common/queue.h" -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" #define BUF_IN_COUNT 7 #define BUF_OUT_COUNT 6 diff --git a/selfdrive/loggerd/encoderd.cc b/system/loggerd/encoderd.cc similarity index 99% rename from selfdrive/loggerd/encoderd.cc rename to system/loggerd/encoderd.cc index db5f4b61ab..12b58b6591 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/loggerd.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/logger.cc b/system/loggerd/logger.cc similarity index 99% rename from selfdrive/loggerd/logger.cc rename to system/loggerd/logger.cc index aaf267e523..0599aa1e54 100644 --- a/selfdrive/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include #include diff --git a/selfdrive/loggerd/logger.h b/system/loggerd/logger.h similarity index 100% rename from selfdrive/loggerd/logger.h rename to system/loggerd/logger.h diff --git a/selfdrive/loggerd/loggerd.cc b/system/loggerd/loggerd.cc similarity index 99% rename from selfdrive/loggerd/loggerd.cc rename to system/loggerd/loggerd.cc index e09cdfaa9e..a7f7db4801 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,5 +1,5 @@ -#include "selfdrive/loggerd/loggerd.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/loggerd.h" +#include "system/loggerd/video_writer.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/loggerd.h b/system/loggerd/loggerd.h similarity index 92% rename from selfdrive/loggerd/loggerd.h rename to system/loggerd/loggerd.h index 1fa6349828..1b8f9e0d2a 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -23,13 +23,13 @@ #include "common/util.h" #include "system/hardware/hw.h" -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/logger.h" #ifdef QCOM2 -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #define Encoder V4LEncoder #else -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #define Encoder FfmpegEncoder #endif diff --git a/system/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill_eon.py similarity index 79% rename from selfdrive/loggerd/tests/fill_eon.py rename to system/loggerd/tests/fill_eon.py index b40982fa9f..e0c52ea0d7 100755 --- a/selfdrive/loggerd/tests/fill_eon.py +++ b/system/loggerd/tests/fill_eon.py @@ -3,8 +3,8 @@ import os -from selfdrive.loggerd.config import ROOT, get_available_percent -from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file +from system.loggerd.config import ROOT, get_available_percent +from system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py similarity index 98% rename from selfdrive/loggerd/tests/loggerd_tests_common.py rename to system/loggerd/tests/loggerd_tests_common.py index 80cfb162f1..6aca83858b 100644 --- a/selfdrive/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -5,7 +5,7 @@ import random import tempfile import unittest -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader def create_random_file(file_path, size_mb, lock=False): try: diff --git a/selfdrive/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py similarity index 96% rename from selfdrive/loggerd/tests/test_deleter.py rename to system/loggerd/tests/test_deleter.py index 80fb5c997f..5b54a43f3b 100755 --- a/selfdrive/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,8 +6,8 @@ import unittest from collections import namedtuple from common.timeout import Timeout, TimeoutException -import selfdrive.loggerd.deleter as deleter -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +import system.loggerd.deleter as deleter +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/selfdrive/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py similarity index 99% rename from selfdrive/loggerd/tests/test_encoder.py rename to system/loggerd/tests/test_encoder.py index 1b9bcef2d7..81f4e9fb9d 100755 --- a/selfdrive/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -14,7 +14,7 @@ from tqdm import trange from common.params import Params from common.timeout import Timeout from system.hardware import TICI -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from tools.lib.logreader import LogReader diff --git a/selfdrive/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc similarity index 99% rename from selfdrive/loggerd/tests/test_logger.cc rename to system/loggerd/tests/test_logger.cc index ba7835d632..9c82299091 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py similarity index 96% rename from selfdrive/loggerd/tests/test_loggerd.py rename to system/loggerd/tests/test_loggerd.py index 9c3565d130..f39b8bb9d6 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -15,7 +15,7 @@ from cereal.services import service_list from common.basedir import BASEDIR from common.params import Params from common.timeout import Timeout -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from system.version import get_version from tools.lib.logreader import LogReader @@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase): def _gen_bootlog(self): with Timeout(5): - out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8') + out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8') log_fn = self._get_log_fn(out) @@ -86,7 +86,7 @@ class TestLoggerd(unittest.TestCase): params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemeris", "abc") + params.put("LaikadEphemerisV3", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -103,14 +103,14 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemeris'} + expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemeris'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemeris'])}" + assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" for param_key, initData_key, v in fake_params: self.assertEqual(getattr(initData, initData_key), v) self.assertEqual(logged_params[param_key].decode(), v) - params.put("LaikadEphemeris", "") + params.put("LaikadEphemerisV3", "") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" diff --git a/selfdrive/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc similarity index 100% rename from selfdrive/loggerd/tests/test_runner.cc rename to system/loggerd/tests/test_runner.cc diff --git a/selfdrive/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py similarity index 97% rename from selfdrive/loggerd/tests/test_uploader.py rename to system/loggerd/tests/test_uploader.py index 6090bbe2aa..11b273cec8 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -7,9 +7,9 @@ import logging import json from system.swaglog import cloudlog -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): diff --git a/selfdrive/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py similarity index 60% rename from selfdrive/loggerd/tools/mark_all_uploaded.py rename to system/loggerd/tools/mark_all_uploaded.py index e60e6cfa2c..c963014748 100644 --- a/selfdrive/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py similarity index 70% rename from selfdrive/loggerd/tools/mark_unuploaded.py rename to system/loggerd/tools/mark_unuploaded.py index 343805d5fc..3d1d4472b0 100755 --- a/selfdrive/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME +from system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/selfdrive/loggerd/uploader.py b/system/loggerd/uploader.py similarity index 98% rename from selfdrive/loggerd/uploader.py rename to system/loggerd/uploader.py index f97bafecb9..d4ed6dca28 100644 --- a/selfdrive/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -16,8 +16,8 @@ from common.api import Api from common.params import Params from common.realtime import set_core_affinity from system.hardware import TICI -from selfdrive.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT from system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType diff --git a/selfdrive/loggerd/video_writer.cc b/system/loggerd/video_writer.cc similarity index 98% rename from selfdrive/loggerd/video_writer.cc rename to system/loggerd/video_writer.cc index 4f79ccafc8..91bf09355f 100644 --- a/selfdrive/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "common/swaglog.h" #include "common/util.h" diff --git a/selfdrive/loggerd/video_writer.h b/system/loggerd/video_writer.h similarity index 100% rename from selfdrive/loggerd/video_writer.h rename to system/loggerd/video_writer.h diff --git a/selfdrive/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py similarity index 100% rename from selfdrive/loggerd/xattr_cache.py rename to system/loggerd/xattr_cache.py diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore new file mode 100644 index 0000000000..e9b8071b4b --- /dev/null +++ b/system/sensord/.gitignore @@ -0,0 +1 @@ +_sensord diff --git a/selfdrive/sensord/SConscript b/system/sensord/SConscript similarity index 100% rename from selfdrive/sensord/SConscript rename to system/sensord/SConscript diff --git a/system/sensord/__init__.py b/system/sensord/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py similarity index 99% rename from selfdrive/sensord/pigeond.py rename to system/sensord/pigeond.py index 9d0a62bd3b..c9ad7ff22a 100755 --- a/selfdrive/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD") cloudlog.debug("pigeon configured") # try restoring almanac backup diff --git a/selfdrive/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py similarity index 100% rename from selfdrive/sensord/rawgps/compare.py rename to system/sensord/rawgps/compare.py diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/system/sensord/rawgps/modemdiag.py similarity index 100% rename from selfdrive/sensord/rawgps/modemdiag.py rename to system/sensord/rawgps/modemdiag.py diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py similarity index 98% rename from selfdrive/sensord/rawgps/rawgpsd.py rename to system/sensord/rawgps/rawgpsd.py index 3fa5e927a2..f75ceee7ed 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime from system.hardware.tici.pins import GPIO from system.swaglog import cloudlog -from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, diff --git a/selfdrive/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py similarity index 100% rename from selfdrive/sensord/rawgps/structs.py rename to system/sensord/rawgps/structs.py diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py similarity index 100% rename from selfdrive/sensord/rawgps/test_rawgps.py rename to system/sensord/rawgps/test_rawgps.py diff --git a/selfdrive/sensord/sensord b/system/sensord/sensord similarity index 100% rename from selfdrive/sensord/sensord rename to system/sensord/sensord diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_accel.cc rename to system/sensord/sensors/bmx055_accel.cc diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h similarity index 96% rename from selfdrive/sensord/sensors/bmx055_accel.h rename to system/sensord/sensors/bmx055_accel.h index 8ef660a99f..2cc316e992 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/system/sensord/sensors/bmx055_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_ACCEL_I2C_ADDR 0x18 diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_gyro.cc rename to system/sensord/sensors/bmx055_gyro.cc diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h similarity index 95% rename from selfdrive/sensord/sensors/bmx055_gyro.h rename to system/sensord/sensors/bmx055_gyro.h index 80b93f128c..7be3e56563 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/system/sensord/sensors/bmx055_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_GYRO_I2C_ADDR 0x68 diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_magn.cc rename to system/sensord/sensors/bmx055_magn.cc diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h similarity index 97% rename from selfdrive/sensord/sensors/bmx055_magn.h rename to system/sensord/sensors/bmx055_magn.h index e4a79bc7e0..15c4e734b9 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/system/sensord/sensors/bmx055_magn.h @@ -1,7 +1,7 @@ #pragma once #include -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_MAGN_I2C_ADDR 0x10 diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc similarity index 94% rename from selfdrive/sensord/sensors/bmx055_temp.cc rename to system/sensord/sensors/bmx055_temp.cc index 95b8068ac1..68ee0da1d6 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/system/sensord/sensors/bmx055_temp.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_accel.h" #include "common/swaglog.h" #include "common/timing.h" diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h similarity index 71% rename from selfdrive/sensord/sensors/bmx055_temp.h rename to system/sensord/sensors/bmx055_temp.h index 0b6802deaa..a2eabae395 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/system/sensord/sensors/bmx055_temp.h @@ -1,7 +1,7 @@ #pragma once -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/i2c_sensor.h" class BMX055_Temp : public I2CSensor { uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} diff --git a/selfdrive/sensord/sensors/constants.h b/system/sensord/sensors/constants.h similarity index 100% rename from selfdrive/sensord/sensors/constants.h rename to system/sensord/sensors/constants.h diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/file_sensor.cc rename to system/sensord/sensors/file_sensor.cc diff --git a/selfdrive/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h similarity index 88% rename from selfdrive/sensord/sensors/file_sensor.h rename to system/sensord/sensors/file_sensor.h index 39d695167d..07d7e8f946 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/system/sensord/sensors/file_sensor.h @@ -4,7 +4,7 @@ #include #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/sensor.h" class FileSensor : public Sensor { protected: diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/i2c_sensor.cc rename to system/sensord/sensors/i2c_sensor.cc diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h similarity index 93% rename from selfdrive/sensord/sensors/i2c_sensor.h rename to system/sensord/sensors/i2c_sensor.h index 08ca6f09cd..ccac526c12 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -8,8 +8,8 @@ #include "common/gpio.h" #include "common/swaglog.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/sensor.h" int16_t read_12_bit(uint8_t lsb, uint8_t msb); int16_t read_16_bit(uint8_t lsb, uint8_t msb); diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc similarity index 92% rename from selfdrive/sensord/sensors/light_sensor.cc rename to system/sensord/sensors/light_sensor.cc index 58c602ea39..99e321b47d 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/system/sensord/sensors/light_sensor.cc @@ -3,7 +3,7 @@ #include #include "common/timing.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} diff --git a/selfdrive/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h similarity index 100% rename from selfdrive/sensord/sensors/light_sensor.h rename to system/sensord/sensors/light_sensor.h diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_accel.cc rename to system/sensord/sensors/lsm6ds3_accel.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h similarity index 97% rename from selfdrive/sensord/sensors/lsm6ds3_accel.h rename to system/sensord/sensors/lsm6ds3_accel.h index c3f66f5803..69667cb759 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/system/sensord/sensors/lsm6ds3_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_ACCEL_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.cc rename to system/sensord/sensors/lsm6ds3_gyro.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h similarity index 96% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.h rename to system/sensord/sensors/lsm6ds3_gyro.h index 220e6b0cec..adaae62dd2 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/system/sensord/sensors/lsm6ds3_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_GYRO_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_temp.cc rename to system/sensord/sensors/lsm6ds3_temp.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h similarity index 92% rename from selfdrive/sensord/sensors/lsm6ds3_temp.h rename to system/sensord/sensors/lsm6ds3_temp.h index 1d6bcc228a..1b5b621814 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/system/sensord/sensors/lsm6ds3_temp.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_TEMP_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/mmc5603nj_magn.cc rename to system/sensord/sensors/mmc5603nj_magn.cc diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h similarity index 94% rename from selfdrive/sensord/sensors/mmc5603nj_magn.h rename to system/sensord/sensors/mmc5603nj_magn.h index a364c7c37a..fce3f3fecb 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define MMC5603NJ_I2C_ADDR 0x30 diff --git a/selfdrive/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h similarity index 100% rename from selfdrive/sensord/sensors/sensor.h rename to system/sensord/sensors/sensor.h diff --git a/selfdrive/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc similarity index 90% rename from selfdrive/sensord/sensors_qcom2.cc rename to system/sensord/sensors_qcom2.cc index fc8dc8620b..349c67f498 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -12,17 +12,17 @@ #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/bmx055_gyro.h" -#include "selfdrive/sensord/sensors/bmx055_magn.h" -#include "selfdrive/sensord/sensors/bmx055_temp.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/light_sensor.h" -#include "selfdrive/sensord/sensors/lsm6ds3_accel.h" -#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h" -#include "selfdrive/sensord/sensors/lsm6ds3_temp.h" -#include "selfdrive/sensord/sensors/mmc5603nj_magn.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_gyro.h" +#include "system/sensord/sensors/bmx055_magn.h" +#include "system/sensord/sensors/bmx055_temp.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/light_sensor.h" +#include "system/sensord/sensors/lsm6ds3_accel.h" +#include "system/sensord/sensors/lsm6ds3_gyro.h" +#include "system/sensord/sensors/lsm6ds3_temp.h" +#include "system/sensord/sensors/mmc5603nj_magn.h" +#include "system/sensord/sensors/sensor.h" #define I2C_BUS_IMU 1 diff --git a/system/sensord/tests/__init__.py b/system/sensord/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py similarity index 100% rename from selfdrive/sensord/tests/test_pigeond.py rename to system/sensord/tests/test_pigeond.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py similarity index 100% rename from selfdrive/sensord/tests/test_sensord.py rename to system/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py similarity index 100% rename from selfdrive/sensord/tests/ttff_test.py rename to system/sensord/tests/ttff_test.py diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore new file mode 100644 index 0000000000..05263ff67c --- /dev/null +++ b/system/ubloxd/.gitignore @@ -0,0 +1,2 @@ +ubloxd +tests/test_glonass_runner diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript new file mode 100644 index 0000000000..fff0986efd --- /dev/null +++ b/system/ubloxd/SConscript @@ -0,0 +1,20 @@ +Import('env', 'common', 'cereal', 'messaging') + +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] + +if GetOption('kaitai'): + generated = Dir('generated').srcnode().abspath + cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" + env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) + env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) + glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) + + # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 + patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') + env.Depends(patch, glonass) + +glonass_obj = env.Object('generated/glonass.cpp') +env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) + +if GetOption('test'): + env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/selfdrive/locationd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp similarity index 100% rename from selfdrive/locationd/generated/glonass.cpp rename to system/ubloxd/generated/glonass.cpp diff --git a/selfdrive/locationd/generated/glonass.h b/system/ubloxd/generated/glonass.h similarity index 100% rename from selfdrive/locationd/generated/glonass.h rename to system/ubloxd/generated/glonass.h diff --git a/selfdrive/locationd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp similarity index 100% rename from selfdrive/locationd/generated/gps.cpp rename to system/ubloxd/generated/gps.cpp diff --git a/selfdrive/locationd/generated/gps.h b/system/ubloxd/generated/gps.h similarity index 100% rename from selfdrive/locationd/generated/gps.h rename to system/ubloxd/generated/gps.h diff --git a/selfdrive/locationd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp similarity index 67% rename from selfdrive/locationd/generated/ubx.cpp rename to system/ubloxd/generated/ubx.cpp index 34fe1e52ca..81b82ccafc 100644 --- a/selfdrive/locationd/generated/ubx.cpp +++ b/system/ubloxd/generated/ubx.cpp @@ -40,6 +40,11 @@ void ubx_t::_read() { m_body = new rxm_sfrbx_t(m__io, this, m__root); break; } + case 309: { + n_body = false; + m_body = new nav_sat_t(m__io, this, m__root); + break; + } case 2571: { n_body = false; m_body = new mon_hw2_t(m__io, this, m__root); @@ -70,9 +75,9 @@ void ubx_t::_clean_up() { ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; - m_measurements = 0; - m__raw_measurements = 0; - m__io__raw_measurements = 0; + m_meas = 0; + m__raw_meas = 0; + m__io__raw_meas = 0; try { _read(); @@ -89,15 +94,15 @@ void ubx_t::rxm_rawx_t::_read() { m_num_meas = m__io->read_u1(); m_rec_stat = m__io->read_u1(); m_reserved1 = m__io->read_bytes(3); - m__raw_measurements = new std::vector(); - m__io__raw_measurements = new std::vector(); - m_measurements = new std::vector(); - const int l_measurements = num_meas(); - for (int i = 0; i < l_measurements; i++) { - m__raw_measurements->push_back(m__io->read_bytes(32)); - kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1)); - m__io__raw_measurements->push_back(io__raw_measurements); - m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root)); + m__raw_meas = new std::vector(); + m__io__raw_meas = new std::vector(); + m_meas = new std::vector(); + const int l_meas = num_meas(); + for (int i = 0; i < l_meas; i++) { + m__raw_meas->push_back(m__io->read_bytes(32)); + kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1)); + m__io__raw_meas->push_back(io__raw_meas); + m_meas->push_back(new measurement_t(io__raw_meas, this, m__root)); } } @@ -106,24 +111,24 @@ ubx_t::rxm_rawx_t::~rxm_rawx_t() { } void ubx_t::rxm_rawx_t::_clean_up() { - if (m__raw_measurements) { - delete m__raw_measurements; m__raw_measurements = 0; + if (m__raw_meas) { + delete m__raw_meas; m__raw_meas = 0; } - if (m__io__raw_measurements) { - for (std::vector::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) { + if (m__io__raw_meas) { + for (std::vector::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) { delete *it; } - delete m__io__raw_measurements; m__io__raw_measurements = 0; + delete m__io__raw_meas; m__io__raw_meas = 0; } - if (m_measurements) { - for (std::vector::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) { + if (m_meas) { + for (std::vector::iterator it = m_meas->begin(); it != m_meas->end(); ++it) { delete *it; } - delete m_measurements; m_measurements = 0; + delete m_meas; m_meas = 0; } } -ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { +ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; @@ -135,7 +140,7 @@ ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__ } } -void ubx_t::rxm_rawx_t::meas_t::_read() { +void ubx_t::rxm_rawx_t::measurement_t::_read() { m_pr_mes = m__io->read_f8le(); m_cp_mes = m__io->read_f8le(); m_do_mes = m__io->read_f4le(); @@ -152,11 +157,11 @@ void ubx_t::rxm_rawx_t::meas_t::_read() { m_reserved3 = m__io->read_bytes(1); } -ubx_t::rxm_rawx_t::meas_t::~meas_t() { +ubx_t::rxm_rawx_t::measurement_t::~measurement_t() { _clean_up(); } -void ubx_t::rxm_rawx_t::meas_t::_clean_up() { +void ubx_t::rxm_rawx_t::measurement_t::_clean_up() { } ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { @@ -198,6 +203,89 @@ void ubx_t::rxm_sfrbx_t::_clean_up() { } } +ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_svs = 0; + m__raw_svs = 0; + m__io__raw_svs = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::_read() { + m_itow = m__io->read_u4le(); + m_version = m__io->read_u1(); + m_num_svs = m__io->read_u1(); + m_reserved = m__io->read_bytes(2); + m__raw_svs = new std::vector(); + m__io__raw_svs = new std::vector(); + m_svs = new std::vector(); + const int l_svs = num_svs(); + for (int i = 0; i < l_svs; i++) { + m__raw_svs->push_back(m__io->read_bytes(12)); + kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1)); + m__io__raw_svs->push_back(io__raw_svs); + m_svs->push_back(new nav_t(io__raw_svs, this, m__root)); + } +} + +ubx_t::nav_sat_t::~nav_sat_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::_clean_up() { + if (m__raw_svs) { + delete m__raw_svs; m__raw_svs = 0; + } + if (m__io__raw_svs) { + for (std::vector::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) { + delete *it; + } + delete m__io__raw_svs; m__io__raw_svs = 0; + } + if (m_svs) { + for (std::vector::iterator it = m_svs->begin(); it != m_svs->end(); ++it) { + delete *it; + } + delete m_svs; m_svs = 0; + } +} + +ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::nav_t::_read() { + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_cno = m__io->read_u1(); + m_elev = m__io->read_s1(); + m_azim = m__io->read_s2le(); + m_pr_res = m__io->read_s2le(); + m_flags = m__io->read_u4le(); +} + +ubx_t::nav_sat_t::nav_t::~nav_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::nav_t::_clean_up() { +} + ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h similarity index 80% rename from selfdrive/locationd/generated/ubx.h rename to system/ubloxd/generated/ubx.h index 6be4ce8c4b..022108489f 100644 --- a/selfdrive/locationd/generated/ubx.h +++ b/system/ubloxd/generated/ubx.h @@ -16,6 +16,7 @@ class ubx_t : public kaitai::kstruct { public: class rxm_rawx_t; class rxm_sfrbx_t; + class nav_sat_t; class nav_pvt_t; class mon_hw2_t; class mon_hw_t; @@ -42,7 +43,7 @@ public: class rxm_rawx_t : public kaitai::kstruct { public: - class meas_t; + class measurement_t; rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); @@ -53,18 +54,18 @@ public: public: ~rxm_rawx_t(); - class meas_t : public kaitai::kstruct { + class measurement_t : public kaitai::kstruct { public: - meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); + measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); private: void _read(); void _clean_up(); public: - ~meas_t(); + ~measurement_t(); private: double m_pr_mes; @@ -110,11 +111,11 @@ public: uint8_t m_num_meas; uint8_t m_rec_stat; std::string m_reserved1; - std::vector* m_measurements; + std::vector* m_meas; ubx_t* m__root; ubx_t* m__parent; - std::vector* m__raw_measurements; - std::vector* m__io__raw_measurements; + std::vector* m__raw_meas; + std::vector* m__io__raw_meas; public: double rcv_tow() const { return m_rcv_tow; } @@ -123,11 +124,11 @@ public: uint8_t num_meas() const { return m_num_meas; } uint8_t rec_stat() const { return m_rec_stat; } std::string reserved1() const { return m_reserved1; } - std::vector* measurements() const { return m_measurements; } + std::vector* meas() const { return m_meas; } ubx_t* _root() const { return m__root; } ubx_t* _parent() const { return m__parent; } - std::vector* _raw_measurements() const { return m__raw_measurements; } - std::vector* _io__raw_measurements() const { return m__io__raw_measurements; } + std::vector* _raw_meas() const { return m__raw_meas; } + std::vector* _io__raw_meas() const { return m__io__raw_meas; } }; class rxm_sfrbx_t : public kaitai::kstruct { @@ -170,6 +171,79 @@ public: ubx_t* _parent() const { return m__parent; } }; + class nav_sat_t : public kaitai::kstruct { + + public: + class nav_t; + + nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_sat_t(); + + class nav_t : public kaitai::kstruct { + + public: + + nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_t(); + + private: + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + uint8_t m_cno; + int8_t m_elev; + int16_t m_azim; + int16_t m_pr_res; + uint32_t m_flags; + ubx_t* m__root; + ubx_t::nav_sat_t* m__parent; + + public: + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + uint8_t cno() const { return m_cno; } + int8_t elev() const { return m_elev; } + int16_t azim() const { return m_azim; } + int16_t pr_res() const { return m_pr_res; } + uint32_t flags() const { return m_flags; } + ubx_t* _root() const { return m__root; } + ubx_t::nav_sat_t* _parent() const { return m__parent; } + }; + + private: + uint32_t m_itow; + uint8_t m_version; + uint8_t m_num_svs; + std::string m_reserved; + std::vector* m_svs; + ubx_t* m__root; + ubx_t* m__parent; + std::vector* m__raw_svs; + std::vector* m__io__raw_svs; + + public: + uint32_t itow() const { return m_itow; } + uint8_t version() const { return m_version; } + uint8_t num_svs() const { return m_num_svs; } + std::string reserved() const { return m_reserved; } + std::vector* svs() const { return m_svs; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + std::vector* _raw_svs() const { return m__raw_svs; } + std::vector* _io__raw_svs() const { return m__io__raw_svs; } + }; + class nav_pvt_t : public kaitai::kstruct { public: diff --git a/selfdrive/locationd/glonass.ksy b/system/ubloxd/glonass.ksy similarity index 100% rename from selfdrive/locationd/glonass.ksy rename to system/ubloxd/glonass.ksy diff --git a/selfdrive/locationd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch similarity index 68% rename from selfdrive/locationd/glonass_fix.patch rename to system/ubloxd/glonass_fix.patch index fa34a8ef15..7eb973a348 100644 --- a/selfdrive/locationd/glonass_fix.patch +++ b/system/ubloxd/glonass_fix.patch @@ -1,7 +1,7 @@ -diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp +diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp index 5b17bc327..b5c6aa610 100644 ---- a/selfdrive/locationd/generated/glonass.cpp -+++ b/selfdrive/locationd/generated/glonass.cpp +--- a/system/ubloxd/generated/glonass.cpp ++++ b/system/ubloxd/generated/glonass.cpp @@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass void glonass_t::_read() { m_idle_chip = m__io->read_bits_int_be(1); diff --git a/selfdrive/locationd/gps.ksy b/system/ubloxd/gps.ksy similarity index 100% rename from selfdrive/locationd/gps.ksy rename to system/ubloxd/gps.ksy diff --git a/selfdrive/locationd/test/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py similarity index 100% rename from selfdrive/locationd/test/print_gps_stats.py rename to system/ubloxd/tests/print_gps_stats.py diff --git a/selfdrive/locationd/test/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc similarity index 99% rename from selfdrive/locationd/test/test_glonass_kaitai.cc rename to system/ubloxd/tests/test_glonass_kaitai.cc index 22f5202a3d..5ad274142a 100644 --- a/selfdrive/locationd/test/test_glonass_kaitai.cc +++ b/system/ubloxd/tests/test_glonass_kaitai.cc @@ -6,7 +6,7 @@ #include #include "catch2/catch.hpp" -#include "selfdrive/locationd/generated/glonass.h" +#include "system/ubloxd/generated/glonass.h" typedef std::vector> string_data; diff --git a/selfdrive/locationd/test/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc similarity index 100% rename from selfdrive/locationd/test/test_glonass_runner.cc rename to system/ubloxd/tests/test_glonass_runner.cc diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py similarity index 100% rename from selfdrive/locationd/test/test_ublox_processing.py rename to system/ubloxd/tests/test_ublox_processing.py diff --git a/selfdrive/locationd/test/ublox.py b/system/ubloxd/tests/ublox.py similarity index 99% rename from selfdrive/locationd/test/ublox.py rename to system/ubloxd/tests/ublox.py index 9cffbeac40..0d271ad785 100644 --- a/selfdrive/locationd/test/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -48,12 +48,14 @@ MSG_NAV_TIMEGPS = 0x20 MSG_NAV_TIMEUTC = 0x21 MSG_NAV_CLOCK = 0x22 MSG_NAV_SVINFO = 0x30 +MSG_NAV_SAT = 0x35 MSG_NAV_AOPSTATUS = 0x60 MSG_NAV_DGPS = 0x31 MSG_NAV_DOP = 0x04 MSG_NAV_EKFSTATUS = 0x40 MSG_NAV_SBAS = 0x32 MSG_NAV_SOL = 0x06 +MSG_NAV_SAT = 0x35 # RXM messages MSG_RXM_RAW = 0x15 diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py similarity index 98% rename from selfdrive/locationd/test/ubloxd.py rename to system/ubloxd/tests/ubloxd.py index 82aa502ceb..7c7e68b23b 100755 --- a/selfdrive/locationd/test/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -60,6 +60,7 @@ def configure_ublox(dev): dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1) + dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1) # Query the backup restore status print("backup restore polling message (implement custom response handler!):") diff --git a/selfdrive/locationd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc similarity index 79% rename from selfdrive/locationd/ublox_msg.cc rename to system/ubloxd/ublox_msg.cc index b746989466..a01187d560 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -65,23 +65,8 @@ inline bool UbloxMsgParser::valid_so_far() { return true; } -inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { - // convert time to year (conversion from A3.1.3) - int J = 0; - if (1 <= Nt && Nt <= 366) { - J = 1; - } else if (367 <= Nt && Nt <= 731) { - J = 2; - } else if (732 <= Nt && Nt <= 1096) { - J = 3; - } else if (1097 <= Nt && Nt <= 1461) { - J = 4; - } - uint16_t year = 1996 + 4*(N4 -1) + (J - 1); - return year; -} - -bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { +bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { + last_log_time = log_time; int needed = needed_bytes(); if(needed > 0) { bytes_consumed = std::min((uint32_t)needed, incoming_data_len ); @@ -126,6 +111,9 @@ std::pair> UbloxMsgParser::gen_msg() { return {"ubloxGnss", gen_mon_hw(static_cast(body))}; case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; + case 0x0135: + // TODO return {"ubloxGnss", gen_nav_sat(static_cast(body))}; + return {"ubloxGnss", kj::Array()}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; @@ -183,7 +171,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3) { + if (subframe_id > 3 || subframe_id < 1) { // dont parse almanac subframes return kj::Array(); } @@ -199,6 +187,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m int iode_s2 = 0; int iode_s3 = 0; int iodc_lsb = 0; + int week; // Subframe 1 { @@ -206,7 +195,14 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - eph.setGpsWeek(subframe_1->week_no()); + // Each message is incremented to be greater or equal than week 1877 (2015-12-27). + // To skip this use the current_time argument + week = subframe_1->week_no(); + week += 1024; + if (week < 1877) { + week += 1024; + } + //eph.setGpsWeek(subframe_1->week_no()); eph.setTgd(subframe_1->t_gd() * pow(2, -31)); eph.setToc(subframe_1->t_oc() * pow(2, 4)); eph.setAf2(subframe_1->af_2() * pow(2, -55)); @@ -223,6 +219,12 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); + // GPS week refers to current week, the ephemeris can be valid for the next + // if toe equals 0, this can be verified by the TOW count if it is within the + // last 2 hours of the week (gps ephemeris valid for 4hours) + if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){ + week += 1; + } eph.setCrs(subframe_2->c_rs() * pow(2, -5)); eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); @@ -252,6 +254,9 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m iode_s3 = subframe_3->iode(); } + eph.setToeWeek(week); + eph.setTocWeek(week); + gps_subframes[msg->sv_id()].clear(); if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) { // data set cutover, reject ephemeris @@ -263,12 +268,8 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m } kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - if (msg->sv_id() == 255) { - // data can be decoded before identifying the SV number, in this case 255 - // is returned, which means "unknown" (ublox p32) - return kj::Array(); - } - + // This parser assumes that no 2 satellites of the same frequency + // can be in view at the same time auto body = *msg->body(); assert(body.size() == 4); { @@ -281,39 +282,68 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ kaitai::kstream stream(string_data); glonass_t gl_string(&stream); - int string_number = gl_string.string_number(); - if (string_number > 5 || gl_string.idle_chip()) { + if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { // dont parse non immediate data, idle_chip == 0 return kj::Array(); } - // immediate data is the same within one superframe - if (glonass_superframes[msg->sv_id()] != gl_string.superframe_number()) { - glonass_strings[msg->sv_id()].clear(); - glonass_superframes[msg->sv_id()] = gl_string.superframe_number(); + // Check if new string either has same superframe_id or log transmission times make sense + bool superframe_unknown = false; + bool needs_clear = false; + for (int i = 1; i <= 5; i++) { + if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end()) + continue; + if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { + superframe_unknown = true; + } + else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { + needs_clear = true; + } + // Check if string times add up to being from the same frame + // If superframe is known this is redundant + // Strings are sent 2s apart and frames are 30s apart + if (superframe_unknown && + std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10) + needs_clear = true; } - glonass_strings[msg->sv_id()][string_number] = string_data; + if (needs_clear) { + glonass_strings[msg->freq_id()].clear(); + glonass_string_superframes[msg->freq_id()].clear(); + glonass_string_times[msg->freq_id()].clear(); + } + glonass_strings[msg->freq_id()][string_number] = string_data; + glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number(); + glonass_string_times[msg->freq_id()][string_number] = last_log_time; + } + if (msg->sv_id() == 255) { + // data can be decoded before identifying the SV number, in this case 255 + // is returned, which means "unknown" (ublox p32) + return kj::Array(); } // publish if strings 1-5 have been collected - if (glonass_strings[msg->sv_id()].size() != 5) { + if (glonass_strings[msg->freq_id()].size() != 5) { return kj::Array(); } MessageBuilder msg_builder; auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris(); eph.setSvId(msg->sv_id()); + eph.setFreqNum(msg->freq_id() - 7); + uint16_t current_day = 0; + uint16_t tk = 0; // string number 1 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][1]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][1]); glonass_t gl_stream(&stream); glonass_t::string_1_t* data = static_cast(gl_stream.data()); eph.setP1(data->p1()); - eph.setTk(data->t_k()); + tk = data->t_k(); + eph.setTkDEPRECATED(tk); eph.setXVel(data->x_vel() * pow(2, -20)); eph.setXAccel(data->x_accel() * pow(2, -30)); eph.setX(data->x() * pow(2, -11)); @@ -321,7 +351,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 2 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][2]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][2]); glonass_t gl_stream(&stream); glonass_t::string_2_t* data = static_cast(gl_stream.data()); @@ -335,7 +365,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 3 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][3]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][3]); glonass_t gl_stream(&stream); glonass_t::string_3_t* data = static_cast(gl_stream.data()); @@ -349,11 +379,12 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 4 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][4]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][4]); glonass_t gl_stream(&stream); glonass_t::string_4_t* data = static_cast(gl_stream.data()); current_day = data->n_t(); + eph.setNt(current_day); eph.setTauN(data->tau_n() * pow(2, -30)); eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30)); eph.setAge(data->e_n()); @@ -367,36 +398,18 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 5 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][5]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][5]); glonass_t gl_stream(&stream); glonass_t::string_5_t* data = static_cast(gl_stream.data()); // string5 parsing is only needed to get the year, this can be removed and // the year can be fetched later in laika (note rollovers and leap year) - uint8_t n_4 = data->n_4(); - uint16_t year = get_glonass_year(n_4, current_day); - if (current_day > 1461) { - // impossible day within last 4 year, reject ephemeris - // TODO: check if this can be detected via hamming code - LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4); - glonass_strings[msg->sv_id()].clear(); - return kj::Array(); - } - - uint16_t last_leap_year = 1996 + 4*(n_4-1); - uint16_t days_till_this_year = (year - last_leap_year)*365; - if (days_till_this_year != 0) { - days_till_this_year++; - } - - eph.setYear(year); - eph.setDayInYear(current_day - days_till_this_year); - eph.setHour((eph.getTk()>>7) & 0x1F); - eph.setMinute((eph.getTk()>>1) & 0x3F); - eph.setSecond((eph.getTk() & 0x1) * 30); + eph.setN4(data->n_4()); + int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30; + eph.setTkSeconds(tk_seconds); } - glonass_strings[msg->sv_id()].clear(); + glonass_strings[msg->freq_id()].clear(); return capnp::messageToFlatArray(msg_builder); } @@ -421,7 +434,7 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { mr.setGpsWeek(msg->week()); auto mb = mr.initMeasurements(msg->num_meas()); - auto measurements = *msg->measurements(); + auto measurements = *msg->meas(); for(int8_t i = 0; i < msg->num_meas(); i++) { mb[i].setSvId(measurements[i]->sv_id()); mb[i].setPseudorange(measurements[i]->pr_mes()); @@ -450,6 +463,22 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { return capnp::messageToFlatArray(msg_builder); } +kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { + MessageBuilder msg_builder; + auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport(); + sr.setITow(msg->itow()); + + auto svs = sr.initSvs(msg->num_svs()); + auto svs_data = *msg->svs(); + for(int8_t i = 0; i < msg->num_svs(); i++) { + svs[i].setSvId(svs_data[i]->sv_id()); + svs[i].setGnssId(svs_data[i]->gnss_id()); + svs[i].setFlagsBitfield(svs_data[i]->flags()); + } + + return capnp::messageToFlatArray(msg_builder); +} + kj::Array UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) { MessageBuilder msg_builder; auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus(); diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h similarity index 83% rename from selfdrive/locationd/ublox_msg.h rename to system/ubloxd/ublox_msg.h index 6988f20b74..a52a7db3e5 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -9,12 +9,17 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/locationd/generated/gps.h" -#include "selfdrive/locationd/generated/glonass.h" -#include "selfdrive/locationd/generated/ubx.h" +#include "system/ubloxd/generated/gps.h" +#include "system/ubloxd/generated/glonass.h" +#include "system/ubloxd/generated/ubx.h" using namespace std::string_literals; +const int SECS_IN_MIN = 60; +const int SECS_IN_HR = 60 * SECS_IN_MIN; +const int SECS_IN_DAY = 24 * SECS_IN_HR; +const int SECS_IN_WEEK = 7 * SECS_IN_DAY; + // protocol constants namespace ublox { const uint8_t PREAMBLE1 = 0xb5; @@ -86,7 +91,7 @@ namespace ublox { class UbloxMsgParser { public: - bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); + bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); inline void reset() {bytes_in_parse_buf = 0;} inline int needed_bytes(); inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} @@ -97,18 +102,19 @@ class UbloxMsgParser { kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); + kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); private: inline bool valid_cheksum(); inline bool valid(); inline bool valid_so_far(); - inline uint16_t get_glonass_year(uint8_t N4, uint16_t Nt); kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); std::unordered_map> gps_subframes; + float last_log_time = 0.0; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; @@ -119,5 +125,6 @@ class UbloxMsgParser { {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; std::unordered_map> glonass_strings; - std::unordered_map glonass_superframes; + std::unordered_map> glonass_string_times; + std::unordered_map> glonass_string_superframes; }; diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc similarity index 88% rename from selfdrive/locationd/ubloxd.cc rename to system/ubloxd/ubloxd.cc index d9b3e7647d..1dae6dc866 100644 --- a/selfdrive/locationd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -5,7 +5,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/locationd/ublox_msg.h" +#include "system/ubloxd/ublox_msg.h" ExitHandler do_exit; using namespace ublox; @@ -35,6 +35,7 @@ int main() { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); auto ubloxRaw = event.getUbloxRaw(); + float log_time = 1e-9 * event.getLogMonoTime(); const uint8_t *data = ubloxRaw.begin(); size_t len = ubloxRaw.size(); @@ -42,7 +43,7 @@ int main() { while(bytes_consumed < len && !do_exit) { size_t bytes_consumed_this_time = 0U; - if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { + if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { try { auto ublox_msg = parser.gen_msg(); diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy similarity index 86% rename from selfdrive/locationd/ubx.ksy rename to system/ubloxd/ubx.ksy index 6945680d32..02c757fe71 100644 --- a/selfdrive/locationd/ubx.ksy +++ b/system/ubloxd/ubx.ksy @@ -17,6 +17,7 @@ seq: 0x0215: rxm_rawx 0x0a09: mon_hw 0x0a0b: mon_hw2 + 0x0135: nav_sat instances: checksum: pos: length + 6 @@ -142,13 +143,13 @@ types: type: u1 - id: reserved1 size: 3 - - id: measurements - type: meas + - id: meas + type: measurement size: 32 repeat: expr repeat-expr: num_meas types: - meas: + measurement: seq: - id: pr_mes type: f8 @@ -179,6 +180,39 @@ types: type: u1 - id: reserved3 size: 1 + nav_sat: + seq: + - id: itow + type: u4 + - id: version + type: u1 + - id: num_svs + type: u1 + - id: reserved + size: 2 + - id: svs + type: nav + size: 12 + repeat: expr + repeat-expr: num_svs + types: + nav: + seq: + - id: gnss_id + type: u1 + enum: gnss_type + - id: sv_id + type: u1 + - id: cno + type: u1 + - id: elev + type: s1 + - id: azim + type: s2 + - id: pr_res + type: s2 + - id: flags + type: u4 nav_pvt: seq: diff --git a/tinygrad_repo b/tinygrad_repo index 2e1d47b166..d8dda2af3a 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2e1d47b16625ff343516287cdd9e4bcb26f5c4ef +Subproject commit d8dda2af3afcef0bb772fff580cfa8b3eabf7f69 diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index ddd6208c07..3cb5913c01 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -28,7 +28,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.cc', 'dbcmanager.cc', 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index d9b00f6882..0a4f6fc999 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -75,8 +75,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this); QObject::connect(shortcut_endian, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_little_endian = !s.is_little_endian; emit editSignal(hovered_sig, s); @@ -89,8 +89,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this); QObject::connect(shortcut_sign, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_signed = !s.is_signed; emit editSignal(hovered_sig, s); @@ -117,7 +117,7 @@ QSize BinaryView::minimumSizeHint() const { CELL_HEIGHT * std::min(model->rowCount(), 10) + 2}; } -void BinaryView::highlight(const Signal *sig) { +void BinaryView::highlight(const cabana::Signal *sig) { if (sig != hovered_sig) { for (int i = 0; i < model->items.size(); ++i) { auto &item_sigs = model->items[i].sigs; @@ -176,7 +176,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::highlightPosition(const QPoint &pos) { if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); highlight(sig); } } @@ -226,8 +226,8 @@ void BinaryView::refresh() { highlightPosition(QCursor::pos()); } -QSet BinaryView::getOverlappingSignals() const { - QSet overlapping; +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; for (auto &item : model->items) { if (item.sigs.size() > 1) for (auto s : item.sigs) overlapping += s; @@ -293,7 +293,6 @@ void BinaryViewModel::updateState() { double max_f = 255.0; double factor = 0.25; double scaler = max_f / log2(1.0 + factor); - char hex[3] = {'\0'}; for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { auto &item = items[i * column_count + j]; @@ -305,9 +304,7 @@ void BinaryViewModel::updateState() { double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f); item.bg_color.setAlpha(alpha); } - hex[0] = toHex(binary[i] >> 4); - hex[1] = toHex(binary[i] & 0xf); - items[i * column_count + 8].val = hex; + items[i * column_count + 8].val = toHex(binary[i]); items[i * column_count + 8].bg_color = last_msg.colors[i]; } for (int i = binary.size() * column_count; i < items.size(); ++i) { @@ -375,7 +372,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op bg.setAlpha(std::max(50, bg.alpha())); } painter->fillRect(option.rect, bg); - painter->setPen(Qt::black); + painter->setPen(option.palette.color(QPalette::Text)); } } @@ -425,7 +422,7 @@ void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewIte painter->setClipRegion(QRegion(rc).subtracted(subtract)); if (!subtract.isEmpty()) { // fill gaps inside corners. - painter->setPen(QPen(border_color, 2)); + painter->setPen(QPen(border_color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); for (auto &r : subtract) { painter->drawRect(r); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 681ac1fbf3..f677d11941 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -8,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class BinaryItemDelegate : public QStyledItemDelegate { public: @@ -44,7 +43,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "-"; - QList sigs; + QList sigs; }; std::vector items; @@ -59,19 +58,19 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); void setMessage(const MessageId &message_id); - void highlight(const Signal *sig); - QSet getOverlappingSignals() const; + void highlight(const cabana::Signal *sig); + QSet getOverlappingSignals() const; inline void updateState() { model->updateState(); } QSize minimumSizeHint() const override; signals: - void signalClicked(const Signal *sig); - void signalHovered(const Signal *sig); + void signalClicked(const cabana::Signal *sig); + void signalHovered(const cabana::Signal *sig); void addSignal(int start_bit, int size, bool little_endian); - void resizeSignal(const Signal *sig, int from, int size); - void removeSignal(const Signal *sig); - void editSignal(const Signal *origin_s, Signal &s); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void resizeSignal(const cabana::Signal *sig, int from, int size); + void removeSignal(const cabana::Signal *sig); + void editSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void addShortcuts(); @@ -87,7 +86,7 @@ private: QModelIndex anchor_index; BinaryViewModel *model; BinaryItemDelegate *delegate; - const Signal *resize_sig = nullptr; - const Signal *hovered_sig = nullptr; + const cabana::Signal *resize_sig = nullptr; + const cabana::Signal *hovered_sig = nullptr; friend class BinaryItemDelegate; }; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e315f82398..a6eabfd1ae 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,5 +1,6 @@ #include "tools/cabana/chartswidget.h" +#include #include #include #include @@ -8,27 +9,31 @@ #include #include #include -#include +#include #include +#include #include #include #include const int MAX_COLUMN_COUNT = 4; +static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } + // ChartsWidget -ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { +ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); - toolbar->setIconSize({16, 16}); + int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize); + toolbar->setIconSize({icon_size, icon_size}); QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot")); toolbar->addWidget(title_label = new QLabel()); - title_label->setContentsMargins(0, 0, 12, 0); + title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0); QMenu *menu = new QMenu(this); for (int i = 0; i < MAX_COLUMN_COUNT; ++i) { @@ -43,7 +48,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { toolbar->addWidget(stretch_label); range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); - range_slider = new QSlider(Qt::Horizontal, this); + range_slider = new LogSlider(1000, Qt::Horizontal, this); range_slider->setMaximumWidth(200); range_slider->setToolTip(tr("Set the chart range")); range_slider->setRange(1, settings.max_cached_minutes * 60); @@ -76,14 +81,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { main_layout->addWidget(charts_scroll); // init settings - use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); + use_dark_theme = QApplication::palette().color(QPalette::WindowText).value() > + QApplication::palette().color(QPalette::Background).value(); column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); display_range = {0, max_chart_range}; range_slider->setValue(max_chart_range); updateToolBar(); + align_timer.setSingleShot(true); + QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); @@ -106,14 +113,14 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { void ChartsWidget::eventsMerged() { { - assert(!can->liveStreaming()); QFutureSynchronizer future_synchronizer; - const auto events = can->events(); for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, events, true)); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr)); } } - updateState(); + if (can->isPaused()) { + updateState(); + } } void ChartsWidget::zoomIn(double min, double max) { @@ -131,22 +138,13 @@ 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 - for (auto c : charts) { - c->updateSeries(nullptr, events, false); - } - } - const double cur_sec = can->currentSec(); if (!is_zoomed) { - double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first)); + double pos = (cur_sec - display_range.first) / std::max(1.0, max_chart_range); if (pos < 0 || pos > 0.8) { display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); } - 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); + double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond()); 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) { @@ -154,16 +152,14 @@ void ChartsWidget::updateState() { can->seekTo(zoomed_range.first); } - 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); } - charts_layout->parentWidget()->setUpdatesEnabled(true); } void ChartsWidget::setMaxChartRange(int value) { - max_chart_range = settings.chart_range = value; + max_chart_range = settings.chart_range = range_slider->value(); updateToolBar(); updateState(); } @@ -185,11 +181,11 @@ void ChartsWidget::settingChanged() { range_slider->setRange(1, settings.max_cached_minutes * 60); for (auto c : charts) { c->setFixedHeight(settings.chart_height); - c->setSeriesType(settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter); + c->setSeriesType((SeriesType)settings.chart_series_type); } } -ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) { +ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { for (auto c : charts) if (c->hasSeries(id, sig)) return c; return nullptr; @@ -206,14 +202,13 @@ 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::axisYLabelWidthChanged, this, &ChartsWidget::alignCharts); + QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start)); charts.push_back(chart); updateLayout(); return chart; } -void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) { - setUpdatesEnabled(false); +void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { ChartView *chart = findChart(id, sig); if (show && !chart) { chart = merge && charts.size() > 0 ? charts.back() : createChart(); @@ -223,7 +218,6 @@ void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); } updateToolBar(); - setUpdatesEnabled(true); } void ChartsWidget::setColumnCount(int n) { @@ -313,59 +307,74 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { // ChartView ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { - series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter; + series_type = (SeriesType)settings.chart_series_type; QChart *chart = new QChart(); chart->setBackgroundVisible(false); axis_x = new QValueAxis(this); axis_y = new QValueAxis(this); chart->addAxis(axis_x, Qt::AlignBottom); chart->addAxis(axis_y, Qt::AlignLeft); - chart->legend()->layout()->setContentsMargins(16, 0, 40, 0); + chart->legend()->layout()->setContentsMargins(0, 0, 0, 0); chart->legend()->setShowToolTips(true); chart->setMargins({0, 0, 0, 0}); background = new QGraphicsRectItem(chart); - background->setBrush(Qt::white); + background->setBrush(QApplication::palette().color(QPalette::Base)); background->setPen(Qt::NoPen); background->setZValue(chart->zValue() - 1); - move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart); - move_icon->setToolTip(tr("Drag and drop to combine charts")); - - QToolButton *remove_btn = toolButton("x", tr("Remove Chart")); - close_btn_proxy = new QGraphicsProxyWidget(chart); - close_btn_proxy->setWidget(remove_btn); - close_btn_proxy->setZValue(chart->zValue() + 11); - - QToolButton *manage_btn = toolButton("list", ""); - QMenu *menu = new QMenu(this); - line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); }); - line_series_action->setCheckable(true); - line_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeLine); - scatter_series_action = menu->addAction(tr("Scatter"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeScatter); }); - scatter_series_action->setCheckable(true); - scatter_series_action->setChecked(series_type == QAbstractSeries::SeriesTypeScatter); - menu->addSeparator(); - menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); - manage_btn->setMenu(menu); - manage_btn->setPopupMode(QToolButton::InstantPopup); - manage_btn_proxy = new QGraphicsProxyWidget(chart); - manage_btn_proxy->setWidget(manage_btn); - manage_btn_proxy->setZValue(chart->zValue() + 11); - setChart(chart); + + createToolButtons(); setRenderHint(QPainter::Antialiasing); // TODO: enable zoomIn/seekTo in live streaming mode. setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand); + setMouseTracking(true); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); - QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); } -void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { +void ChartView::createToolButtons() { + move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart()); + move_icon->setToolTip(tr("Drag and drop to combine charts")); + + QToolButton *remove_btn = toolButton("x", tr("Remove Chart")); + close_btn_proxy = new QGraphicsProxyWidget(chart()); + close_btn_proxy->setWidget(remove_btn); + close_btn_proxy->setZValue(chart()->zValue() + 11); + + // series types + QMenu *menu = new QMenu(this); + auto change_series_group = new QActionGroup(menu); + change_series_group->setExclusive(true); + QStringList types{tr("line"), tr("Step Line"), tr("Scatter")}; + for (int i = 0; i < types.size(); ++i) { + QAction *act = new QAction(types[i], change_series_group); + act->setData(i); + act->setCheckable(true); + act->setChecked(i == (int)series_type); + menu->addAction(act); + } + menu->addSeparator(); + menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); + + QToolButton *manage_btn = toolButton("list", ""); + manage_btn->setMenu(menu); + manage_btn->setPopupMode(QToolButton::InstantPopup); + manage_btn_proxy = new QGraphicsProxyWidget(chart()); + manage_btn_proxy->setWidget(manage_btn); + manage_btn_proxy->setZValue(chart()->zValue() + 11); + + QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); + QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { + setSeriesType((SeriesType)action->data().toInt()); + }); +} + +void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSeries(msg_id, sig)) return; QXYSeries *series = createSeries(series_type, getColor(sig)); @@ -376,7 +385,7 @@ void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { emit seriesAdded(msg_id, sig); } -bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const { +bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const { return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } @@ -401,7 +410,7 @@ void ChartView::removeIf(std::function predicate) { } } -void ChartView::signalUpdated(const Signal *sig) { +void ChartView::signalUpdated(const cabana::Signal *sig) { if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) { updateTitle(); // TODO: don't update series if only name changed. @@ -409,8 +418,8 @@ void ChartView::signalUpdated(const Signal *sig) { } } -void ChartView::msgUpdated(uint32_t address) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; })) +void ChartView::msgUpdated(MessageId id) { + if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; })) updateTitle(); } @@ -431,22 +440,34 @@ void ChartView::manageSeries() { } void ChartView::resizeEvent(QResizeEvent *event) { - updatePlotArea(align_to); - 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); - move_icon->setPos(11, 8); + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + move_icon->setPos(left, top); + close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top); + int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); + manage_btn_proxy->setPos(x, top); + chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()}); + if (align_to > 0) { + updatePlotArea(align_to); + } QChartView::resizeEvent(event); } -void ChartView::updatePlotArea(int left) { - QRect r = rect(); - if (align_to != left || r != background->rect()) { - align_to = left; - 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 - 36, r.height() - 80)); +void ChartView::updatePlotArea(int left_pos) { + if (align_to != left_pos || rect() != background->rect()) { + align_to = left_pos; + background->setRect(rect()); + + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); + x_label_size += QSizeF{5 * devicePixelRatioF(), 5 * devicePixelRatioF()}; + int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin); + chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); chart()->layout()->invalidate(); + if (can->isPaused()) { + update(); + } } } @@ -467,74 +488,59 @@ void ChartView::updatePlot(double cur, double min, double max) { updateAxisY(); updateSeriesPoints(); } - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } void ChartView::updateSeriesPoints() { // Show points when zoomed in enough for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); + auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan); int num_points = std::max(end - begin, 1); int pixels_per_point = width() / num_points; - if (series_type == QAbstractSeries::SeriesTypeScatter) { - ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8)); + if (series_type == SeriesType::Scatter) { + ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8) * devicePixelRatioF()); } else { s.series->setPointsVisible(pixels_per_point > 20); } } } -void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { - events = events ? events : can->events(); +void ChartView::updateSeries(const cabana::Signal *sig) { for (auto &s : sigs) { if (!sig || s.sig == sig) { - if (clear) { + if (!can->liveStreaming()) { s.vals.clear(); - s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz + s.step_vals.clear(); s.last_value_mono_time = 0; } s.series->setColor(getColor(s.sig)); - struct Chunk { - std::vector::const_iterator first, second; - QVector vals; - }; - // split into one minitue chunks - QVector chunks; - Event begin_event(cereal::Event::Which::INIT_DATA, s.last_value_mono_time); - auto begin = std::upper_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); - for (auto it = begin, second = begin; it != events->end(); it = second) { - second = std::lower_bound(it, events->end(), (*it)->mono_time + 1e9 * 60, [](auto &e, uint64_t ts) { return e->mono_time < ts; }); - chunks.push_back({it, second}); + auto msgs = can->events().at(s.msg_id); + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = s.last_value_mono_time}); + int new_size = std::max(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100); + if (s.vals.capacity() <= new_size) { + s.vals.reserve(new_size * 2); + s.step_vals.reserve(new_size * 4); } - QtConcurrent::blockingMap(chunks, [&](Chunk &chunk) { - chunk.vals.reserve(60 * 100); // 100 hz - double route_start_time = can->routeStartTime(); - for (auto it = chunk.first; it != chunk.second; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (s.msg_id.address == c.getAddress() && s.msg_id.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 - chunk.vals.push_back({ts, value}); - } - } - } + const double route_start_time = can->routeStartTime(); + for (auto end = msgs.cend(); first != end; ++first) { + double value = get_raw_value(first->dat, first->size, *s.sig); + double ts = first->mono_time / 1e9 - route_start_time; // seconds + s.vals.append({ts, value}); + if (!s.step_vals.empty()) { + s.step_vals.append({ts, s.step_vals.back().y()}); } - }); - for (auto &c : chunks) { - s.vals.append(c.vals); + s.step_vals.append({ts, value}); + s.last_value_mono_time = first->mono_time; } - if (events->size()) { - s.last_value_mono_time = events->back()->mono_time; + if (!can->liveStreaming()) { + s.segment_tree.build(s.vals); } - s.series->replace(s.vals); + s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); } } updateAxisY(); @@ -546,28 +552,48 @@ void ChartView::updateAxisY() { double min = std::numeric_limits::max(); double max = std::numeric_limits::lowest(); + QString unit = sigs[0].sig->unit; + for (auto &s : sigs) { if (!s.series->isVisible()) continue; - 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(first, 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(); + // Only show unit when all signals have the same unit + if (unit != s.sig->unit) { + unit.clear(); + } + + auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); + if (can->liveStreaming()) { + for (auto it = first; it != last; ++it) { + if (it->y() < min) min = it->y(); + if (it->y() > max) max = it->y(); + } + } else { + auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.begin(), first), std::distance(s.vals.begin(), last)); + min = std::min(min, min_y); + max = std::max(max, max_y); } } if (min == std::numeric_limits::max()) min = 0; if (max == std::numeric_limits::lowest()) max = 0; + if (axis_y->titleText() != unit) { + axis_y->setTitleText(unit); + y_label_width = 0; // recalc width + } + 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() || y_label_width == 0) { axis_y->setRange(min_y, max_y); axis_y->setTickCount(tick_count); + int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height(); 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))) + 15; // left margin 15 + y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15; + axis_y->setLabelFormat(QString("%.%1f").arg(n)); emit axisYLabelWidthChanged(y_label_width); } } @@ -600,7 +626,7 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) { } void ChartView::leaveEvent(QEvent *event) { - track_pts.clear(); + clearTrackPoints(); scene()->update(); QChartView::leaveEvent(event); } @@ -613,9 +639,15 @@ void ChartView::mousePressEvent(QMouseEvent *event) { drag->setMimeData(mimeData); drag->setPixmap(grab()); drag->setHotSpot(event->pos()); - Qt::DropAction dropAction = drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); - if (dropAction == Qt::MoveAction) { - return; + drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); + } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (!can->liveStreaming()) { + // Save current playback state when scrubbing + resume_after_scrub = !can->isPaused(); + if (resume_after_scrub) { + can->pause(true); + } + is_scrubbing = true; } } else { QChartView::mousePressEvent(event); @@ -642,6 +674,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else if ((max_rounded - min_rounded) >= 0.5) { // zoom in if selected range is greater than 0.5s emit zoomIn(min_rounded, max_rounded); + } else { + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } event->accept(); } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { @@ -650,32 +684,55 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else { QGraphicsView::mouseReleaseEvent(event); } + + // Resume playback if we were scrubbing + is_scrubbing = false; + if (resume_after_scrub) { + can->pause(false); + resume_after_scrub = false; + } } void ChartView::mouseMoveEvent(QMouseEvent *ev) { + const auto plot_area = chart()->plotArea(); + // Scrubbing + if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (plot_area.contains(ev->pos())) { + can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds())); + } + return; + } + auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); - const auto plot_area = chart()->plotArea(); - track_pts.clear(); + is_scrubbing = false; + clearTrackPoints(); + if (!is_zooming && plot_area.contains(ev->pos())) { - track_pts.resize(sigs.size()); QStringList text_list; const double sec = chart()->mapToValue(ev->pos()).x(); - for (int i = 0; i < sigs.size(); ++i) { - QString value = "--"; + qreal x = -1; + for (auto &s : sigs) { + if (!s.series->isVisible()) continue; + // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(sigs[i].vals.rbegin(), sigs[i].vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); - if (it != sigs[i].vals.rend() && it->x() >= axis_x->min()) { - value = QString::number(it->y()); - track_pts[i] = chart()->mapToPosition(*it); + double value = 0; + auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.rend() && it->x() >= axis_x->min()) { + value = it->y(); + s.track_pt = chart()->mapToPosition(*it); + x = std::max(x, s.track_pt.x()); } - text_list.push_back(QString("■ %2: %3").arg(sigs[i].series->color().name(), sigs[i].sig->name, value)); + text_list.push_back(QString("■ %2: %3") + .arg(s.series->color().name(), s.sig->name, + s.track_pt.isNull() ? "--" : QString::number(value))); } - auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); - auto pt = (max == track_pts.end()) ? ev->pos() : *max; - text_list.push_front(QString::number(chart()->mapToValue(pt).x(), 'f', 3)); - QPointF tooltip_pt(pt.x() + 12, plot_area.top() - 20); - QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), pt.isNull() ? "" : text_list.join("
"), this, plot_area.toRect()); + if (x < 0) { + x = ev->pos().x(); + } + text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); + QPointF tooltip_pt(x + 12, plot_area.top() - 20); + QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), text_list.join("
"), this, plot_area.toRect()); scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } else { QToolTip::hideText(); @@ -689,6 +746,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { if (rubber_rect != rubber->geometry()) { rubber->setGeometry(rubber_rect); } + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } } @@ -720,6 +778,7 @@ void ChartView::dropEvent(QDropEvent *event) { } void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { + // draw time line qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x(); x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right()); qreal y1 = chart()->plotArea().top() - 2; @@ -727,61 +786,86 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); - auto max = std::max_element(track_pts.begin(), track_pts.end(), [](auto &a, auto &b) { return a.x() < b.x(); }); - if (max != track_pts.end() && !max->isNull()) { - painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{max->x(), y1}, QPointF{max->x(), y2}); - painter->setPen(Qt::NoPen); - for (int i = 0; i < track_pts.size(); ++i) { - if (!track_pts[i].isNull() && i < sigs.size()) { - painter->setBrush(sigs[i].series->color().darker(125)); - painter->drawEllipse(track_pts[i], 5.5, 5.5); - } + // draw track points + painter->setPen(Qt::NoPen); + qreal track_line_x = -1; + for (auto &s : sigs) { + if (!s.track_pt.isNull() && s.series->isVisible()) { + painter->setBrush(s.series->color().darker(125)); + painter->drawEllipse(s.track_pt, 5.5, 5.5); + track_line_x = std::max(track_line_x, s.track_pt.x()); } } + if (track_line_x > 0) { + painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + painter->drawLine(QPointF{track_line_x, y1}, QPointF{track_line_x, y2}); + } // paint points. OpenGL mode lacks certain features (such as showing points) painter->setPen(Qt::NoPen); for (auto &s : sigs) { if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); for (auto it = first; it != last; ++it) { painter->setBrush(s.series->color()); painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); } } } + + // paint zoom range + auto rubber = findChild(); + if (rubber && rubber->isVisible() && rubber->width() > 1) { + painter->setPen(Qt::white); + auto rubber_rect = rubber->geometry().normalized(); + for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { + QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 1); + // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) + auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -4, 6, 4); + pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); + painter->fillRect(r, Qt::gray); + painter->drawText(r, Qt::AlignCenter, sec); + } + } } -QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor color) { +QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { QXYSeries *series = nullptr; - if (type == QAbstractSeries::SeriesTypeLine) { + if (type == SeriesType::Line) { series = new QLineSeries(this); chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); + } else if (type == SeriesType::StepLine) { + series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); } else { series = new QScatterSeries(this); chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); } series->setColor(color); - // TODO: Due to a bug in CameraWidget the camera frames - // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed + // TODO: Due to a bug in CameraWidget the camera frames + // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed #ifndef __APPLE__ series->setUseOpenGL(true); // Qt doesn't properly apply device pixel ratio in OpenGL mode QPen pen = series->pen(); - pen.setWidth(2.0 * qApp->devicePixelRatio()); + pen.setWidthF(2.0 * devicePixelRatioF()); series->setPen(pen); #endif chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); + + // disables the delivery of mouse events to the opengl widget. + // this enables the user to select the zoom area when the mouse press on the data point. + auto glwidget = findChild(); + if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) { + glwidget->setAttribute(Qt::WA_TransparentForMouseEvents); + } return series; } -void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { - line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine); - scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter); +void ChartView::setSeriesType(SeriesType type) { if (type != series_type) { series_type = type; for (auto &s : sigs) { @@ -790,7 +874,7 @@ void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { } for (auto &s : sigs) { auto series = createSeries(series_type, getColor(s.sig)); - series->replace(s.vals); + series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); s.series = series; } updateSeriesPoints(); @@ -846,7 +930,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox, 3, 2); - for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) { + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { if (auto m = dbc()->msg(it.key())) { msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key())); } @@ -860,7 +944,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add); QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove); QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); }); - QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item);}); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); }); QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } @@ -892,7 +976,7 @@ void SeriesSelector::updateAvailableList(int index) { } } -void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) { +void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index a1dcf32513..731be47d06 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -1,12 +1,11 @@ #pragma once -#include #include #include #include #include #include -#include +#include #include #include #include @@ -15,48 +14,57 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; using namespace QtCharts; const int CHART_MIN_WIDTH = 300; +enum class SeriesType { + Line = 0, + StepLine, + Scatter +}; + class ChartView : public QChartView { Q_OBJECT public: ChartView(QWidget *parent = nullptr); - void addSeries(const MessageId &msg_id, const Signal *sig); - bool hasSeries(const MessageId &msg_id, const Signal *sig) const; - void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); + void addSeries(const MessageId &msg_id, const cabana::Signal *sig); + bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const; + void updateSeries(const cabana::Signal *sig = nullptr); void updatePlot(double cur, double min, double max); - void setSeriesType(QAbstractSeries::SeriesType type); + void setSeriesType(SeriesType type); void updatePlotArea(int left); struct SigItem { MessageId msg_id; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QXYSeries *series = nullptr; QVector vals; + QVector step_vals; uint64_t last_value_mono_time = 0; + QPointF track_pt{}; + SegmentTree segment_tree; }; signals: - void seriesRemoved(const MessageId &id, const Signal *sig); - void seriesAdded(const MessageId &id, const Signal *sig); + void seriesRemoved(const MessageId &id, const cabana::Signal *sig); + void seriesAdded(const MessageId &id, const cabana::Signal *sig); void zoomIn(double min, double max); void zoomReset(); void remove(); void axisYLabelWidthChanged(int w); private slots: - void msgUpdated(uint32_t address); - void signalUpdated(const Signal *sig); + void signalUpdated(const cabana::Signal *sig); void manageSeries(); void handleMarkerClicked(); - void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); } - void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } + void msgUpdated(MessageId id); + void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } + void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: + void createToolButtons(); void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; @@ -70,15 +78,15 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); - QXYSeries *createSeries(QAbstractSeries::SeriesType type, QColor color); + QXYSeries *createSeries(SeriesType type, QColor color); void updateSeriesPoints(); void removeIf(std::function predicate); + inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } int y_label_width = 0; int align_to = 0; QValueAxis *axis_x; QValueAxis *axis_y; - QVector track_pts; QGraphicsPixmapItem *move_icon; QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; @@ -86,9 +94,9 @@ private: QList 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; + SeriesType series_type = SeriesType::Line; + bool is_scrubbing = false; + bool resume_after_scrub = false; friend class ChartsWidget; }; @@ -97,8 +105,8 @@ class ChartsWidget : public QFrame { public: ChartsWidget(QWidget *parent = nullptr); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); - inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != 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; } public slots: void setColumnCount(int n); @@ -113,7 +121,7 @@ private: void resizeEvent(QResizeEvent *event) override; void alignCharts(); void newChart(); - ChartView * createChart(); + ChartView *createChart(); void removeChart(ChartView *chart); void eventsMerged(); void updateState(); @@ -124,11 +132,11 @@ private: void updateLayout(); void settingChanged(); bool eventFilter(QObject *obj, QEvent *event) override; - ChartView *findChart(const MessageId &id, const Signal *sig); + ChartView *findChart(const MessageId &id, const cabana::Signal *sig); QLabel *title_label; QLabel *range_lb; - QSlider *range_slider; + LogSlider *range_slider; QAction *range_lb_action; QAction *range_slider_action; bool docking = true; @@ -145,23 +153,24 @@ private: QAction *columns_action; int column_count = 1; int current_column_count = 0; + QTimer align_timer; }; class SeriesSelector : public QDialog { public: struct ListItem : public QListWidgetItem { - ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} + ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} MessageId msg_id; - const Signal *sig; + const cabana::Signal *sig; }; SeriesSelector(QString title, QWidget *parent); QList seletedItems(); - inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } + inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } private: void updateAvailableList(int index); - void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false); + void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); void add(QListWidgetItem *item); void remove(QListWidgetItem *item); diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index 9b9724aada..337de1c702 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -50,7 +50,7 @@ void RemoveMsgCommand::redo() { // AddSigCommand -AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent) +AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent) : id(id), signal(sig), QUndoCommand(parent) { setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); } @@ -60,7 +60,7 @@ void AddSigCommand::redo() { dbc()->addSignal(id, signal); } // RemoveSigCommand -RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent) +RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent) : id(id), signal(*sig), QUndoCommand(parent) { setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address)); } @@ -70,7 +70,7 @@ void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); } // EditSignalCommand -EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) +EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent) : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address)); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 3565211eb9..2a5f40d584 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -5,7 +5,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class EditMsgCommand : public QUndoCommand { public: @@ -27,41 +26,41 @@ public: private: const MessageId id; - Msg message; + cabana::Msg message; }; class AddSigCommand : public QUndoCommand { public: - AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr); + AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class RemoveSigCommand : public QUndoCommand { public: - RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr); + RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class EditSignalCommand : public QUndoCommand { public: - EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); + EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal old_signal = {}; - Signal new_signal = {}; + cabana::Signal old_signal = {}; + cabana::Signal new_signal = {}; }; namespace UndoStack { diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc.cc new file mode 100644 index 0000000000..38002af06c --- /dev/null +++ b/tools/cabana/dbc.cc @@ -0,0 +1,82 @@ +#include "tools/cabana/dbc.h" +#include "tools/cabana/util.h" + +uint qHash(const MessageId &item) { + return qHash(item.source) ^ qHash(item.address); +} + +std::vector cabana::Msg::getSignals() const { + std::vector ret; + ret.reserve(sigs.size()); + for (auto &sig : sigs) ret.push_back(&sig); + std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); + return ret; +} + +void cabana::Signal::updatePrecision() { + precision = std::max(num_decimals(factor), num_decimals(offset)); +} + +// helper functions + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) + for (int j = 7; j >= 0; j--) + ret.push_back(j + i * 8); + return ret; +}(); + +double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) { + int64_t val = 0; + + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < data_size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int size = msb - lsb + 1; + + uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + val |= d << (bits - size); + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + if (sig.is_signed) { + val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + } + return val * sig.factor + sig.offset; +} + +bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) { + return l.name == r.name && l.size == r.size && + l.start_bit == r.start_bit && + l.msb == r.msb && l.lsb == r.lsb && + l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && + l.factor == r.factor && l.offset == r.offset && + l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; +} + +int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } +int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } + +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) { + s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); + s.size = size; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const cabana::Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} + +std::vector allDBCNames() { return get_dbc_names(); } diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h new file mode 100644 index 0000000000..701908112f --- /dev/null +++ b/tools/cabana/dbc.h @@ -0,0 +1,84 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "opendbc/can/common_dbc.h" + +const QString UNTITLED = "untitled"; + +struct MessageId { + uint8_t source; + uint32_t address; + + QString toString() const { + return QString("%1:%2").arg(source).arg(address, 1, 16); + } + + bool operator==(const MessageId &other) const { + return source == other.source && address == other.address; + } + + bool operator!=(const MessageId &other) const { + return !(*this == other); + } + + bool operator<(const MessageId &other) const { + return std::pair{source, address} < std::pair{other.source, other.address}; + } + + bool operator>(const MessageId &other) const { + return std::pair{source, address} > std::pair{other.source, other.address}; + } +}; + +uint qHash(const MessageId &item); +Q_DECLARE_METATYPE(MessageId); + +template <> +struct std::hash { + std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } +}; + +typedef QList> ValueDescription; + +namespace cabana { + struct Signal { + QString name; + int start_bit, msb, lsb, size; + bool is_signed; + double factor, offset; + bool is_little_endian; + QString min, max, unit; + QString comment; + ValueDescription val_desc; + int precision = 0; + void updatePrecision(); + }; + + struct Msg { + QString name; + uint32_t size; + QList sigs; + + std::vector getSignals() const; + const cabana::Signal *sig(const QString &sig_name) const { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); + return it != sigs.end() ? &(*it) : nullptr; + } + }; + + bool operator==(const cabana::Signal &l, const cabana::Signal &r); + inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } +} + +// Helper functions +double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig); +int bigEndianStartBitsIndex(int start_bit); +int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); +std::pair getSignalRange(const cabana::Signal *s); +std::vector allDBCNames(); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 32113c2f22..49aac5c18b 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -8,8 +8,6 @@ #include #include -namespace dbcmanager { - bool DBCManager::open(const QString &dbc_file_name, QString *error) { QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name); QFile file(opendbc_file_path); @@ -19,15 +17,50 @@ bool DBCManager::open(const QString &dbc_file_name, QString *error) { return false; } +bool DBCManager::open(const QString &name, const QString &content, QString *error) { + try { + std::istringstream stream(content.toStdString()); + auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) { + m.sigs.push_back({}); + auto &sig = m.sigs.last(); + sig.name = s.name.c_str(); + sig.start_bit = s.start_bit; + sig.msb = s.msb; + sig.lsb = s.lsb; + sig.size = s.size; + sig.is_signed = s.is_signed; + sig.factor = s.factor; + sig.offset = s.offset; + sig.is_little_endian = s.is_little_endian; + sig.updatePrecision(); + } + } + parseExtraInfo(content); + name_ = name; + emit DBCFileChanged(); + delete dbc; + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + return true; +} + void DBCManager::parseExtraInfo(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); - auto get_sig = [this](uint32_t address, const QString &name) -> Signal * { - auto m = (Msg *)msg(address); - return m ? (Signal *)m->sig(name) : nullptr; + auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { + auto m = (cabana::Msg *)msg(address); + return m ? (cabana::Signal *)m->sig(name) : nullptr; }; QTextStream stream((QString *)&content); @@ -111,25 +144,37 @@ void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t si auto &m = msgs[id.address]; m.name = name; m.size = size; - emit msgUpdated(id.address); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit msgUpdated({.source = source, .address = id.address}); + } } void DBCManager::removeMsg(const MessageId &id) { msgs.erase(id.address); - emit msgRemoved(id.address); -} -void DBCManager::addSignal(const MessageId &id, const Signal &sig) { - if (auto m = const_cast(msg(id.address))) { - m->sigs.push_back(sig); - auto s = &m->sigs.last(); - emit signalAdded(id.address, s); + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit msgRemoved({.source = source, .address = id.address}); } } -void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) { - if (auto m = const_cast(msg(id))) { - if (auto s = (Signal *)m->sig(sig_name)) { +void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id.address))) { + m->sigs.push_back(sig); + auto s = &m->sigs.last(); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit signalAdded({.source = source, .address = id.address}, s); + } + } +} + +void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id))) { + if (auto s = (cabana::Signal *)m->sig(sig_name)) { *s = sig; emit signalUpdated(s); } @@ -137,7 +182,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons } void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { + if (auto m = const_cast(msg(id))) { auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); if (it != m->sigs.end()) { emit signalRemoved(&(*it)); @@ -146,122 +191,24 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } +QStringList DBCManager::signalNames() { + // Used for autocompletion + QStringList ret; + for (auto const& [_, msg] : msgs) { + for (auto sig: msg.getSignals()) { + ret << sig->name; + } + } + ret.sort(); + ret.removeDuplicates(); + return ret; +} + +void DBCManager::updateSources(const QSet &s) { + sources = s; +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; } - -// Msg - -std::vector Msg::getSignals() const { - std::vector ret; - ret.reserve(sigs.size()); - for (auto &sig : sigs) ret.push_back(&sig); - std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); - return ret; -} - -// helper functions - -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) - for (int j = 7; j >= 0; j--) - ret.push_back(j + i * 8); - return ret; -}(); - -int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } -int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } - -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { - int64_t val = 0; - - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; - - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - val |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; - } - if (sig.is_signed) { - val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; - } - return val * sig.factor + sig.offset; -} - -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) { - s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); - s.size = size; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } -} - -std::pair getSignalRange(const Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - -bool operator==(const Signal &l, const Signal &r) { - return l.name == r.name && l.size == r.size && - l.start_bit == r.start_bit && - l.msb == r.msb && l.lsb == r.lsb && - l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && - l.factor == r.factor && l.offset == r.offset && - l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; -} - -} // namespace dbcmanager - -#include "opendbc/can/common_dbc.h" -std::vector dbcmanager::DBCManager::allDBCNames() { return get_dbc_names(); } - -bool dbcmanager::DBCManager::open(const QString &name, const QString &content, QString *error) { - try { - std::istringstream stream(content.toStdString()); - auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - msgs.clear(); - for (auto &msg : dbc->msgs) { - auto &m = msgs[msg.address]; - m.name = msg.name.c_str(); - m.size = msg.size; - for (auto &s : msg.sigs) { - m.sigs.push_back({}); - auto &sig = m.sigs.last(); - sig.name = s.name.c_str(); - sig.start_bit = s.start_bit; - sig.msb = s.msb; - sig.lsb = s.lsb; - sig.size = s.size; - sig.is_signed = s.is_signed; - sig.factor = s.factor; - sig.offset = s.offset; - sig.is_little_endian = s.is_little_endian; - } - } - parseExtraInfo(content); - name_ = name; - emit DBCFileChanged(); - delete dbc; - } catch (std::exception &e) { - if (error) *error = e.what(); - return false; - } - return true; -} - -uint qHash(const MessageId &item) { - return qHash(item.source) ^ qHash(item.address); -} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index d877347796..dd3d9811c7 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -5,64 +5,10 @@ #include #include #include +#include +#include -struct MessageId { - uint8_t source; - uint32_t address; - - QString toString() const { - return QString("%1:%2").arg(source).arg(address, 1, 16); - } - - bool operator==(const MessageId &other) const { - return source == other.source && address == other.address; - } - - bool operator!=(const MessageId &other) const { - return !(*this == other); - } - - bool operator<(const MessageId &other) const { - return std::pair{source, address} < std::pair{other.source, other.address}; - } - - bool operator>(const MessageId &other) const { - return std::pair{source, address} > std::pair{other.source, other.address}; - } -}; - -uint qHash(const MessageId &item); -Q_DECLARE_METATYPE(MessageId); - -namespace dbcmanager { - -typedef QList> ValueDescription; - -struct Signal { - QString name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - QString min, max, unit; - QString comment; - ValueDescription val_desc; -}; - -struct Msg { - QString name; - uint32_t size; - - std::vector getSignals() const; - const Signal *sig(const QString &sig_name) const { - auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); - return it != sigs.end() ? &(*it) : nullptr; - } - -private: - QList sigs; - friend class DBCManager; -}; +#include "tools/cabana/dbc.h" class DBCManager : public QObject { Q_OBJECT @@ -73,49 +19,60 @@ public: bool open(const QString &dbc_file_name, QString *error = nullptr); bool open(const QString &name, const QString &content, QString *error = nullptr); QString generateDBC(); - void addSignal(const MessageId &id, const Signal &sig); - void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig); + void addSignal(const MessageId &id, const cabana::Signal &sig); + void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); + inline int msgCount() const { return msgs.size(); } - static std::vector allDBCNames(); inline QString name() const { return name_; } void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); - inline const std::map &messages() const { return msgs; } - inline const Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const Msg *msg(uint32_t address) const { - auto it = msgs.find(address); - return it != msgs.end() ? &it->second : nullptr; + inline std::map getMessages(uint8_t source) { + std::map ret; + for (auto &[address, msg] : msgs) { + MessageId id = {.source = source, .address = address}; + ret[id] = msg; + } + return ret; } + inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } + inline const cabana::Msg* msg(uint8_t source, const QString &name) { + for (auto &[_, msg] : msgs) { + if (msg.name == name) { + return &msg; + } + } + + return nullptr; + } + QStringList signalNames(); + +public slots: + void updateSources(const QSet &s); signals: - void signalAdded(uint32_t address, const Signal *sig); - void signalRemoved(const Signal *sig); - void signalUpdated(const Signal *sig); - void msgUpdated(uint32_t address); - void msgRemoved(uint32_t address); + void signalAdded(MessageId id, const cabana::Signal *sig); + void signalRemoved(const cabana::Signal *sig); + void signalUpdated(const cabana::Signal *sig); + void msgUpdated(MessageId id); + void msgRemoved(MessageId id); void DBCFileChanged(); private: void parseExtraInfo(const QString &content); - std::map msgs; + std::map msgs; QString name_; + QSet sources; + + inline const cabana::Msg *msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; + } }; -const QString UNTITLED = "untitled"; - -// TODO: Add helper function in dbc.h -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); -bool operator==(const Signal &l, const Signal &r); -inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); } -int bigEndianStartBitsIndex(int start_bit); -int bigEndianBitIndex(int index); -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); -std::pair getSignalRange(const Signal *s); DBCManager *dbc(); + inline QString msgName(const MessageId &id) { auto msg = dbc()->msg(id); return msg ? msg->name : UNTITLED; } - -} // namespace dbcmanager diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 01fbccf7db..ab723fa0e2 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -68,7 +68,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); - QObject::connect(binary_view, &BinaryView::signalClicked, [this](const Signal *s) { signal_view->selectSignal(s, true); }); + QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); }); QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal); QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal); QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart); @@ -177,7 +177,7 @@ void DetailWidget::removeMsg() { // EditMessageDialog EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent) - : original_name(title), QDialog(parent) { + : original_name(title), msg_id(msg_id), QDialog(parent) { setWindowTitle(tr("Edit message: %1").arg(msg_id.toString())); QFormLayout *form_layout = new QFormLayout(this); @@ -194,7 +194,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow(tr("Size"), size_spin); btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - btn_box->button(QDialogButtonBox::Ok)->setEnabled(false); + validateName(name_edit->text()); form_layout->addRow(btn_box); setFixedWidth(parent->width() * 0.9); @@ -204,11 +204,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit } void EditMessageDialog::validateName(const QString &text) { - bool valid = false; + bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; error_label->setVisible(false); - if (!text.isEmpty() && text != original_name && text.compare(UNTITLED, Qt::CaseInsensitive) != 0) { - valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), - [&text](auto &m) { return m.second.name == text; }); + if (!text.isEmpty() && valid && text != original_name) { + valid = dbc()->msg(msg_id.source, text) == nullptr; if (!valid) { error_label->setText(tr("Name already exists")); error_label->setVisible(true); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 0bfd8a74af..cc5bffd534 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -15,6 +15,7 @@ public: EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent); void validateName(const QString &text); + MessageId msg_id; QString original_name; QDialogButtonBox *btn_box; QLineEdit *name_edit; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index abf0b53af8..4ebe8e0473 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -14,9 +14,14 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); - } else if (role == Qt::UserRole && index.column() == 1 && !show_signals) { + int i = index.column() - 1; + return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data); + } else if (role == ColorsRole) { return QVariant::fromValue(m.colors); + } else if (role == BytesRole) { + return m.data; + } else if (role == Qt::TextAlignmentRole) { + return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter); } return {}; } @@ -48,7 +53,15 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) { return "Time"; } - return show_signals ? sigs[section - 1]->name : "Data"; + if (show_signals) { + QString name = sigs[section - 1]->name; + if (!sigs[section - 1]->unit.isEmpty()) { + name += QString(" (%1)").arg(sigs[section - 1]->unit); + } + return name; + } else { + return "Data"; + } } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { return QBrush(getColor(sigs[section - 1])); } @@ -106,40 +119,31 @@ template std::deque HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) { std::deque msgs; QVector values(sigs.size()); - for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (msg_id.address == c.getAddress() && msg_id.source == c.getSrc()) { - const auto dat = c.getDat(); - for (int i = 0; i < sigs.size(); ++i) { - values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sigs[i]); - } - if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { - auto &m = msgs.emplace_back(); - m.mono_time = (*it)->mono_time; - m.data = QByteArray((char *)dat.begin(), dat.size()); - m.sig_values = values; - if (msgs.size() >= batch_size && min_time == 0) - return msgs; - } - } + for (; first != last && first->mono_time > min_time; ++first) { + for (int i = 0; i < sigs.size(); ++i) { + values[i] = get_raw_value(first->dat, first->size, *sigs[i]); + } + if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { + auto &m = msgs.emplace_back(); + m.mono_time = first->mono_time; + m.data = QByteArray((const char *)first->dat, first->size); + m.sig_values = values; + if (msgs.size() >= batch_size && min_time == 0) { + return msgs; } } } return msgs; } -template std::deque HistoryLogModel::fetchData<>(std::vector::iterator first, std::vector::iterator last, uint64_t min_time); -template std::deque HistoryLogModel::fetchData<>(std::vector::reverse_iterator first, std::vector::reverse_iterator last, uint64_t min_time); - std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { - auto events = can->events(); + const auto &events = can->events().at(msg_id); const auto freq = can->lastMessage(msg_id).freq; const bool update_colors = !display_signals_mode || sigs.empty(); if (dynamic_mode) { - auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; }); - auto msgs = fetchData(first, events->rend(), min_time); + auto first = std::upper_bound(events.rbegin(), events.rend(), CanEvent{.mono_time=from_time}, std::greater()); + auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); @@ -149,10 +153,10 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti return msgs; } else { assert(min_time == 0); - auto first = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { return ts < e->mono_time; }); - auto msgs = fetchData(first, events->end(), 0); + auto first = std::upper_bound(events.begin(), events.end(), CanEvent{.mono_time=from_time}); + auto msgs = fetchData(first, events.end(), 0); if (update_colors) { - for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { + for (auto it = msgs.begin(); it != msgs.end(); ++it) { hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); it->colors = hex_colors.colors; } @@ -225,7 +229,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { delegate = new MessageBytesDelegate(this); logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this)); logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); - logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); + logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap); logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); logs->verticalHeader()->setVisible(false); logs->setFrameShape(QFrame::NoFrame); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 206d53bc8d..119b61a0e8 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -11,8 +11,6 @@ #include "tools/cabana/streams/abstractstream.h" #include "tools/cabana/util.h" -using namespace dbcmanager; - class HeaderView : public QHeaderView { public: HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {} @@ -64,7 +62,7 @@ public: uint64_t last_fetch_time = 0; std::function filter_cmp = nullptr; std::deque messages; - std::vector sigs; + std::vector sigs; bool dynamic_mode = true; bool display_signals_mode = true; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index bc090b2cc0..c739e26744 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -42,6 +42,7 @@ MainWindow::MainWindow() : QMainWindow() { messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); + qRegisterMetaType>("QSet"); qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. @@ -58,14 +59,22 @@ MainWindow::MainWindow() : QMainWindow() { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } + setStyleSheet(QString(R"(QMainWindow::separator { + width: %1px; /* when vertical */ + height: %1px; /* when horizontal */ + })").arg(style()->pixelMetric(QStyle::PM_SplitterWidth))); + QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); + QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); + QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); + QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); } void MainWindow::createActions() { @@ -90,7 +99,7 @@ void MainWindow::createActions() { file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - auto dbc_names = dbc()->allDBCNames(); + auto dbc_names = allDBCNames(); std::sort(dbc_names.begin(), dbc_names.end()); for (const auto &name : dbc_names) { load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); @@ -124,8 +133,10 @@ void MainWindow::createActions() { commands_act->setDefaultWidget(undo_view); commands_menu->addAction(commands_act); - QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); - tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + if (!can->liveStreaming()) { + QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); + tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + } QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents); @@ -179,11 +190,16 @@ void MainWindow::createStatusBar() { progress_bar->setVisible(false); statusBar()->addWidget(new QLabel(tr("For Help, Press F1"))); statusBar()->addPermanentWidget(progress_bar); + + statusBar()->addPermanentWidget(status_label = new QLabel(this)); + updateStatus(); } void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); + shortcut = new QShortcut(QKeySequence(QKeySequence::FullScreen), this, nullptr, nullptr, Qt::ApplicationShortcut); + QObject::connect(shortcut, &QShortcut::activated, this, &MainWindow::toggleFullScreen); // TODO: add more shortcuts here. } @@ -202,6 +218,7 @@ void MainWindow::undoStackIndexChanged(int index) { } prev_undostack_index = index; prev_undostack_count = count; + autoSave(); } void MainWindow::undoStackCleanChanged(bool clean) { @@ -243,7 +260,18 @@ void MainWindow::openFile() { void MainWindow::loadFile(const QString &fn) { if (!fn.isEmpty()) { - QFile file(fn); + QString dbc_fn = fn; + + // Prompt user to load auto saved file if it exists. + if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { + auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); + if (ret == QMessageBox::Yes) { + dbc_fn += AUTO_SAVE_EXTENSION; + UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost + } + } + + QFile file(dbc_fn); if (file.open(QIODevice::ReadOnly)) { auto dbc_name = QFileInfo(fn).baseName(); QString error; @@ -286,7 +314,7 @@ void MainWindow::loadDBCFromClipboard() { QString dbc_str = QGuiApplication::clipboard()->text(); QString error; bool ret = dbc()->open("clipboard", dbc_str, &error); - if (ret && dbc()->messages().size() > 0) { + if (ret && dbc()->msgCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format.")); @@ -308,7 +336,7 @@ void MainWindow::loadDBCFromFingerprint() { if (can->liveStreaming()) { video_dock->setWindowTitle(can->routeName()); } else { - video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); + video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); } if (!fingerprint.isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; @@ -328,7 +356,23 @@ void MainWindow::save() { } } +void MainWindow::autoSave() { + if (!current_file.isEmpty() && !UndoStack::instance()->isClean()) { + QFile file(current_file + AUTO_SAVE_EXTENSION); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc()->generateDBC().toUtf8()); + } + } +} + +void MainWindow::cleanupAutoSaveFile() { + if (!current_file.isEmpty()) { + QFile::remove(current_file + AUTO_SAVE_EXTENSION); + } +} + void MainWindow::saveFile(const QString &fn) { + cleanupAutoSaveFile(); QFile file(fn); if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); @@ -403,6 +447,10 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe } } +void MainWindow::updateStatus() { + status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps)); +} + void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); @@ -421,6 +469,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + cleanupAutoSaveFile(); remindSaveChanges(); main_win = nullptr; @@ -460,6 +509,19 @@ void MainWindow::onlineHelp() { } } +void MainWindow::toggleFullScreen() { + if (isFullScreen()) { + menuBar()->show(); + statusBar()->show(); + showNormal(); + showMaximized(); + } else { + menuBar()->hide(); + statusBar()->hide(); + showFullScreen(); + } +} + // HelpOverlay HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground, true); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index dd53b1f213..3258b95cde 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -13,6 +13,8 @@ #include "tools/cabana/videowidget.h" #include "tools/cabana/tools/findsimilarbits.h" +const QString AUTO_SAVE_EXTENSION = ".tmp"; + class MainWindow : public QMainWindow { Q_OBJECT @@ -42,6 +44,8 @@ signals: protected: void remindSaveChanges(); void saveFile(const QString &fn); + void autoSave(); + void cleanupAutoSaveFile(); void setCurrentFile(const QString &fn); void updateRecentFileActions(); void createActions(); @@ -56,6 +60,8 @@ protected: void undoStackCleanChanged(bool clean); void undoStackIndexChanged(int index); void onlineHelp(); + void toggleFullScreen(); + void updateStatus(); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; @@ -65,6 +71,7 @@ protected: QWidget *floating_window = nullptr; QVBoxLayout *charts_layout; QProgressBar *progress_bar; + QLabel *status_label; QJsonDocument fingerprint_to_dbc; QSplitter *video_splitter;; QString current_file = ""; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index c880c61058..8dd0bac820 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -20,11 +20,15 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget = new QTableView(this); model = new MessageListModel(this); table_widget->setModel(model); - table_widget->setItemDelegateForColumn(4, new MessageBytesDelegate(table_widget)); + table_widget->setItemDelegateForColumn(5, new MessageBytesDelegate(table_widget)); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSortingEnabled(true); table_widget->sortByColumn(0, Qt::AscendingOrder); + table_widget->setColumnWidth(0, 150); + table_widget->setColumnWidth(1, 50); + table_widget->setColumnWidth(2, 50); + table_widget->setColumnWidth(3, 50); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); main_layout->addWidget(table_widget); @@ -108,7 +112,7 @@ void MessagesWidget::reset() { QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal && role == Qt::DisplayRole) - return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section]; + return (QString[]){"Name", "Bus", "ID", "Freq", "Count", "Bytes"}[section]; return {}; } @@ -119,12 +123,13 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { switch (index.column()) { case 0: return msgName(id); - case 1: return id.toString(); // TODO: put source and address in separate columns - case 2: return can_data.freq; - case 3: return can_data.count; - case 4: return toHex(can_data.dat); + case 1: return id.source; + case 2: return QString::number(id.address, 16);; + case 3: return can_data.freq; + case 4: return can_data.count; + case 5: return toHex(can_data.dat); } - } else if (role == Qt::UserRole && index.column() == 4) { + } else if (role == ColorsRole) { QVector colors = can_data.colors; if (!suppressed_bytes.empty()) { for (int i = 0; i < colors.size(); i++) { @@ -134,6 +139,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } return QVariant::fromValue(colors); + } else if (role == BytesRole) { + return can_data.dat; } return {}; } @@ -153,7 +160,7 @@ void MessageListModel::setFilterString(const QString &string) { filter_str = string; msgs.clear(); - for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { + for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { if (filter_str.isEmpty() || contains(it.key(), filter_str)) { msgs.push_back(it.key()); } @@ -171,15 +178,23 @@ void MessageListModel::sortMessages() { }); } else if (sort_column == 1) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - return sort_order == Qt::AscendingOrder ? l < r : l > r; + auto ll = std::pair{l.source, l}; + auto rr = std::pair{r.source, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } else if (sort_column == 2) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + auto ll = std::pair{l.address, l}; + auto rr = std::pair{r.address, r}; + return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; + }); + } else if (sort_column == 3) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).freq, l}; auto rr = std::pair{can->lastMessage(r).freq, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 3) { + } else if (sort_column == 4) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).count, l}; auto rr = std::pair{can->lastMessage(r).count, r}; @@ -191,8 +206,8 @@ void MessageListModel::sortMessages() { void MessageListModel::msgsReceived(const QHash *new_msgs) { int prev_row_count = msgs.size(); - if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) { - msgs = can->can_msgs.keys(); + if (filter_str.isEmpty() && msgs.size() != can->last_msgs.size()) { + msgs = can->last_msgs.keys(); } if (msgs.size() != prev_row_count) { sortMessages(); @@ -200,7 +215,7 @@ void MessageListModel::msgsReceived(const QHash *new_msgs) { } for (int i = 0; i < msgs.size(); ++i) { if (new_msgs->contains(msgs[i])) { - for (int col = 2; col < columnCount(); ++col) + for (int col = 3; col < columnCount(); ++col) emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole}); } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 926d131c8d..08dac0d69a 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -8,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -16,7 +15,7 @@ Q_OBJECT public: MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 6; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 6cbd16cabf..00bbb94de5 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -32,7 +32,7 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - max_cached_minutes = s.value("max_cached_minutes", 5).toInt(); + max_cached_minutes = s.value("max_cached_minutes", 30).toInt(); chart_height = s.value("chart_height", 200).toInt(); chart_range = s.value("chart_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); @@ -65,7 +65,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { form_layout->addRow(tr("Max Cached Minutes"), cached_minutes); chart_series_type = new QComboBox(this); - chart_series_type->addItems({tr("Line"), tr("Scatter")}); + chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")}); chart_series_type->setCurrentIndex(settings.chart_series_type); form_layout->addRow(tr("Chart Default Series Type"), chart_series_type); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index a302d20077..c3ba906576 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,7 @@ public: void load(); int fps = 10; - int max_cached_minutes = 5; + int max_cached_minutes = 30; int chart_height = 200; int chart_column_count = 1; int chart_range = 3 * 60; // e minutes diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index e862439b68..99ec09195b 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,7 +1,8 @@ #include "tools/cabana/signaledit.h" +#include +#include #include -#include #include #include #include @@ -22,7 +23,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); } -void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) { +void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig}; parent_item->children.insert(pos, item); QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; @@ -61,16 +62,29 @@ void SignalModel::updateState(const QHash *msgs) { auto &dat = can->lastMessage(msg_id).dat; int row = 0; for (auto item : root->children) { - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig); - item->sig_val = QString::number(value); - emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); + QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig), 'f', item->sig->precision); + if (!item->sig->unit.isEmpty()){ + value += " " + item->sig->unit; + } + if (value != item->sig_val) { + item->sig_val = value; + emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); + } ++row; } } } +SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const { + SignalModel::Item *item = nullptr; + if (index.isValid()) { + item = (SignalModel::Item *)index.internalPointer(); + } + return item ? item : root.get(); +} + int SignalModel::rowCount(const QModelIndex &parent) const { - if (parent.column() > 0) return 0; + if (parent.isValid() && parent.column() > 0) return 0; auto parent_item = getItem(parent); int row_count = parent_item->children.size(); @@ -91,7 +105,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { return flags; } -int SignalModel::signalRow(const Signal *sig) const { +int SignalModel::signalRow(const cabana::Signal *sig) const { for (int i = 0; i < root->children.size(); ++i) { if (root->children[i]->sig == sig) return i; } @@ -99,14 +113,19 @@ int SignalModel::signalRow(const Signal *sig) const { } QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const { - if (!hasIndex(row, column, parent)) return {}; - return createIndex(row, column, getItem(parent)->children[row]); + if (parent.isValid() && parent.column() != 0) return {}; + + auto parent_item = getItem(parent); + if (parent_item && row < parent_item->children.size()) { + return createIndex(row, column, parent_item->children[row]); + } + return {}; } QModelIndex SignalModel::parent(const QModelIndex &index) const { if (!index.isValid()) return {}; Item *parent_item = getItem(index)->parent; - return parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); + return !parent_item || parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item); } QVariant SignalModel::data(const QModelIndex &index, int role) const { @@ -150,7 +169,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; Item *item = getItem(index); - Signal s = *item->sig; + cabana::Signal s = *item->sig; switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; @@ -165,6 +184,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r case Item::Desc: s.val_desc = value.value(); break; default: return false; } + s.updatePrecision(); bool ret = saveSignal(item->sig, s); emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); return ret; @@ -185,7 +205,7 @@ void SignalModel::showExtraInfo(const QModelIndex &index) { } } -bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { +bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) { auto msg = dbc()->msg(msg_id); if (s.name != origin_s->name && msg->sig(s.name) != nullptr) { QString text = tr("There is already a signal with the same name '%1'").arg(s.name); @@ -217,15 +237,15 @@ bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { void SignalModel::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); - for (int i = 1; !msg; ++i) { - QString name = QString("NEW_MSG_%1").arg(i); - if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { + for (int i = 0; !msg; ++i) { + QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); + if (!dbc()->msg(msg_id.source, name)) { UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); } } - Signal sig = {.is_little_endian = little_endian, .factor = 1}; + cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)}; for (int i = 1; /**/; ++i) { sig.name = QString("NEW_SIGNAL_%1").arg(i); if (msg->sig(sig.name) == nullptr) break; @@ -234,24 +254,24 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { UndoStack::push(new AddSigCommand(msg_id, sig)); } -void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) { - Signal s = *sig; +void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) { + cabana::Signal s = *sig; updateSigSizeParamsFromRange(s, start_bit, size); saveSignal(sig, s); } -void SignalModel::removeSignal(const Signal *sig) { +void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); } -void SignalModel::handleMsgChanged(uint32_t address) { - if (address == msg_id.address) { +void SignalModel::handleMsgChanged(MessageId id) { + if (id == msg_id) { refresh(); } } -void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { - if (address == msg_id.address) { +void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { + if (id == msg_id) { int i = 0; for (; i < root->children.size(); ++i) { if (sig->start_bit < root->children[i]->sig->start_bit) break; @@ -259,16 +279,17 @@ void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { beginInsertRows({}, i, i); insertItem(root.get(), i, sig); endInsertRows(); + updateState(nullptr); } } -void SignalModel::handleSignalUpdated(const Signal *sig) { +void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); } } -void SignalModel::handleSignalRemoved(const Signal *sig) { +void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { beginRemoveRows({}, row, row); delete root->children.takeAt(row); @@ -286,11 +307,17 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa } QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { - QSize size = QStyledItemDelegate::sizeHint(option, index); - if (!index.parent().isValid() && index.column() == 0) { - size.rwidth() = std::min(((QWidget*)parent())->size().width() / 2, size.width() + color_label_width + 8); + int width = option.widget->size().width() / 2; + if (index.column() == 0) { + auto text = index.data(Qt::DisplayRole).toString(); + auto it = width_cache.find(text); + if (it == width_cache.end()) { + int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8; + it = width_cache.insert(text, option.fontMetrics.width(text) + spacing); + } + width = std::min(width, it.value()); } - return size; + return {width, QApplication::fontMetrics().height()}; } void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -304,22 +331,34 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // color label auto bg_color = getColor(item->sig); - QRect rc{option.rect.left(), option.rect.top(), color_label_width, option.rect.height()}; + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + QRect rc{option.rect.left() + h_margin, option.rect.top(), color_label_width, option.rect.height()}; painter->setPen(Qt::NoPen); painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); - painter->drawRoundedRect(rc.adjusted(0, 2, 0, -2), 3, 3); + painter->drawRoundedRect(rc.adjusted(0, v_margin, 0, -v_margin), 3, 3); painter->setPen(item->highlight ? Qt::white : Qt::black); painter->setFont(small_font); painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1)); // signal name painter->setFont(option.font); - painter->setPen((option.state & QStyle::State_Selected ? option.palette.highlightedText() : option.palette.text()).color()); + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); QString text = index.data(Qt::DisplayRole).toString(); - QRect text_rect = option.rect.adjusted(rc.width() + 6, 0, 0, 0); + QRect text_rect = option.rect; + text_rect.setLeft(rc.right() + h_margin * 2); text = painter->fontMetrics().elidedText(text, Qt::ElideRight, text_rect.width()); painter->drawText(text_rect, option.displayAlignment, text); painter->restore(); + } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) { + // draw signal value + if (option.state & QStyle::State_Selected) { + painter->fillRect(option.rect, option.palette.highlight()); + } + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); + QRect rc = option.rect.adjusted(0, 0, -70, 0); + auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rc.width()); + painter->drawText(rc, Qt::AlignRight | Qt::AlignVCenter, text); } else { QStyledItemDelegate::paint(painter, option, index); } @@ -332,6 +371,14 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie QLineEdit *e = new QLineEdit(parent); e->setFrame(false); e->setValidator(index.row() == 0 ? name_validator : double_validator); + + if (item->type == SignalModel::Item::Name) { + QCompleter *completer = new QCompleter(dbc()->signalNames()); + completer->setCaseSensitivity(Qt::CaseInsensitive); + completer->setFilterMode(Qt::MatchContains); + e->setCompleter(completer); + } + return e; } else if (item->type == SignalModel::Item::Size) { QSpinBox *spin = new QSpinBox(parent); @@ -355,7 +402,6 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), setFrameStyle(QFrame::StyledPanel | QFrame::Plain); // title bar QWidget *title_bar = new QWidget(this); - title_bar->setAutoFillBackground(true); QHBoxLayout *hl = new QHBoxLayout(title_bar); hl->addWidget(signal_count_lb = new QLabel()); filter_edit = new QLineEdit(this); @@ -370,7 +416,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), hl->addWidget(collapse_btn); // tree view - tree = new QTreeView(this); + tree = new TreeView(this); tree->setModel(model = new SignalModel(this)); tree->setItemDelegate(new SignalItemDelegate(this)); tree->setFrameShape(QFrame::NoFrame); @@ -394,9 +440,8 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); }); QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); }); QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); - QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { selectSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); setWhatsThis(tr(R"( Signal view
@@ -416,8 +461,11 @@ void SignalView::rowsChanged() { if (!tree->indexWidget(index)) { QWidget *w = new QWidget(this); QHBoxLayout *h = new QHBoxLayout(w); - h->setContentsMargins(0, 2, 0, 2); - h->addStretch(1); + int v_margin = style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + int h_margin = style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + h->setContentsMargins(0, v_margin, -h_margin, v_margin); + h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing)); + h->addStretch(0); auto remove_btn = toolButton("x", tr("Remove signal")); auto plot_btn = toolButton("graph-up", ""); @@ -447,7 +495,7 @@ void SignalView::rowClicked(const QModelIndex &index) { } } -void SignalView::selectSignal(const Signal *sig, bool expand) { +void SignalView::selectSignal(const cabana::Signal *sig, bool expand) { if (int row = model->signalRow(sig); row != -1) { auto idx = model->index(row, 0); if (expand) { @@ -471,12 +519,12 @@ void SignalView::updateChartState() { } } -void SignalView::signalHovered(const Signal *sig) { +void SignalView::signalHovered(const cabana::Signal *sig) { auto &children = model->root->children; for (int i = 0; i < children.size(); ++i) { bool highlight = children[i]->sig == sig; if (std::exchange(children[i]->highlight, highlight) != highlight) { - emit model->dataChanged(model->index(i, 0), model->index(i, 0)); + emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole}); } } } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 3cb193b62f..d6bad6d88c 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -21,7 +21,7 @@ public: Item *parent = nullptr; QList children; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QString title; bool highlight = false; bool extra_expanded = false; @@ -39,19 +39,19 @@ public: void setMessage(const MessageId &id); void setFilter(const QString &txt); void addSignal(int start_bit, int size, bool little_endian); - bool saveSignal(const Signal *origin_s, Signal &s); - void resizeSignal(const Signal *sig, int start_bit, int size); - void removeSignal(const Signal *sig); - inline Item *getItem(const QModelIndex &index) const { return index.isValid() ? (Item *)index.internalPointer() : root.get(); } - int signalRow(const Signal *sig) const; + bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void resizeSignal(const cabana::Signal *sig, int start_bit, int size); + void removeSignal(const cabana::Signal *sig); + Item *getItem(const QModelIndex &index) const; + int signalRow(const cabana::Signal *sig) const; void showExtraInfo(const QModelIndex &index); private: - void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig); - void handleSignalAdded(uint32_t address, const Signal *sig); - void handleSignalUpdated(const Signal *sig); - void handleSignalRemoved(const Signal *sig); - void handleMsgChanged(uint32_t address); + void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); + void handleSignalAdded(MessageId id, const cabana::Signal *sig); + void handleSignalUpdated(const cabana::Signal *sig); + void handleSignalRemoved(const cabana::Signal *sig); + void handleMsgChanged(MessageId id); void refresh(); void updateState(const QHash *msgs); @@ -85,6 +85,7 @@ public: QValidator *name_validator, *double_validator; QFont small_font; const int color_label_width = 18; + mutable QHash width_cache; }; class SignalView : public QFrame { @@ -93,22 +94,31 @@ class SignalView : public QFrame { public: SignalView(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &id); - void signalHovered(const Signal *sig); + void signalHovered(const cabana::Signal *sig); void updateChartState(); - void selectSignal(const Signal *sig, bool expand = false); + void selectSignal(const cabana::Signal *sig, bool expand = false); void rowClicked(const QModelIndex &index); SignalModel *model = nullptr; signals: - void highlight(const Signal *sig); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void highlight(const cabana::Signal *sig); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void rowsChanged(); void leaveEvent(QEvent *event); + struct TreeView : public QTreeView { + TreeView(QWidget *parent) : QTreeView(parent) {} + void rowsInserted(const QModelIndex &parent, int start, int end) override { + ((SignalView *)parentWidget())->rowsChanged(); + // update widget geometries in QTreeView::rowsInserted + QTreeView::rowsInserted(parent, start, end); + } + }; + MessageId msg_id; - QTreeView *tree; + TreeView *tree; QLineEdit *filter_edit; ChartsWidget *charts; QLabel *signal_count_lb; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 3e631d3709..d60beed0c8 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,4 +1,5 @@ #include "tools/cabana/streams/abstractstream.h" +#include AbstractStream *can = nullptr; @@ -11,7 +12,7 @@ AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_liv void AbstractStream::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - can_msgs[it.key()] = it.value(); + last_msgs[it.key()] = it.value(); } emit updated(); emit msgsReceived(messages); @@ -37,6 +38,11 @@ bool AbstractStream::updateEvent(const Event *event) { data.colors = tracker.colors; data.last_change_t = tracker.last_change_t; data.bit_change_counts = tracker.bit_change_counts; + + if (!sources.contains(id.source)) { + sources.insert(id.source); + emit sourcesUpdated(sources); + } } double ts = millis_since_boot(); @@ -55,44 +61,68 @@ bool AbstractStream::updateEvent(const Event *event) { const CanData &AbstractStream::lastMessage(const MessageId &id) { static CanData empty_data; - auto it = can_msgs.find(id); - return it != can_msgs.end() ? it.value() : empty_data; + auto it = last_msgs.find(id); + return it != last_msgs.end() ? it.value() : empty_data; } +// it is thread safe to update data in updateLastMsgsTo. +// updateEvent will not be called before replayStream::seekedTo return. void AbstractStream::updateLastMsgsTo(double sec) { - QHash last_msgs; - last_msgs.reserve(can_msgs.size()); - double route_start_time = routeStartTime(); - uint64_t last_ts = (sec + route_start_time) * 1e9; - auto evs = events(); - auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; }); - for (auto it = last; it != evs->rend(); ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}]; - if (++m.count == 1) { - m.ts = ((*it)->mono_time / 1e9) - route_start_time; - m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); - m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); - m.last_change_t = QVector(m.dat.size(), m.ts); - m.bit_change_counts.resize(m.dat.size()); - } else { - m.freq = m.count / std::max(1.0, m.ts); - } - } - } - } - - // it is thread safe to update data here. - // updateEvent will not be called before replayStream::seekedTo return. new_msgs->clear(); change_trackers.clear(); + last_msgs.clear(); counters.clear(); - can_msgs.clear(); - for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) { - can_msgs[it.key()] = it.value(); - counters[it.key()] = it.value().count; + + CanEvent last_event = {.mono_time = uint64_t((sec + routeStartTime()) * 1e9)}; + for (auto &[id, e] : events_) { + auto it = std::lower_bound(e.crbegin(), e.crend(), last_event, std::greater()); + if (it != e.crend()) { + auto &m = last_msgs[id]; + m.dat = QByteArray((const char *)it->dat, it->size); + m.ts = it->mono_time / 1e9 - routeStartTime(); + m.count = std::distance(it, e.crend()); + m.freq = m.count / std::max(1.0, m.ts); + m.last_change_t = QVector(m.dat.size(), m.ts); + m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); + m.bit_change_counts = QVector>(m.dat.size()); + counters[id] = m.count; + } } - emit updated(); - emit msgsReceived(&can_msgs); + QTimer::singleShot(0, [this]() { + emit updated(); + emit msgsReceived(&last_msgs); + }); +} + +void AbstractStream::parseEvents(std::unordered_map> &msgs, + std::vector::const_iterator first, std::vector::const_iterator last) { + for (; first != last; ++first) { + if ((*first)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*first)->event.getCan()) { + auto dat = c.getDat(); + auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}].emplace_back(); + m.size = std::min(dat.size(), std::size(m.dat)); + memcpy(m.dat, (uint8_t *)dat.begin(), m.size); + m.mono_time = (*first)->mono_time; + } + last_event_ts = std::max(last_event_ts, (*first)->mono_time); + } + } +} + +void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append) { + if (first == last) return; + + if (append) { + parseEvents(events_, first, last); + } else { + std::unordered_map> new_events; + parseEvents(new_events, first, last); + for (auto &[id, new_e] : new_events) { + auto &e = events_[id]; + auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front()); + e.insert(it, new_e.cbegin(), new_e.cend()); + } + } + emit eventsMerged(); } diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e582682971..8e19f69d2a 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -1,7 +1,8 @@ #pragma once #include - +#include +#include #include #include @@ -20,6 +21,14 @@ struct CanData { QVector> bit_change_counts; }; +struct CanEvent { + uint64_t mono_time; + uint8_t size; + uint8_t dat[64]; + inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; } + inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; } +}; + class AbstractStream : public QObject { Q_OBJECT @@ -27,6 +36,7 @@ public: AbstractStream(QObject *parent, bool is_live_streaming); virtual ~AbstractStream() {}; inline bool liveStreaming() const { return is_live_streaming; } + inline double lastEventSecond() const { return last_event_ts / 1e9 - routeStartTime(); } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } @@ -37,11 +47,13 @@ public: virtual const CanData &lastMessage(const MessageId &id); virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual const Route *route() const { return nullptr; } - virtual const std::vector *events() const = 0; virtual void setSpeed(float speed) {} virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} + virtual const std::vector *rawEvents() const { return nullptr; } + const std::unordered_map> &events() const { return events_; } virtual const std::vector> getTimeline() { return {}; } + void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append); signals: void paused(); @@ -52,20 +64,25 @@ signals: void updated(); void msgsReceived(const QHash *); void received(QHash *); + void sourcesUpdated(const QSet &s); public: - QHash can_msgs; + QHash last_msgs; + QSet sources; protected: - void process(QHash *); + virtual void process(QHash *); bool updateEvent(const Event *event); void updateLastMsgsTo(double sec); + void parseEvents(std::unordered_map> &msgs, std::vector::const_iterator first, std::vector::const_iterator last); bool is_live_streaming = false; std::atomic processing = false; QHash counters; std::unique_ptr> new_msgs; QHash change_trackers; + std::unordered_map> events_; + uint64_t last_event_ts = 0; }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index b2fc7ea4a6..62ad635152 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,10 +1,8 @@ #include "tools/cabana/streams/livestream.h" -LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { - timer = new QTimer(this); - timer->callOnTimeout(this, &LiveStream::removeExpiredEvents); - timer->start(3 * 1000); +#include +LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { stream_thread = new QThread(this); QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); @@ -15,8 +13,6 @@ LiveStream::~LiveStream() { stream_thread->requestInterruption(); stream_thread->quit(); stream_thread->wait(); - for (Event *e : can_events) ::delete e; - for (auto m : messages) delete m; } void LiveStream::streamThread() { @@ -35,65 +31,53 @@ void LiveStream::streamThread() { QThread::msleep(50); continue; } - AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer()); - Event *evt = ::new Event(buf->align(msg)); - delete msg; - - handleEvent(evt); + std::lock_guard lk(lock); + handleEvent(messages.emplace_back(msg).event); // TODO: write stream to log file to replay it with cabana --data_dir flag. } } void LiveStream::handleEvent(Event *evt) { - current_ts = evt->mono_time; - if (start_ts == 0 || current_ts < start_ts) { - if (current_ts < start_ts) { + if (start_ts == 0 || evt->mono_time < start_ts) { + if (evt->mono_time < start_ts) { qDebug() << "stream is looping back to old time stamp"; } - start_ts = current_ts.load(); + start_ts = current_ts = evt->mono_time; emit streamStarted(); } - std::lock_guard lk(lock); - can_events.push_back(evt); + received.push_back(evt); if (!pause_) { if (speed_ < 1 && last_update_ts > 0) { - auto it = std::upper_bound(can_events.begin(), can_events.end(), last_update_event_ts, [](uint64_t ts, auto &e) { + auto it = std::upper_bound(received.cbegin(), received.cend(), current_ts, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + if (it != received.cend()) { + bool skip = (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - current_ts) / speed_; + if (skip) return; - if (it != can_events.end() && - (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) { - return; + evt = *it; } - evt = (*it); } - updateEvent(evt); - last_update_event_ts = evt->mono_time; + current_ts = evt->mono_time; last_update_ts = nanos_since_boot(); + updateEvent(evt); } } -void LiveStream::removeExpiredEvents() { - std::lock_guard lk(lock); - if (can_events.size() > 0) { - const uint64_t max_ns = settings.max_cached_minutes * 60 * 1e9; - const uint64_t last_ns = can_events.back()->mono_time; - while (!can_events.empty() && (last_ns - can_events.front()->mono_time) > max_ns) { - ::delete can_events.front(); - delete messages.front(); - can_events.pop_front(); - messages.pop_front(); +void LiveStream::process(QHash *last_messages) { + { + std::lock_guard lk(lock); + auto first = std::upper_bound(received.cbegin(), received.cend(), last_event_ts, [](uint64_t ts, auto &e) { + return ts < e->mono_time; + }); + mergeEvents(first, received.cend(), true); + if (speed_ == 1) { + received.clear(); + messages.clear(); } } -} - -const std::vector *LiveStream::events() const { - events_vector.clear(); - std::lock_guard lk(lock); - events_vector.reserve(can_events.size()); - std::copy(can_events.begin(), can_events.end(), std::back_inserter(events_vector)); - return &events_vector; + AbstractStream::process(last_messages); } void LiveStream::pause(bool pause) { diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index ba20032b67..598c0b9365 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,6 +1,5 @@ #pragma once -#include #include "tools/cabana/streams/abstractstream.h" class LiveStream : public AbstractStream { @@ -17,25 +16,31 @@ public: void setSpeed(float speed) override { speed_ = std::min(1.0, speed); } bool isPaused() const override { return pause_; } void pause(bool pause) override; - const std::vector *events() const override; protected: virtual void handleEvent(Event *evt); virtual void streamThread(); - virtual void removeExpiredEvents(); + void process(QHash *) override; + + struct Msg { + Msg(Message *m) { + event = ::new Event(aligned_buf.align(m)); + delete m; + } + ~Msg() { ::delete event; } + Event *event; + AlignedBuffer aligned_buf; + }; mutable std::mutex lock; - mutable std::vector events_vector; - std::deque can_events; - std::deque messages; + std::vector received; + std::deque messages; std::atomic start_ts = 0; std::atomic current_ts = 0; std::atomic speed_ = 1; std::atomic pause_ = false; - uint64_t last_update_event_ts = 0; uint64_t last_update_ts = 0; const QString zmq_address; QThread *stream_thread; - QTimer *timer; }; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index ebd969be61..8bc9af8ab2 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -14,19 +14,25 @@ static bool event_filter(const Event *e, void *opaque) { return ((ReplayStream *)opaque)->eventFilter(e); } +void ReplayStream::mergeSegments() { + for (auto &[n, seg] : replay->segments()) { + if (seg && seg->isLoaded() && !processed_segments.count(n)) { + const auto &events = seg->log->events; + bool append = processed_segments.empty() || *processed_segments.rbegin() < n; + processed_segments.insert(n); + mergeEvents(events.cbegin(), events.cend(), append); + } + } +} + bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); - QObject::connect(replay.get(), &Replay::segmentsMerged, this, &AbstractStream::eventsMerged); QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted); + QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); if (replay->load()) { - const auto &segments = replay->route()->segments(); - if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { - qWarning() << "no rlogs in route" << route; - return false; - } replay->start(); return true; } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 3505f6abf4..10dc804716 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -20,13 +20,15 @@ public: inline double currentSec() const override { return replay->currentSeconds(); } inline QDateTime currentDateTime() const override { return replay->currentDateTime(); } inline const Route *route() const override { return replay->route(); } - inline const std::vector *events() const override { return replay->events(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; + const std::vector *rawEvents() const override { return replay->events(); } inline const std::vector> getTimeline() override { return replay->getTimeline(); } private: + void mergeSegments(); std::unique_ptr replay = nullptr; uint32_t replay_flags = REPLAY_FLAG_NONE; + std::set processed_segments; }; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 6f9f2d016b..8445867acb 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -5,7 +5,6 @@ #include "tools/replay/logreader.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; // demo route, first segment const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; @@ -16,11 +15,11 @@ TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_from_generated(nullptr); dbc_from_generated.open("", dbc_origin.generateDBC()); - auto &msgs = dbc_origin.messages(); - auto &new_msgs = dbc_from_generated.messages(); - REQUIRE(msgs.size() == new_msgs.size()); - for (auto &[address, m] : msgs) { - auto &new_m = new_msgs.at(address); + REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); + auto msgs = dbc_origin.getMessages(0); + auto new_msgs = dbc_from_generated.getMessages(0); + for (auto &[id, m] : msgs) { + auto &new_m = new_msgs.at(id); REQUIRE(m.name == new_m.name); REQUIRE(m.size == new_m.size); REQUIRE(m.getSignals().size() == new_m.getSignals().size()); @@ -44,7 +43,7 @@ TEST_CASE("Parse can messages") { if (e->which == cereal::Event::Which::CAN) { std::map, std::vector> values_1; for (const auto &c : e->event.getCan()) { - const auto msg = dbc.msg(c.getAddress()); + const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()}); if (c.getSrc() == 0 && msg) { for (auto sig : msg->getSignals()) { double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig); diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 27cb7bced8..a44ac76059 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -1,5 +1,6 @@ #include "tools/cabana/tools/findsimilarbits.h" +#include #include #include #include @@ -9,7 +10,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { setWindowTitle(tr("Find similar bits")); @@ -17,49 +17,68 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi QVBoxLayout *main_layout = new QVBoxLayout(this); - QHBoxLayout *form_layout = new QHBoxLayout(); - bus_combo = new QComboBox(this); + QHBoxLayout *src_layout = new QHBoxLayout(); + src_bus_combo = new QComboBox(this); + find_bus_combo = new QComboBox(this); QSet bus_set; - for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { + for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { bus_set << it.key().source; } - for (uint8_t bus : bus_set) { - bus_combo->addItem(QString::number(bus), bus); + for (auto cb : {src_bus_combo, find_bus_combo}) { + for (uint8_t bus : bus_set) { + cb->addItem(QString::number(bus), bus); + } + cb->model()->sort(0); + cb->setCurrentIndex(0); } - bus_combo->model()->sort(0); - bus_combo->setCurrentIndex(0); msg_cb = new QComboBox(this); - for (auto &[address, msg] : dbc()->messages()) { - msg_cb->addItem(msg.name, address); + // TODO: update when src_bus_combo changes + for (auto &[id, msg] : dbc()->getMessages(0)) { + msg_cb->addItem(msg.name, id.address); } msg_cb->model()->sort(0); msg_cb->setCurrentIndex(0); byte_idx_sb = new QSpinBox(this); + byte_idx_sb->setFixedWidth(50); byte_idx_sb->setRange(0, 63); bit_idx_sb = new QSpinBox(this); + bit_idx_sb->setFixedWidth(50); bit_idx_sb->setRange(0, 7); - form_layout->addWidget(new QLabel("Bus")); - form_layout->addWidget(bus_combo); - form_layout->addWidget(msg_cb); - form_layout->addWidget(new QLabel("Byte Index")); - form_layout->addWidget(byte_idx_sb); - form_layout->addWidget(new QLabel("Bit Index")); - form_layout->addWidget(bit_idx_sb); - + src_layout->addWidget(new QLabel(tr("Bus"))); + src_layout->addWidget(src_bus_combo); + src_layout->addWidget(msg_cb); + src_layout->addWidget(new QLabel(tr("Byte Index"))); + src_layout->addWidget(byte_idx_sb); + src_layout->addWidget(new QLabel(tr("Bit Index"))); + src_layout->addWidget(bit_idx_sb); + src_layout->addStretch(0); + QHBoxLayout *find_layout = new QHBoxLayout(); + find_layout->addWidget(new QLabel(tr("Bus"))); + find_layout->addWidget(find_bus_combo); + find_layout->addWidget(new QLabel(tr("Equal"))); + equal_combo = new QComboBox(this); + equal_combo->addItems({"Yes", "No"}); + find_layout->addWidget(equal_combo); min_msgs = new QLineEdit(this); min_msgs->setValidator(new QIntValidator(this)); min_msgs->setText("100"); - form_layout->addWidget(new QLabel("Min msg count")); - form_layout->addWidget(min_msgs); + find_layout->addWidget(new QLabel(tr("Min msg count"))); + find_layout->addWidget(min_msgs); search_btn = new QPushButton(tr("&Find"), this); - form_layout->addWidget(search_btn); - form_layout->addStretch(1); - main_layout->addLayout(form_layout); + find_layout->addWidget(search_btn); + find_layout->addStretch(0); + + QGridLayout *grid_layout = new QGridLayout(); + grid_layout->addWidget(new QLabel("Find From:"), 0, 0); + grid_layout->addLayout(src_layout, 0, 1); + grid_layout->addWidget(new QLabel("Find In:"), 1, 0); + grid_layout->addLayout(find_layout, 1, 1); + main_layout->addLayout(grid_layout); table = new QTableWidget(this); table->setSelectionBehavior(QAbstractItemView::SelectRows); @@ -70,10 +89,9 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi setMinimumSize({700, 500}); QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find); - QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) { if (index.isValid()) { - MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)}; + MessageId msg_id = {.source = (uint8_t)find_bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)}; emit openMessage(msg_id); } }); @@ -83,7 +101,8 @@ void FindSimilarBitsDlg::find() { search_btn->setEnabled(false); table->clear(); uint32_t selected_address = msg_cb->currentData().toUInt(); - auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt()); + auto msg_mismatched = calcBits(src_bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), + find_bus_combo->currentText().toUInt(), equal_combo->currentIndex() == 0, min_msgs->text().toInt()); table->setRowCount(msg_mismatched.size()); table->setColumnCount(6); table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"}); @@ -94,25 +113,29 @@ void FindSimilarBitsDlg::find() { table->setItem(i, 2, new QTableWidgetItem(QString::number(m.bit_idx))); table->setItem(i, 3, new QTableWidgetItem(QString::number(m.mismatches))); table->setItem(i, 4, new QTableWidgetItem(QString::number(m.total))); - table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc))); + table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc, 'f', 2))); } search_btn->setEnabled(true); } -QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) { +QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, + int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) { QHash> mismatches; QHash msg_count; - auto events = can->events(); + auto events = can->rawEvents(); int bit_to_find = -1; for (auto e : *events) { if (e->which == cereal::Event::Which::CAN) { for (const auto &c : e->event.getCan()) { - if (c.getSrc() == bus) { - const auto dat = c.getDat(); - uint32_t address = c.getAddress(); + uint8_t src = c.getSrc(); + uint32_t address = c.getAddress(); + const auto dat = c.getDat(); + if (src == bus) { if (address == selected_address && dat.size() > byte_idx) { bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; } + } + if (src == find_bus) { ++msg_count[address]; if (bit_to_find == -1) continue; @@ -123,7 +146,7 @@ QList FindSimilarBitsDlg::calcBits(uint8_ for (int i = 0; i < dat.size(); ++i) { for (int j = 0; j < 8; ++j) { int bit = ((dat[i] >> (7 - j)) & 1) != 0; - mismatched[i * 8 + j] += (bit != bit_to_find); + mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find); } } } diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index ba9b063baf..a40e2cd8df 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -7,7 +7,6 @@ #include #include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; class FindSimilarBitsDlg : public QDialog { Q_OBJECT @@ -23,11 +22,12 @@ private: uint32_t address, byte_idx, bit_idx, mismatches, total; float perc; }; - QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt); + QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus, + bool equal, int min_msgs_cnt); void find(); QTableWidget *table; - QComboBox *bus_combo, *msg_cb; + QComboBox *src_bus_combo, *find_bus_combo, *msg_cb, *equal_combo; QSpinBox *byte_idx_sb, *bit_idx_sb; QPushButton *search_btn; QLineEdit *min_msgs; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 4f79f9a3ac..e5a9749103 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -4,10 +4,8 @@ #include #include #include -#include - -#include #include +#include #include "selfdrive/ui/qt/util.h" @@ -42,7 +40,7 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { } // Track bit level changes - for (int bit = 0; bit < 8; bit++){ + for (int bit = 0; bit < 8; bit++) { if ((cur ^ last) & (1 << bit)) { bit_change_counts[i][bit] += 1; } @@ -67,34 +65,67 @@ void ChangeTracker::clear() { colors.clear(); } +// SegmentTree + +void SegmentTree::build(const QVector &arr) { + size = arr.size(); + tree.resize(4 * size); // size of the tree is 4 times the size of the array + if (size > 0) { + build_tree(arr, 1, 0, size - 1); + } +} + +void SegmentTree::build_tree(const QVector &arr, int n, int left, int right) { + if (left == right) { + const double y = arr[left].y(); + tree[n] = {y, y}; + } else { + const int mid = (left + right) >> 1; + build_tree(arr, 2 * n, left, mid); + build_tree(arr, 2 * n + 1, mid + 1, right); + tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)}; + } +} + +std::pair SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const { + if (range_left > right || range_right < left) + return {std::numeric_limits::max(), std::numeric_limits::lowest()}; + if (range_left <= left && range_right >= right) + return tree[n]; + int mid = (left + right) >> 1; + auto l = get_minmax(2 * n, left, mid, range_left, range_right); + auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right); + return {std::min(l.first, r.first), std::max(l.second, r.second)}; +} + // MessageBytesDelegate MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); + byte_width = QFontMetrics(fixed_font).width("00 "); } void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text; + auto colors = index.data(ColorsRole).value>(); + auto byte_list = index.data(BytesRole).toByteArray(); + + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + QRect rc{option.rect.left() + h_margin, option.rect.top() + v_margin, byte_width, option.rect.height() - 2 * v_margin}; + + auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text; painter->setPen(option.palette.color(color_role)); painter->setFont(fixed_font); - int space = painter->boundingRect(option.rect, option.displayAlignment, " ").width(); - QRect pos = painter->boundingRect(option.rect, option.displayAlignment, "00").adjusted(0, 0, 2, 0); - pos.moveLeft(pos.x() + space); - int m = space / 2; - const QMargins margins(m, m, m, m); - - auto colors = index.data(Qt::UserRole).value>(); - auto byte_list = index.data(Qt::DisplayRole).toString().split(" "); for (int i = 0; i < byte_list.size(); ++i) { if (i < colors.size() && colors[i].alpha() > 0) { - painter->fillRect(pos.marginsAdded(margins), colors[i]); + painter->fillRect(rc, colors[i]); } - painter->drawText(pos, Qt::AlignCenter, byte_list[i]); - pos.moveLeft(pos.right() + space); + painter->drawText(rc, Qt::AlignCenter, toHex(byte_list[i])); + rc.moveLeft(rc.right() + 1); } } -QColor getColor(const Signal *sig) { +QColor getColor(const cabana::Signal *sig) { float h = 19 * (float)sig->lsb / 64.0; h = fmod(h, 1.0); @@ -105,7 +136,7 @@ QColor getColor(const Signal *sig) { return QColor::fromHsvF(h, s, v); } -NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) { } +NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {} QValidator::State NameValidator::validate(QString &input, int &pos) const { input.replace(' ', '_'); @@ -114,8 +145,8 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { namespace utils { QPixmap icon(const QString &id) { - static bool dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() > - QApplication::style()->standardPalette().color(QPalette::Background).value(); + static bool dark_theme = QApplication::palette().color(QPalette::WindowText).value() > + QApplication::palette().color(QPalette::Background).value(); QPixmap pm; QString key = "bootstrap_" % id % (dark_theme ? "1" : "0"); if (!QPixmapCache::find(key, &pm)) { @@ -136,5 +167,26 @@ QToolButton *toolButton(const QString &icon, const QString &tooltip) { btn->setIcon(utils::icon(icon)); btn->setToolTip(tooltip); btn->setAutoRaise(true); + const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize); + btn->setIconSize({metric, metric}); return btn; }; + +QString toHex(uint8_t byte) { + static std::array hex = []() { + std::array ret; + for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper(); + return ret; + }(); + return hex[byte]; +} + +int num_decimals(double num) { + const QString string = QString::number(num); + const QStringList split = string.split('.'); + if (split.size() == 1) { + return 0; + } else { + return split[1].size(); + } +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index b72ddfcaa0..330da77179 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -11,9 +12,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; - +#include "tools/cabana/dbc.h" class ChangeTracker { public: @@ -31,17 +30,62 @@ private: QByteArray prev_dat; }; +class LogSlider : public QSlider { + Q_OBJECT + +public: + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; + + void setRange(double min, double max) { + log_min = factor * std::log10(min); + log_max = factor * std::log10(max); + QSlider::setRange(min, max); + setValue(QSlider::value()); + } + int value() const { + double v = log_min + (log_max - log_min) * ((QSlider::value() - minimum()) / double(maximum() - minimum())); + return std::lround(std::pow(10, v / factor)); + } + void setValue(int v) { + double log_v = std::clamp(factor * std::log10(v), log_min, log_max); + v = minimum() + (maximum() - minimum()) * ((log_v - log_min) / (log_max - log_min)); + QSlider::setValue(v); + } + +private: + double factor, log_min = 0, log_max = 1; +}; + +enum { + ColorsRole = Qt::UserRole + 1, + BytesRole = Qt::UserRole + 2 +}; + +class SegmentTree { +public: + SegmentTree() = default; + void build(const QVector &arr); + inline std::pair minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); } + +private: + std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const; + void build_tree(const QVector &arr, int n, int left, int right); + std::vector> tree; + int size = 0; +}; + class MessageBytesDelegate : public QStyledItemDelegate { Q_OBJECT public: MessageBytesDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QFont fixed_font; + int byte_width; }; inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } -inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } -QColor getColor(const dbcmanager::Signal *sig); +QString toHex(uint8_t byte); +QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT @@ -56,3 +100,4 @@ QPixmap icon(const QString &id); } QToolButton *toolButton(const QString &icon, const QString &tooltip); +int num_decimals(double num); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 536ae7ba97..e36e62131f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -8,11 +8,12 @@ #include #include #include -#include #include #include #include +const int MIN_VIDEO_HEIGHT = 100; + static const QColor timeline_colors[] = { [(int)TimelineType::None] = QColor(111, 143, 175), [(int)TimelineType::Engaged] = QColor(0, 163, 108), @@ -22,7 +23,7 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; -inline QString formatTime(int seconds) { +static inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } @@ -106,7 +107,7 @@ QWidget *VideoWidget::createCameraWidget() { slider_layout->addWidget(end_time_label); l->addLayout(slider_layout); - cam_widget->setMinimumHeight(100); + cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); @@ -164,16 +165,12 @@ void VideoWidget::updatePlayBtnState() { } // Slider -Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { - QTimer *timer = new QTimer(this); - timer->setInterval(2000); - timer->callOnTimeout([this]() { +Slider::Slider(QWidget *parent) : timer(this), QSlider(Qt::Horizontal, parent) { + timer.callOnTimeout([this]() { timeline = can->getTimeline(); update(); }); setMouseTracking(true); - - QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start())); QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted); } @@ -187,11 +184,13 @@ void Slider::streamStarted() { thumnail_future.waitForFinished(); abort_load_thumbnail = false; thumbnails.clear(); + timeline.clear(); + timer.start(2000); thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); } void Slider::loadThumbnails() { - const auto segments = can->route()->segments(); + const auto &segments = can->route()->segments(); for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { std::string qlog = it->second.qlog.toStdString(); if (!qlog.empty()) { @@ -280,3 +279,8 @@ void Slider::mouseMoveEvent(QMouseEvent *e) { QToolTip::showText(pt, thumb, this, rect()); QSlider::mouseMoveEvent(e); } + +void Slider::leaveEvent(QEvent *event) { + QToolTip::hideText(); + QSlider::leaveEvent(event); +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 1a7e27f1b3..a5ce8c345f 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -8,12 +8,12 @@ #include #include #include +#include #include "selfdrive/ui/qt/widgets/cameraview.h" #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class Slider : public QSlider { Q_OBJECT @@ -25,6 +25,7 @@ public: private: void mousePressEvent(QMouseEvent *e) override; void mouseMoveEvent(QMouseEvent *e) override; + void leaveEvent(QEvent *event) override; void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; void streamStarted(); @@ -38,6 +39,7 @@ private: QMap thumbnails; QFuture thumnail_future; QSize thumbnail_size = {}; + QTimer timer; }; class VideoWidget : public QWidget { diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index b35c66d02d..178e8b2c3c 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -17,7 +17,7 @@ ALT_DELTA = 30 MATCH_NUM = 10 REPORT_STATS = 10 -EPHEM_CACHE = "/data/params/d/LaikadEphemeris" +EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3" DOWNLOAD_CACHE = "/tmp/comma_download_cache" SERVER_LOG_FILE = "/tmp/fuzzy_server.log" diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 8bc5dc89a8..2c08c105a1 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -5,7 +5,7 @@ import struct from common.params import Params import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from system.hardware import TICI from selfdrive.test.helpers import with_processes diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 613ac991b1..689b0f0b9f 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,7 +4,7 @@ import time import unittest import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from common.params import Params from system.hardware import TICI @@ -39,7 +39,7 @@ class TestLaikad(unittest.TestCase): def setUp(self): # ensure laikad cold start - Params().remove("LaikadEphemeris") + Params().remove("LaikadEphemerisV3") os.environ["LAIKAD_NO_INTERNET"] = "1" managed_processes['laikad'].start() diff --git a/tools/lib/README.md b/tools/lib/README.md index 3cf239d2df..d77eef5ac5 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -1,6 +1,6 @@ ## LogReader -Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. +Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python from tools.lib.route import Route diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml index adca3eed29..54586d6e7b 100644 --- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml +++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml @@ -1,37 +1,44 @@ - + - + - - + + - - + + - - + + - + - - + + - + - - + + - - + + + + + + + + + @@ -46,8 +53,8 @@ - - + + diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5ad702590c..077861ff96 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -165,7 +165,10 @@ void ConsoleUI::updateStatus() { sm.update(0); if (status != Status::Paused) { - status = (sm.updated("carState") || sm.updated("liveParameters")) ? Status::Playing : Status::Waiting; + auto events = replay->events(); + uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9; + bool playing = !events->empty() && events->back()->mono_time > current_mono_time; + status = playing ? Status::Playing : Status::Waiting; } auto [status_str, status_color] = status_text[status]; write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 178b116a87..b68330f688 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -193,7 +193,7 @@ std::optional Replay::find(FindFlag flag) { void Replay::pause(bool pause) { updateEvents([=]() { - rWarning("%s at %d s", pause ? "paused..." : "resuming", currentSeconds()); + rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds()); paused_ = pause; return true; }); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 6788a97d03..2bb426361b 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -71,6 +71,7 @@ public: inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } + inline const std::map> &segments() const { return segments_; }; inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock);