diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index c8b4c51e38..1fd093e2ac 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -16,7 +16,6 @@ jobs: build_prebuilt: name: build prebuilt runs-on: ubuntu-20.04 - timeout-minutes: 60 if: github.repository == 'commaai/openpilot' env: IMAGE_NAME: openpilot-prebuilt diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 8df89dcc38..7f83f61e0a 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -8,7 +8,6 @@ jobs: build_masterci: name: build master-ci runs-on: ubuntu-20.04 - timeout-minutes: 60 if: github.repository == 'commaai/openpilot' steps: - name: Wait for green check mark diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d5be221303..834b2141d0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -32,7 +32,6 @@ jobs: build_release: name: build release runs-on: ubuntu-20.04 - timeout-minutes: 30 env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -66,7 +65,6 @@ jobs: build_all: name: build all runs-on: ubuntu-20.04 - timeout-minutes: 30 steps: - uses: actions/checkout@v3 with: @@ -84,7 +82,6 @@ jobs: #build_mac: # name: build macos # runs-on: macos-latest - # timeout-minutes: 60 # steps: # - uses: actions/checkout@v3 # with: @@ -141,7 +138,6 @@ jobs: docker_push: name: docker push runs-on: ubuntu-20.04 - timeout-minutes: 22 if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: @@ -150,14 +146,12 @@ jobs: submodules: true - name: Build Docker image run: eval "$BUILD" - timeout-minutes: 13 - name: Push to container registry run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest - name: Build CL Docker image run: eval "$BUILD_CL" - timeout-minutes: 4 - name: Push to container registry run: | $DOCKER_LOGIN @@ -166,7 +160,6 @@ jobs: static_analysis: name: static analysis runs-on: ubuntu-20.04 - timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -174,13 +167,11 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: pre-commit - timeout-minutes: 5 run: ${{ env.RUN }} "pre-commit run --all" valgrind: name: valgrind runs-on: ubuntu-20.04 - timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -198,7 +189,6 @@ jobs: unit_tests: name: unit tests runs-on: ubuntu-20.04 - timeout-minutes: 30 steps: - uses: actions/checkout@v3 with: @@ -207,7 +197,6 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests - timeout-minutes: 15 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $UNIT_TEST common && \ @@ -242,7 +231,6 @@ jobs: process_replay: name: process replay runs-on: ubuntu-20.04 - timeout-minutes: 25 steps: - uses: actions/checkout@v3 with: @@ -280,7 +268,6 @@ jobs: test_modeld: name: model tests runs-on: ubuntu-20.04 - timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -293,12 +280,10 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run model replay with ONNX - timeout-minutes: 2 run: | ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ coverage xml" - name: Run unit tests - timeout-minutes: 5 run: | ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ coverage xml" @@ -308,7 +293,6 @@ jobs: test_longitudinal: name: longitudinal runs-on: ubuntu-20.04 - timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -323,7 +307,6 @@ jobs: cd selfdrive/test/longitudinal_maneuvers && \ coverage run ./test_longitudinal.py && \ coverage xml" - timeout-minutes: 2 - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - uses: actions/upload-artifact@v2 @@ -336,7 +319,6 @@ jobs: test_cars: name: cars runs-on: ubuntu-20.04 - timeout-minutes: 20 strategy: fail-fast: false matrix: @@ -355,7 +337,6 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models - timeout-minutes: 12 run: | ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ coverage xml && \ @@ -369,7 +350,6 @@ jobs: car_docs_diff: name: PR comments runs-on: ubuntu-20.04 - timeout-minutes: 20 if: github.event_name == 'pull_request' steps: - uses: actions/checkout@v3 diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 94cc3c2580..3b32d3c790 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -30,7 +30,6 @@ jobs: plotjuggler: name: plotjuggler runs-on: ubuntu-20.04 - timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -38,7 +37,6 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: Unit test - timeout-minutes: 2 run: | ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \ apt-get update && \ @@ -49,7 +47,6 @@ jobs: simulator: name: simulator runs-on: ubuntu-20.04 - timeout-minutes: 30 env: IMAGE_NAME: openpilot-sim if: github.repository == 'commaai/openpilot' @@ -74,7 +71,6 @@ jobs: docs: name: build docs runs-on: ubuntu-20.04 - timeout-minutes: 25 steps: - uses: actions/checkout@v3 with: diff --git a/RELEASES.md b/RELEASES.md index 9103fbc4b5..d99fe8183f 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,12 +1,15 @@ -Version 0.9.1 (2022-12-XX) +Version 0.9.1 (2023-2-20) ======================== * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted -* New German translation thanks to Vrabetz and CzokNorris! +* UI updates + * Driver monitoring icon shows driver's head pose + * German translation thanks to Vrabetz and CzokNorris! * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! * Genesis GV60 2023 support thanks to sunnyhaibin! * Hyundai Tucson 2022-23 support * Kia K5 Hybrid 2020 support thanks to sunnyhaibin! +* Kia Niro Hybrid 2023 support thanks to sunnyhaibin! * Kia Sorento 2022-23 support thanks to sunnyhaibin! * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607! diff --git a/cereal b/cereal index 8214437efc..168f460269 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 8214437efc7d8165ea2816e47ced8d4e63f68862 +Subproject commit 168f4602698c3a7a02ae5261cd4a0fa0f935bb59 diff --git a/docs/CARS.md b/docs/CARS.md index c48698b84f..a72bf74278 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. -# 233 Supported Cars +# 235 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -107,6 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Kia|Niro Hybrid 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 F|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| @@ -174,7 +175,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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|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|| diff --git a/laika_repo b/laika_repo index b30afe44d2..278b44ba8c 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit b30afe44d283072b6ee0ea17f290cca5d002baf7 +Subproject commit 278b44ba8c2dec28adc5b30cce13dabc195f15fc diff --git a/opendbc b/opendbc index 77996759d9..7f0e42faba 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 77996759d95b110e08b747e04636e7d3f680207a +Subproject commit 7f0e42fabad327d019c33656471af15a718affcc diff --git a/panda b/panda index 76e766b038..25ff80351f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 76e766b038bcaf8f3706b97d8ac9ebc520860d17 +Subproject commit 25ff80351fd23164e60bd07d4f9289350798a5e0 diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png index ddde478cd7..03765a0376 100644 Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index da086105e3..2b2fde8dc3 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags +from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, CHRYSLER_OLD_TUNING_BLACKLIST, ChryslerFlags from selfdrive.car.interfaces import CarInterfaceBase @@ -24,6 +24,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT ret.minSteerSpeed = 3.8 # m/s + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate not in RAM_CARS: # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019) @@ -36,9 +37,12 @@ class CarInterface(CarInterfaceBase): ret.mass = 2242. + STD_CARGO_KG ret.wheelbase = 3.089 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 - ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] - ret.lateralTuning.pid.kf = 0.00006 + + if candidate in CHRYSLER_OLD_TUNING_BLACKLIST: + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 # Jeep elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): @@ -46,9 +50,12 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.71 ret.steerRatio = 16.7 ret.steerActuatorDelay = 0.2 - ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] - ret.lateralTuning.pid.kf = 0.00006 + + if candidate in CHRYSLER_OLD_TUNING_BLACKLIST: + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 # Ram elif candidate == CAR.RAM_1500: @@ -56,7 +63,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 3.88 ret.steerRatio = 16.3 ret.mass = 2493. + STD_CARGO_KG - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) ret.minSteerSpeed = 14.5 # Older EPS FW allow steer to zero if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw): diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 7629a2f086..e932238e6a 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -46,8 +46,12 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 6 self.STEER_MAX = 261 # EPS allows more, up to 350? else: - self.STEER_DELTA_UP = 3 - self.STEER_DELTA_DOWN = 3 + if CP.carFingerprint in CHRYSLER_OLD_TUNING_BLACKLIST: + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 3 + else: + self.STEER_DELTA_UP = 6 + self.STEER_DELTA_DOWN = 6 self.STEER_MAX = 261 # higher than this faults the EPS STEER_THRESHOLD = 120 @@ -56,6 +60,11 @@ RAM_DT = {CAR.RAM_1500, } RAM_HD = {CAR.RAM_HD, } RAM_CARS = RAM_DT | RAM_HD +# the increased steer rate hasn't been verified on these cars. +# remove from this list once it's been tested and confirmed to not fault +CHRYSLER_OLD_TUNING_BLACKLIST = {CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, + CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE} + @dataclass class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 56f6ff5a31..97f8b60e59 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -49,25 +49,26 @@ class CarController: can_sends = [] # Steering (Active: 50Hz, inactive: 10Hz) - # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked - init_lka_counter = not self.sent_lka_steering_cmd - # Also send at 50Hz 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.camera_lka_steering_cmd_counter + 1) % 4 - sync_steer = (init_lka_counter or out_of_sync) and self.CP.networkLocation == NetworkLocation.fwdCamera + steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP - steer_step = self.params.INACTIVE_STEER_STEP - if CC.latActive or sync_steer: - steer_step = self.params.STEER_STEP + if self.CP.networkLocation == NetworkLocation.fwdCamera: + # Also send at 50Hz: + # - on startup, first few msgs are blocked + # - 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: + steer_step = self.params.STEER_STEP - # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the - # next Panda loopback confirmation in the current CS frame. if CS.loopback_lka_steering_cmd_updated: self.lka_steering_cmd_counter += 1 self.sent_lka_steering_cmd = True - elif (self.frame - self.last_steer_frame) >= steer_step: + + # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just + # received the ASCMLKASteeringCmd loopback confirmation in the current CS frame + if (self.frame - self.last_steer_frame) >= steer_step and not CS.loopback_lka_steering_cmd_updated: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus - if init_lka_counter: + if not self.sent_lka_steering_cmd: self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 8ea8ea8874..b73b7e7059 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -19,7 +19,7 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] self.loopback_lka_steering_cmd_updated = False self.pt_lka_steering_cmd_counter = 0 - self.camera_lka_steering_cmd_counter = 0 + self.cam_lka_steering_cmd_counter = 0 self.buttons_counter = 0 def update(self, pt_cp, cam_cp, loopback_cp): @@ -35,7 +35,7 @@ class CarState(CarStateBase): self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 if self.CP.networkLocation == NetworkLocation.fwdCamera: self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] - self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] + self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"], diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e633ec5f62..7628d8420b 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -11,10 +11,10 @@ Ecu = car.CarParams.Ecu class CarControllerParams: STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output - STEER_STEP = 2 # Active control frames per command (50hz) + STEER_STEP = 3 # Active control frames per command (~33hz) INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) - STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness - STEER_DELTA_DOWN = 17 + STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness + STEER_DELTA_DOWN = 25 STEER_DRIVER_ALLOWANCE = 50 STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_FACTOR = 100 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 14f72ef271..b20cfeaf3a 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -6,6 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine +from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase @@ -21,7 +22,9 @@ class CarState(CarStateBase): self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) - self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER" + self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ + "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: @@ -427,7 +430,9 @@ class CarState(CarStateBase): def get_can_parser_canfd(CP): cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" - gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER" + gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ + "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + "GEAR_SHIFTER" signals = [ ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), @@ -513,8 +518,7 @@ class CarState(CarStateBase): ("ACCELERATOR_BRAKE_ALT", 100), ] - bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP)) @staticmethod def get_cam_can_parser_canfd(CP): diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index c708e2b78e..d3a29dc0cb 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -35,9 +35,12 @@ class CarInterface(CarInterfaceBase): # non-HDA2 if 0x1cf not in fingerprint[4]: ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value - # ICE cars do not have 0x130; GEARS message on 0x40 instead + # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead if 0x130 not in fingerprint[4]: - ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value + if 0x40 not in fingerprint[4]: + ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value + else: + ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value if candidate not in CANFD_RADAR_SCC_CAR: ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value @@ -129,8 +132,8 @@ class CarInterface(CarInterfaceBase): ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021): - ret.mass = 1737. + STD_CARGO_KG + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4c8e924c49..af0bc18af9 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -61,6 +61,8 @@ class HyundaiFlags(IntFlag): ENABLE_BLINKERS = 32 + CANFD_ALT_GEARS_2 = 64 + class CAR: # Hyundai @@ -100,6 +102,7 @@ class CAR: KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" + KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" @@ -208,6 +211,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], + CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), CAR.KIA_OPTIMA_H: [ @@ -1627,6 +1631,14 @@ FW_VERSIONS = { b'\xf1\x00MQ4_ SCC FHCUP 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', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + }, } CHECKSUM = { @@ -1644,7 +1656,7 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN} @@ -1652,7 +1664,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020} # these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -1714,4 +1726,5 @@ DBC = { CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index ce38eeb0de..98db2520c3 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -127,6 +127,7 @@ routes = [ CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), + CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), @@ -179,6 +180,7 @@ routes = [ CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2), CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), + CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2), CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 0a49d39914..52c9e8d547 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -26,7 +26,6 @@ COMMA BODY: [.nan, 1000, .nan] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] -CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] @@ -39,6 +38,7 @@ GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] +KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 7da508a156..6f8cfe0ce6 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -4,11 +4,11 @@ ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] -CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022] -CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085] -CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627] -CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823] -CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716] +CHRYSLER PACIFICA 2018: [2.07140, 1.3366521181047952, 0.13776367250652022] +CHRYSLER PACIFICA 2020: [1.86206, 1.509076559398423, 0.14328246159386085] +CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237] +CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818] +CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520] GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221] GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644] HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] @@ -39,8 +39,8 @@ HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.1403992098658639 HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272] -JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] -JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] +JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048] +JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003] KIA EV6 2022: [3.2, 2.093457, 0.05] KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9124d576b1..ae5c8c4944 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - elif candidate in (CAR.CHR, CAR.CHRH): + elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2): stop_and_go = True ret.wheelbase = 2.63906 ret.steerRatio = 13.6 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 3046814fac..7e801990a7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -49,6 +49,7 @@ class CAR: CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5 CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021" CHR = "TOYOTA C-HR 2018" + CHR_TSS2 = "TOYOTA C-HR 2021" CHRH = "TOYOTA C-HR HYBRID 2018" COROLLA = "TOYOTA COROLLA 2017" COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" @@ -115,7 +116,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { 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.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"), - CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"), + 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.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ @@ -633,6 +635,23 @@ FW_VERSIONS = { b'8646FF407000 ', ], }, + CAR.CHR_TSS2: { + (Ecu.abs, 0x7b0, None): [ + b'F1526F4270\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B10091\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x0189663F459000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821FF410300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', + ], + }, CAR.CHRH: { (Ecu.engine, 0x700, None): [ b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -2030,6 +2049,7 @@ DBC = { CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), CAR.CHRH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), @@ -2072,7 +2092,7 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I # 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, - CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_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} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2080,7 +2100,7 @@ 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} +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, 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, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 9f6dee2689..72fcc5d92d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -729,6 +729,7 @@ FW_VERSIONS = { }, CAR.TIGUAN_MK2: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703N906026D \xf1\x893680', b'\xf1\x8704E906027NB\xf1\x899504', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906027G \xf1\x899893', @@ -746,12 +747,14 @@ FW_VERSIONS = { b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', + b'\xf1\x870DL300012P \xf1\x892103', b'\xf1\x870DL300013A \xf1\x893005', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892120', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', + b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', @@ -763,6 +766,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', + b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1', b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', @@ -771,6 +775,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572J \xf1\x890156', + b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 3ff768ba06..b746989466 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -213,6 +213,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m eph.setAf1(subframe_1->af_1() * pow(2, -43)); eph.setAf0(subframe_1->af_0() * pow(2, -31)); eph.setSvHealth(subframe_1->sv_health()); + eph.setTowCount(subframe.how()->tow_count()); iodc_lsb = subframe_1->iodc_lsb(); } @@ -374,6 +375,13 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // 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; diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 2daf01ea14..a483fa4db4 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 sha256:3d8f2f9d53908e7a5496412956548dab1aa08ed0b5fb9d1c685f275369f07a57 +oid sha256:736ddc08497d7596bae4d9515a8efb996676be80e67a6d34d632bb8af2ed3fa9 size 45962515 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index fa4fa9540d..c64f522352 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -2a255ecea3665a3d295210195fd8ef0791ab49a0 +ba947edbb131a2a36ced7c490dfcf3280ad5b167 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2c66c7075c..170beafe88 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7c2a98f4a94b6dded6a90d8913ab85a63069c186 \ No newline at end of file +a6b17ab903022b42677abe2968f3c6e50c331980 diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 7d8bbf74e0..1af72c04df 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) { void Installer::readProgress() { const QVector> stages = { // prefix, weight in percentage - {tr("Receiving objects: "), 91}, - {tr("Resolving deltas: "), 2}, - {tr("Updating files: "), 7}, + {"Receiving objects: ", 91}, + {"Resolving deltas: ", 2}, + {"Updating files: ", 7}, }; auto line = QString(proc.readAllStandardError()); diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 12d62e63fb..6db6a6cdfe 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { connect(targetBranchBtn, &ButtonControl::clicked, [=]() { auto current = params.get("GitBranch"); QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); - for (QString b : {current.c_str(), "devel-staging", "devel", "master-ci", "master"}) { + for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) { auto i = branches.indexOf(b); if (i >= 0) { branches.removeAt(i); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 7a4b4240c3..33b1ea8e27 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -231,7 +231,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par experimental_btn = new ExperimentalButton(this); main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight); - dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); + dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5}); } void AnnotatedCameraWidget::updateState(const UIState &s) { @@ -275,7 +275,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("speed", cur_speed); setProperty("setSpeed", set_speed); setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); - setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); + setProperty("hideDM", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); setProperty("status", s.status); // update engageability/experimental mode button @@ -286,6 +286,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } + + // DM icon transition + dm_fade_state = fmax(0.0, fmin(1.0, dm_fade_state+0.2*(0.5-(float)(dmActive)))); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -435,12 +438,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { configFont(p, "Inter", 66, "Regular"); drawText(p, rect().center().x(), 290, speedUnit, 200); - // dm icon - if (!hideDM) { - int dm_icon_x = rightHandDM ? rect().right() - btn_size / 2 - (bdr_s * 2) : btn_size / 2 + (bdr_s * 2); - drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2, - dm_img, blackColor(70), dmActive ? 1.0 : 0.2); - } p.restore(); } @@ -544,6 +541,49 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.restore(); } +void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) { + const UIScene &scene = s->scene; + + painter.save(); + + // base icon + int x = rightHandDM ? rect().right() - (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2); + int y = rect().bottom() - footer_h / 2; + float opacity = dmActive ? 0.65 : 0.2; + drawIcon(painter, x, y, dm_img, blackColor(0), opacity); + + // circle background + painter.setOpacity(1.0); + painter.setPen(Qt::NoPen); + painter.setBrush(blackColor(70)); + painter.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); + + // face + QPointF face_kpts_draw[std::size(default_face_kpts_3d)]; + float kp; + for (int i = 0; i < std::size(default_face_kpts_3d); ++i) { + kp = (scene.face_kpts_draw[i].v[2] - 8) / 120 + 1.0; + face_kpts_draw[i] = QPointF(scene.face_kpts_draw[i].v[0] * kp + x, scene.face_kpts_draw[i].v[1] * kp + y); + } + + painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap)); + painter.drawPolyline(face_kpts_draw, std::size(default_face_kpts_3d)); + + // tracking arcs + 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())); + 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)); + painter.drawArc(QRectF(std::fmin(x + delta_x, x), y - arc_l / 2, fabs(delta_x), arc_l), (scene.driver_pose_sins[1]>0 ? 90 : -90) * 16, 180 * 16); + painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap)); + painter.drawArc(QRectF(x - arc_l / 2, std::fmin(y + delta_y, y), arc_l, fabs(delta_y)), (scene.driver_pose_sins[0]>0 ? 0 : 180) * 16, 180 * 16); + + painter.restore(); +} + void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) { painter.save(); @@ -654,6 +694,12 @@ void AnnotatedCameraWidget::paintGL() { } } + // DMoji + if (!hideDM && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) { + update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM); + drawDriverState(painter, s); + } + drawHud(painter); double cur_draw_t = millis_since_boot(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 73c2e03795..73c2a37892 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -80,6 +80,7 @@ private: bool dmActive = false; bool hideDM = false; bool rightHandDM = false; + float dm_fade_state = 1.0; bool has_us_speed_limit = false; bool has_eu_speed_limit = false; bool v_ego_cluster_seen = false; @@ -97,6 +98,7 @@ protected: void drawLaneLines(QPainter &painter, const UIState *s); void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd); void drawHud(QPainter &p); + void drawDriverState(QPainter &painter, const UIState *s); inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 69dafcf741..392be68a12 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -20,6 +20,17 @@ const std::string USER_AGENT = "AGNOSSetup-"; const QString DASHCAM_URL = "https://dashcam.comma.ai"; +bool is_elf(char *fname) { + FILE *fp = fopen(fname, "rb"); + if (fp == NULL) { + return false; + } + char buf[4]; + size_t n = fread(buf, 1, 4, fp); + fclose(fp); + return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F'; +} + void Setup::download(QString url) { CURL *curl = curl_easy_init(); if (!curl) { @@ -29,6 +40,9 @@ void Setup::download(QString url) { auto version = util::read_file("/VERSION"); + struct curl_slist *list = NULL; + list = curl_slist_append(list, ("X-openpilot-serial: " + Hardware::get_serial()).c_str()); + char tmpfile[] = "/tmp/installer_XXXXXX"; FILE *fp = fdopen(mkstemp(tmpfile), "w"); @@ -38,18 +52,19 @@ void Setup::download(QString url) { curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L); 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); 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) { + if (ret == CURLE_OK && res_status == 200 && is_elf(tmpfile)) { rename(tmpfile, "/tmp/installer"); emit finished(true); } else { emit finished(false); } + curl_slist_free_all(list); curl_easy_cleanup(curl); fclose(fp); } @@ -170,7 +185,20 @@ QWidget * Setup::network_setup() { QPushButton *cont = new QPushButton(); cont->setObjectName("navBtn"); cont->setProperty("primary", true); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); + QObject::connect(cont, &QPushButton::clicked, [=]() { + auto w = currentWidget(); + QTimer::singleShot(0, [=]() { + setCurrentWidget(downloading_widget); + }); + QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); + if (!url.isEmpty()) { + QTimer::singleShot(1000, this, [=]() { + download(url); + }); + } else { + setCurrentWidget(w); + } + }); blayout->addWidget(cont); // setup timer for testing internet connection @@ -178,8 +206,8 @@ QWidget * Setup::network_setup() { QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) { cont->setEnabled(success); if (success) { - const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL; - cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue")); + const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI; + cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi")); } else { cont->setText(tr("Waiting for internet")); } @@ -197,106 +225,6 @@ QWidget * Setup::network_setup() { return widget; } -QWidget * radio_button(QString title, QButtonGroup *group) { - QPushButton *btn = new QPushButton(title); - btn->setCheckable(true); - group->addButton(btn); - btn->setStyleSheet(R"( - QPushButton { - height: 230; - padding-left: 100px; - padding-right: 100px; - text-align: left; - font-size: 80px; - font-weight: 400; - border-radius: 10px; - background-color: #4F4F4F; - } - QPushButton:checked { - background-color: #465BEA; - } - )"); - - // checkmark icon - QPixmap pix(":/img_circled_check.svg"); - btn->setIcon(pix); - btn->setIconSize(QSize(0, 0)); - btn->setLayoutDirection(Qt::RightToLeft); - QObject::connect(btn, &QPushButton::toggled, [=](bool checked) { - btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0)); - }); - return btn; -} - -QWidget * Setup::software_selection() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - main_layout->setSpacing(0); - - // title - QLabel *title = new QLabel(tr("Choose Software to Install")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(50); - - // dashcam + custom radio buttons - QButtonGroup *group = new QButtonGroup(widget); - group->setExclusive(true); - - QWidget *dashcam = radio_button(tr("Dashcam"), group); - main_layout->addWidget(dashcam); - - main_layout->addSpacing(30); - - QWidget *custom = radio_button(tr("Custom Software"), group); - main_layout->addWidget(custom); - - main_layout->addStretch(); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - cont->setEnabled(false); - cont->setProperty("primary", true); - blayout->addWidget(cont); - - QObject::connect(cont, &QPushButton::clicked, [=]() { - auto w = currentWidget(); - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QString url = DASHCAM_URL; - if (group->checkedButton() != dashcam) { - url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); - } - if (!url.isEmpty()) { - QTimer::singleShot(1000, this, [=]() { - download(url); - }); - } else { - setCurrentWidget(w); - } - }); - - connect(group, QOverload::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) { - btn->setChecked(true); - cont->setEnabled(true); - }); - - return widget; -} - QWidget * Setup::downloading() { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); @@ -372,7 +300,6 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { addWidget(getting_started()); addWidget(network_setup()); - addWidget(software_selection()); downloading_widget = downloading(); addWidget(downloading_widget); diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index 8027e8bd4f..f990b5a6cb 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -14,7 +14,6 @@ private: QWidget *low_voltage(); QWidget *getting_started(); QWidget *network_setup(); - QWidget *software_selection(); QWidget *downloading(); QWidget *download_failed(); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 2606df5efe..b40812af7c 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -312,18 +312,6 @@ Installing... Installiere... - - Receiving objects: - Empfange Objekte: - - - Resolving deltas: - Unterschiede verarbeiten: - - - Updating files: - Dateien aktualisieren: - MapETA @@ -686,18 +674,6 @@ location set Waiting for internet Auf Internet warten - - Choose Software to Install - Software zum installieren auswählen - - - Dashcam - Dashcam - - - Custom Software - Spezifische Software - Enter URL URL eingeben diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 16f35dffaa..ed08a52df5 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -311,18 +311,6 @@ Installing... インストールしています... - - Receiving objects: - ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： - - - Resolving deltas: - デルタを解決しています： - - - Updating files: - ファイルを更新しています： - MapETA @@ -684,18 +672,6 @@ location set Waiting for internet インターネット接続を待機中 - - Choose Software to Install - インストールするソフトウェアを選択してください - - - Dashcam - ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - - - Custom Software - カスタムソフトウェア - Enter URL URL を入力 diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f50d2d9b3f..7b742a5048 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -311,18 +311,6 @@ Installing... 설치중... - - Receiving objects: - 수신중： - - - Resolving deltas: - 델타병합： - - - Updating files: - 파일갱신： - MapETA @@ -684,18 +672,6 @@ location set Waiting for internet 네트워크 접속을 기다립니다 - - Choose Software to Install - 설치할 소프트웨어를 선택하세요 - - - Dashcam - Dashcam - - - Custom Software - Custom Software - Enter URL URL 입력 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 445de72fc3..a25c51de3c 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -312,18 +312,6 @@ Installing... Instalando... - - Receiving objects: - Recebendo objetos: - - - Resolving deltas: - Resolvendo deltas: - - - Updating files: - Atualizando arquivos: - MapETA @@ -688,18 +676,6 @@ trabalho definido Waiting for internet Esperando pela internet - - Choose Software to Install - Escolher Software para Instalar - - - Dashcam - Dashcam - - - Custom Software - Sofware Customizado - Enter URL Preencher URL diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 792a918770..68c1bb766f 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -311,18 +311,6 @@ Installing... 正在安装…… - - Receiving objects: - 正在接收： - - - Resolving deltas: - 正在处理： - - - Updating files: - 正在更新文件： - MapETA @@ -682,18 +670,6 @@ location set Waiting for internet 等待网络连接 - - Choose Software to Install - 选择要安装的软件 - - - Dashcam - Dashcam（行车记录仪） - - - Custom Software - 自定义软件 - Enter URL 输入网址 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e8e2ab6bd3..71315e118f 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -311,18 +311,6 @@ Installing... 安裝中… - - Receiving objects: - 接收對象： - - - Resolving deltas: - 分析差異： - - - Updating files: - 更新檔案： - MapETA @@ -684,18 +672,6 @@ location set Waiting for internet 連接至網路中 - - Choose Software to Install - 選擇要安裝的軟體 - - - Dashcam - 行車記錄器 - - - Custom Software - 定制的軟體 - Enter URL 輸入網址 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4df963167a..6c850b8ca4 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -112,6 +112,39 @@ void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); } +void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { + UIScene &scene = s->scene; + const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation(); + for (int i = 0; i < std::size(scene.driver_pose_vals); i++) { + float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i]; + scene.driver_pose_diff[i] = fabs(scene.driver_pose_vals[i] - v_this); + scene.driver_pose_vals[i] = 0.8 * v_this + (1 - 0.8) * scene.driver_pose_vals[i]; + scene.driver_pose_sins[i] = sinf(scene.driver_pose_vals[i]*(1.0-dm_fade_state)); + scene.driver_pose_coss[i] = cosf(scene.driver_pose_vals[i]*(1.0-dm_fade_state)); + } + + const mat3 r_xyz = (mat3){{ + scene.driver_pose_coss[1]*scene.driver_pose_coss[2], + scene.driver_pose_coss[1]*scene.driver_pose_sins[2], + -scene.driver_pose_sins[1], + + -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_coss[0]*scene.driver_pose_sins[2], + -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_coss[0]*scene.driver_pose_coss[2], + -scene.driver_pose_sins[0]*scene.driver_pose_coss[1], + + scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_sins[0]*scene.driver_pose_sins[2], + scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_sins[0]*scene.driver_pose_coss[2], + scene.driver_pose_coss[0]*scene.driver_pose_coss[1], + }}; + + // transform vertices + for (int kpi = 0; kpi < std::size(default_face_kpts_3d); kpi++) { + vec3 kpt_this = default_face_kpts_3d[kpi]; + kpt_this = matvecmul3(r_xyz, kpt_this); + scene.face_kpts_draw[kpi] = (vec3){{(float)kpt_this.v[0], (float)kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}}; + } +} + static void update_sockets(UIState *s) { s->sm->update(0); } @@ -213,7 +246,7 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", - "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", + "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", }); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 9e1c54948b..e3eb97a762 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -25,6 +25,16 @@ typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +const vec3 default_face_kpts_3d[] = { + {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, + {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00}, + {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00}, + {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00}, + {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00}, + {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00}, + {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00}, +}; + struct Alert { QString text1; QString text2; @@ -103,6 +113,13 @@ typedef struct UIScene { // lead QPointF lead_vertices[2]; + // DMoji state + float driver_pose_vals[3]; + float driver_pose_diff[3]; + float driver_pose_sins[3]; + float driver_pose_coss[3]; + vec3 face_kpts_draw[std::size(default_face_kpts_3d)]; + float light_sensor; bool started, ignition, is_metric, map_on_left, longitudinal_control; uint64_t started_frame; @@ -183,6 +200,7 @@ public slots: void ui_update_params(UIState *s); int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height); void update_model(UIState *s, const cereal::ModelDataV2::Reader &model); +void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line); void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); diff --git a/system/hardware/base.h b/system/hardware/base.h index f6e0b42d73..6cfc1d8743 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -16,6 +16,8 @@ public: static int get_voltage() { return 0; }; static int get_current() { return 0; }; + static std::string get_serial() { return "cccccc"; } + static void reboot() {} static void poweroff() {} static void set_brightness(int percent) {} diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 521a257627..5f6fb2dc50 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -21,6 +21,23 @@ public: static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; + static std::string get_serial() { + static std::string serial(""); + if (serial.empty()) { + std::ifstream stream("/proc/cmdline"); + std::string cmdline; + std::getline(stream, cmdline); + + auto start = cmdline.find("serialno="); + if (start == std::string::npos) { + serial = "cccccc"; + } else { + auto end = cmdline.find(" ", start + 9); + serial = cmdline.substr(start + 9, end - start - 9); + } + } + return serial; + } static void reboot() { std::system("sudo reboot"); }; static void poweroff() { std::system("sudo poweroff"); }; diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 4d7b3148c6..a46c25bdfa 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -7,6 +7,8 @@ #include #include +#include + #include "tools/cabana/commands.h" #include "tools/cabana/streams/abstractstream.h" @@ -173,7 +175,6 @@ void BinaryViewModel::refresh() { if ((dbc_msg = dbc()->msg(msg_id))) { row_count = dbc_msg->size; items.resize(row_count * column_count); - int i = 0; for (auto sig : dbc_msg->getSignals()) { auto [start, end] = getSignalRange(sig); for (int j = start; j <= end; ++j) { @@ -185,10 +186,9 @@ void BinaryViewModel::refresh() { } if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; - items[idx].bg_color = getColor(i); + items[idx].bg_color = getColor(sig); items[idx].sigs.push_back(sig); } - ++i; } } else { row_count = can->lastMessage(msg_id).dat.size(); @@ -214,6 +214,19 @@ void BinaryViewModel::updateState() { for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; + + // Bit update frequency based highlighting + bool has_signal = items[i * column_count + j].sigs.size() > 0; + double offset = has_signal ? 50 : 0; + + double min_f = last_msg.bit_change_counts[i][7 - j] == 0 ? offset : offset + 25; + double max_f = 255.0; + + double factor = 0.25; + double scaler = max_f / log2(1.0 + factor); + + double alpha = std::clamp(offset + log2(1.0 + factor * (double)last_msg.bit_change_counts[i][7 - j] / (double)last_msg.count) * scaler, min_f, max_f); + items[i * column_count + j].bg_color.setAlpha(alpha); } hex[0] = toHex(binary[i] >> 4); hex[1] = toHex(binary[i] & 0xf); @@ -266,10 +279,18 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->setPen(option.palette.color(QPalette::BrightText)); } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) { bool sig_hovered = item->sigs.contains(bin_view->hovered_sig); - painter->fillRect(option.rect, sig_hovered ? item->bg_color.darker(125) : item->bg_color); // 4/5x brightness + int min_alpha = item->sigs.contains(bin_view->hovered_sig) ? 255 : 50; + QColor bg = item->bg_color; + if (bg.alpha() < min_alpha) { + bg.setAlpha(min_alpha); + } + painter->fillRect(option.rect, sig_hovered ? bg.darker(125) : bg); // 4/5x brightness painter->setPen(sig_hovered ? option.palette.color(QPalette::BrightText) : Qt::black); + } else { + painter->fillRect(option.rect, item->bg_color); } + painter->drawText(option.rect, Qt::AlignCenter, item->val); if (item->is_msb || item->is_lsb) { painter->setFont(small_font); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index f697ea28cb..d006672793 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -36,7 +36,7 @@ public: } struct Item { - QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base); + QColor bg_color = QColor(102, 86, 169, 0); bool is_msb = false; bool is_lsb = false; QString val = "-"; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c6f5c277eb..134a162679 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -9,8 +9,8 @@ #include #include #include +#include #include -#include #include #include @@ -36,17 +36,19 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); toolbar->addWidget(stretch_label); - toolbar->addWidget(new QLabel(tr("Range:"))); - toolbar->addWidget(range_lb = new QLabel(this)); + range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); range_slider = new QSlider(Qt::Horizontal, this); range_slider->setToolTip(tr("Set the chart range")); range_slider->setRange(1, settings.max_cached_minutes * 60); range_slider->setSingleStep(1); range_slider->setPageStep(60); // 1 min - toolbar->addWidget(range_slider); + range_slider_action = toolbar->addWidget(range_slider); + + reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new QToolButton()); + reset_zoom_btn->setIcon(utils::icon("zoom-out")); + reset_zoom_btn->setToolTip(tr("Reset zoom")); + reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - reset_zoom_btn = toolbar->addAction(utils::icon("zoom-out"), ""); - reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); remove_all_btn = toolbar->addAction(utils::icon("x"), ""); remove_all_btn->setToolTip(tr("Remove all charts")); dock_btn = toolbar->addAction(""); @@ -84,7 +86,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); - QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); + QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset); QObject::connect(columns_cb, SIGNAL(activated(int)), SLOT(setColumnCount(int))); QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); QObject::connect(dock_btn, &QAction::triggered, [this]() { @@ -149,7 +151,6 @@ void ChartsWidget::updateState() { for (auto c : charts) { c->updatePlot(cur_sec, range.first, range.second); } - alignCharts(); charts_layout->parentWidget()->setUpdatesEnabled(true); } @@ -160,12 +161,15 @@ void ChartsWidget::setMaxChartRange(int value) { } void ChartsWidget::updateToolBar() { - range_lb->setText(QString(" %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); title_label->setText(tr("Charts: %1").arg(charts.size())); - dock_btn->setIcon(utils::icon(docking ? "arrow-up-right" : "arrow-down-left")); - dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); + range_lb->setText(QString("Range: %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); + range_lb_action->setVisible(!is_zoomed); + range_slider_action->setVisible(!is_zoomed); + reset_zoom_action->setVisible(is_zoomed); + reset_zoom_btn->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); remove_all_btn->setEnabled(!charts.isEmpty()); - reset_zoom_btn->setEnabled(is_zoomed); + dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square")); + dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } void ChartsWidget::settingChanged() { @@ -186,13 +190,14 @@ ChartView *ChartsWidget::createChart() { auto chart = new ChartView(this); chart->setFixedHeight(settings.chart_height); chart->setMinimumWidth(CHART_MIN_WIDTH); - chart->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); 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); charts.push_back(chart); updateLayout(); return chart; @@ -231,14 +236,14 @@ void ChartsWidget::updateLayout() { columns_cb_action->setVisible(show_column_cb); n = std::min(column_count, n); - if (charts.size() != charts_layout->count() || n != charts_layout->columnCount()) { + if (charts.size() != charts_layout->count() || n != current_column_count) { + current_column_count = n; charts_layout->parentWidget()->setUpdatesEnabled(false); for (int i = 0; i < charts.size(); ++i) { charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n); } QTimer::singleShot(0, [this]() { charts_layout->parentWidget()->setUpdatesEnabled(true); }); } - alignCharts(true); } void ChartsWidget::resizeEvent(QResizeEvent *event) { @@ -247,12 +252,14 @@ void ChartsWidget::resizeEvent(QResizeEvent *event) { } void ChartsWidget::newChart() { - SeriesSelector dlg(this); + SeriesSelector dlg(tr("New Chart"), this); if (dlg.exec() == QDialog::Accepted) { - QList series_list = dlg.series(); - if (!series_list.isEmpty()) { + auto items = dlg.seletedItems(); + if (!items.isEmpty()) { auto c = createChart(); - c->addSeries(series_list); + for (auto it : items) { + c->addSeries(it->msg_id, it->sig); + } } } } @@ -275,16 +282,14 @@ void ChartsWidget::removeAll() { emit seriesChanged(); } -void ChartsWidget::alignCharts(bool force) { +void ChartsWidget::alignCharts() { int plot_left = 0; for (auto c : charts) { plot_left = std::max(plot_left, c->y_label_width); } plot_left = std::max((plot_left / 10) * 10 + 10, 50); - if (std::exchange(align_to, plot_left) != align_to || force) { - for (auto c : charts) { - c->updatePlotArea(align_to); - } + for (auto c : charts) { + c->updatePlotArea(plot_left); } } @@ -308,7 +313,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { axis_y->setLabelFormat("%.1f"); chart->addAxis(axis_x, Qt::AlignBottom); chart->addAxis(axis_y, Qt::AlignLeft); - chart->legend()->layout()->setContentsMargins(0, 0, 40, 0); + chart->legend()->layout()->setContentsMargins(16, 0, 40, 0); chart->legend()->setShowToolTips(true); chart->setMargins({0, 0, 0, 0}); @@ -317,6 +322,9 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { 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 = new QToolButton(); remove_btn->setIcon(utils::icon("x")); remove_btn->setAutoRaise(true); @@ -420,33 +428,24 @@ void ChartView::msgRemoved(uint32_t address) { } } -void ChartView::addSeries(const QList &series_list) { - for (auto &s : series_list) { - if (auto m = dbc()->msg(s[0])) { - auto it = m->sigs.find(s[2]); - if (it != m->sigs.end() && !hasSeries(s[0], &(it->second))) { - addSeries(s[0], &(it->second)); - } - } - } -} - void ChartView::manageSeries() { - SeriesSelector dlg(this); + SeriesSelector dlg(tr("Mange Chart"), this); for (auto &s : sigs) { - dlg.addSeries(s.msg_id, msgName(s.msg_id), QString::fromStdString(s.sig->name)); + dlg.addSelected(s.msg_id, s.sig); } - - int ret = dlg.exec(); - if (ret == QDialog::Accepted) { - QList series_list = dlg.series(); - if (series_list.isEmpty()) { + if (dlg.exec() == QDialog::Accepted) { + auto items = dlg.seletedItems(); + if (items.isEmpty()) { emit remove(); } else { - addSeries(series_list); + for (auto s : items) { + if (!hasSeries(s->msg_id, s->sig)) { + addSeries(s->msg_id, s->sig); + } + } for (auto it = sigs.begin(); it != sigs.end(); /**/) { - bool exists = std::any_of(series_list.cbegin(), series_list.cend(), [&](auto &s) { - return s[0] == it->msg_id && s[2] == it->sig->name.c_str(); + bool exists = std::any_of(items.cbegin(), items.cend(), [&](auto &s) { + return s->msg_id == it->msg_id && s->sig == it->sig; }); it = exists ? ++it : removeItem(it); } @@ -456,24 +455,31 @@ void ChartView::manageSeries() { void ChartView::resizeEvent(QResizeEvent *event) { QChartView::resizeEvent(event); - updatePlotArea(); + 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); } void ChartView::updatePlotArea(int left) { - align_to = left > 0 ? left : align_to; QRect r = rect(); - background->setRect(r); - chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45)); - chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 22, r.height() - 80)); - chart()->layout()->invalidate(); + 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 - 22, r.height() - 80)); + chart()->layout()->invalidate(); + } } void ChartView::updateTitle() { + for (QLegendMarker *marker : chart()->legend()->markers()) { + QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); + } for (auto &s : sigs) { - s.series->setName(QString("%1 %2 %3").arg(s.sig->name.c_str()).arg(msgName(s.msg_id)).arg(s.msg_id)); + auto decoration = s.series->isVisible() ? "none" : "line-through"; + s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name.c_str(), msgName(s.msg_id), s.msg_id)); } } @@ -492,7 +498,7 @@ 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(s.vals.begin(), s.vals.end(), axis_x->max(), [](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; }); int num_points = std::max(end - begin, 1); int pixels_per_point = width() / num_points; @@ -501,21 +507,6 @@ void ChartView::updateSeriesPoints() { ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 1, 8)); } else { s.series->setPointsVisible(pixels_per_point > 20); - - // TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs. -#ifndef __APPLE - // OpenGL mode lacks certain features (such as showing points), only use when drawing many points - bool use_opengl = pixels_per_point < 1; - s.series->setUseOpenGL(use_opengl); - - // Qt doesn't properly apply device pixel ratio in OpenGL mode - QApplication *application = static_cast(QApplication::instance()); - float scale = use_opengl ? application->devicePixelRatio() : 1.0; - - QPen pen = s.series->pen(); - pen.setWidth(2.0 * scale); - s.series->setPen(pen); -#endif } } } @@ -528,21 +519,40 @@ void ChartView::updateSeries(const Signal *sig, const std::vector *even s.vals.clear(); s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz s.last_value_mono_time = 0; + s.series->setColor(getColor(s.sig)); } - double route_start_time = can->routeStartTime(); + + 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; it != events->end(); ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (s.address == c.getAddress() && s.source == c.getSrc()) { - auto dat = c.getDat(); - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); - double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds - s.vals.push_back({ts, value}); + 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}); + } + + 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.address == c.getAddress() && s.source == c.getSrc()) { + auto dat = c.getDat(); + double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); + double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds + chunk.vals.push_back({ts, value}); + } } } } + }); + for (auto &c : chunks) { + s.vals.append(c.vals); } if (events->size()) { s.last_value_mono_time = events->back()->mono_time; @@ -560,8 +570,10 @@ void ChartView::updateAxisY() { double min = std::numeric_limits::max(); double max = std::numeric_limits::lowest(); 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(s.vals.begin(), s.vals.end(), axis_x->max(), [](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(); @@ -572,13 +584,14 @@ void ChartView::updateAxisY() { 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()) { + 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); QFontMetrics fm(axis_y->labelsFont()); int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; y_label_width = qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 20; // left margin 20 + emit axisYLabelWidthChanged(y_label_width); } } @@ -616,8 +629,7 @@ void ChartView::leaveEvent(QEvent *event) { } void ChartView::mousePressEvent(QMouseEvent *event) { - if (event->button() == Qt::LeftButton && !chart()->plotArea().contains(event->pos()) && - !manage_btn_proxy->geometry().contains(event->pos()) && !close_btn_proxy->geometry().contains(event->pos())) { + if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { QMimeData *mimeData = new QMimeData; mimeData->setData(mime_type, QByteArray::number((qulonglong)this)); QDrag *drag = new QDrag(this); @@ -719,11 +731,9 @@ void ChartView::dropEvent(QDropEvent *event) { event->accept(); } else { ChartView *source_chart = (ChartView *)event->source(); - QList series; for (auto &s : source_chart->sigs) { - series.push_back({s.msg_id, msgName(s.msg_id), QString::fromStdString(s.sig->name)}); + addSeries(s.msg_id, s.sig); } - addSeries(series); emit source_chart->remove(); event->acceptProposedAction(); } @@ -752,6 +762,19 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } } + + // 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; }); + for (auto it = first; it != last; ++it) { + painter->setBrush(s.series->color()); + painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); + } + } + } } QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type) { @@ -770,11 +793,10 @@ QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type) { } void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { + line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine); + scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter); if (type != series_type) { series_type = type; - line_series_action->setChecked(type == QAbstractSeries::SeriesTypeLine); - scatter_series_action->setChecked(type == QAbstractSeries::SeriesTypeScatter); - for (auto &s : sigs) { chart()->removeSeries(s.series); s.series->deleteLater(); @@ -792,42 +814,51 @@ void ChartView::setSeriesType(QAbstractSeries::SeriesType type) { } } +void ChartView::handleMarkerClicked() { + auto marker = qobject_cast(sender()); + Q_ASSERT(marker); + if (sigs.size() > 1) { + auto series = marker->series(); + series->setVisible(!series->isVisible()); + marker->setVisible(true); + updateAxisY(); + updateTitle(); + } +} + // SeriesSelector -SeriesSelector::SeriesSelector(QWidget *parent) { - setWindowTitle(tr("Manage Chart Series")); - QHBoxLayout *contents_layout = new QHBoxLayout(); +SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) { + setWindowTitle(title); + QGridLayout *main_layout = new QGridLayout(this); - QVBoxLayout *left_layout = new QVBoxLayout(); - left_layout->addWidget(new QLabel(tr("Select Signals:"))); - - msgs_combo = new QComboBox(this); + // left column + main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0); + main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0); msgs_combo->setEditable(true); - msgs_combo->lineEdit()->setPlaceholderText(tr("Select Msg")); + msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg...")); msgs_combo->setInsertPolicy(QComboBox::NoInsert); msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); msgs_combo->completer()->setFilterMode(Qt::MatchContains); - left_layout->addWidget(msgs_combo); - sig_list = new QListWidget(this); - sig_list->setSortingEnabled(true); - sig_list->setToolTip(tr("Double click on an item to add signal to chart")); - left_layout->addWidget(sig_list); + main_layout->addWidget(available_list = new QListWidget(this), 2, 0); - QVBoxLayout *right_layout = new QVBoxLayout(); - right_layout->addWidget(new QLabel(tr("Chart Signals:"))); - chart_series = new QListWidget(this); - chart_series->setSortingEnabled(true); - chart_series->setToolTip(tr("Double click on an item to remove signal from chart")); - right_layout->addWidget(chart_series); - contents_layout->addLayout(left_layout); - contents_layout->addLayout(right_layout); + // buttons + QVBoxLayout *btn_layout = new QVBoxLayout(); + QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this); + QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this); + btn_layout->addStretch(0); + btn_layout->addWidget(add_btn); + btn_layout->addWidget(remove_btn); + btn_layout->addStretch(0); + main_layout->addLayout(btn_layout, 0, 1, 3, 1); + + // right column + main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2); + main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->addLayout(contents_layout); - main_layout->addWidget(buttonBox); + main_layout->addWidget(buttonBox, 3, 2); for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) { if (auto m = dbc()->msg(it.key())) { @@ -835,56 +866,59 @@ SeriesSelector::SeriesSelector(QWidget *parent) { } } msgs_combo->model()->sort(0); + msgs_combo->setCurrentIndex(-1); + QObject::connect(msgs_combo, qOverload(&QComboBox::currentIndexChanged), this, &SeriesSelector::updateAvailableList); + QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); }); + QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); }); + 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(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); - QObject::connect(msgs_combo, SIGNAL(currentIndexChanged(int)), SLOT(msgSelected(int))); - QObject::connect(sig_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::addSignal); - QObject::connect(chart_series, &QListWidget::itemDoubleClicked, [](QListWidgetItem *item) { delete item; }); - - if (int index = msgs_combo->currentIndex(); index >= 0) { - msgSelected(index); - } } -void SeriesSelector::msgSelected(int index) { +void SeriesSelector::add(QListWidgetItem *item) { + auto it = (ListItem *)item; + addItemToList(selected_list, it->msg_id, it->sig, true); + delete item; +} + +void SeriesSelector::remove(QListWidgetItem *item) { + auto it = (ListItem *)item; + if (it->msg_id == msgs_combo->currentData().toString()) { + addItemToList(available_list, it->msg_id, it->sig); + } + delete item; +} + +void SeriesSelector::updateAvailableList(int index) { + if (index == -1) return; + available_list->clear(); QString msg_id = msgs_combo->itemData(index).toString(); - sig_list->clear(); - if (auto m = dbc()->msg(msg_id)) { - for (auto &[name, s] : m->sigs) { - QStringList data({msg_id, m->name, name}); - QListWidgetItem *item = new QListWidgetItem(name, sig_list); - item->setData(Qt::UserRole, data); - sig_list->addItem(item); + auto selected_items = seletedItems(); + for (auto &[name, s] : dbc()->msg(msg_id)->sigs) { + bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=&s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); + if (!is_selected) { + addItemToList(available_list, msg_id, &s); } } } -void SeriesSelector::addSignal(QListWidgetItem *item) { - QStringList data = item->data(Qt::UserRole).toStringList(); - addSeries(data[0], data[1], data[2]); -} +void SeriesSelector::addItemToList(QListWidget *parent, const QString id, const Signal *sig, bool show_msg_name) { + QString text = QString("■ %1").arg(getColor(sig).name(), sig->name.c_str()); + if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id); -void SeriesSelector::addSeries(const QString &id, const QString &msg_name, const QString &sig_name) { - QStringList data({id, msg_name, sig_name}); - for (int i = 0; i < chart_series->count(); ++i) { - if (chart_series->item(i)->data(Qt::UserRole).toStringList() == data) { - return; - } - } - QListWidgetItem *new_item = new QListWidgetItem(chart_series); - new_item->setData(Qt::UserRole, data); - chart_series->addItem(new_item); - QLabel *label = new QLabel(QString("%0 %1 %2").arg(data[2]).arg(data[1]).arg(data[0]), chart_series); + QLabel *label = new QLabel(text); label->setContentsMargins(5, 0, 5, 0); + auto new_item = new ListItem(id, sig, parent); new_item->setSizeHint(label->sizeHint()); - chart_series->setItemWidget(new_item, label); + parent->setItemWidget(new_item, label); } -QList SeriesSelector::series() { - QList ret; - for (int i = 0; i < chart_series->count(); ++i) { - ret.push_back(chart_series->item(i)->data(Qt::UserRole).toStringList()); - } +QList SeriesSelector::seletedItems() { + QList ret; + for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); return ret; } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index f0f9e5cd9c..953026d935 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -5,9 +5,12 @@ #include #include #include +#include #include #include +#include #include +#include #include #include #include @@ -25,13 +28,12 @@ class ChartView : public QChartView { public: ChartView(QWidget *parent = nullptr); void addSeries(const QString &msg_id, const Signal *sig); - void addSeries(const QList &series_list); void removeSeries(const QString &msg_id, const Signal *sig); bool hasSeries(const QString &msg_id, const Signal *sig) const; void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); void updatePlot(double cur, double min, double max); void setSeriesType(QAbstractSeries::SeriesType type); - void updatePlotArea(int left = 0); + void updatePlotArea(int left); struct SigItem { QString msg_id; @@ -49,6 +51,7 @@ signals: void zoomIn(double min, double max); void zoomReset(); void remove(); + void axisYLabelWidthChanged(int w); private slots: void msgRemoved(uint32_t address); @@ -56,6 +59,7 @@ private slots: void signalUpdated(const Signal *sig); void signalRemoved(const Signal *sig); void manageSeries(); + void handleMarkerClicked(); private: QList::iterator removeItem(const QList::iterator &it); @@ -75,11 +79,12 @@ private: QXYSeries *createSeries(QAbstractSeries::SeriesType type); void updateSeriesPoints(); - int y_label_width = 50; + 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; QGraphicsRectItem *background; @@ -111,7 +116,7 @@ signals: private: void resizeEvent(QResizeEvent *event) override; - void alignCharts(bool force = false); + void alignCharts(); void newChart(); ChartView * createChart(); void removeChart(ChartView *chart); @@ -129,9 +134,12 @@ private: QLabel *title_label; QLabel *range_lb; QSlider *range_slider; + QAction *range_lb_action; + QAction *range_slider_action; bool docking = true; QAction *dock_btn; - QAction *reset_zoom_btn; + QAction *reset_zoom_action; + QToolButton *reset_zoom_btn; QAction *remove_all_btn; QGridLayout *charts_layout; QList charts; @@ -144,23 +152,28 @@ private: QAction *columns_cb_action; QComboBox *columns_cb; int column_count = 1; - int align_to = 0; + int current_column_count = 0; }; class SeriesSelector : public QDialog { - Q_OBJECT - public: - SeriesSelector(QWidget *parent); - void addSeries(const QString &id, const QString& msg_name, const QString &sig_name); - QList series(); + struct ListItem : public QListWidgetItem { + ListItem(const QString &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} + QString msg_id; + const Signal *sig; + }; -private slots: - void msgSelected(int index); - void addSignal(QListWidgetItem *item); + SeriesSelector(QString title, QWidget *parent); + QList seletedItems(); + inline void addSelected(const QString &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } private: + void updateAvailableList(int index); + void addItemToList(QListWidget *parent, const QString id, const Signal *sig, bool show_msg_name = false); + void add(QListWidgetItem *item); + void remove(QListWidgetItem *item); + QComboBox *msgs_combo; - QListWidget *sig_list; - QListWidget *chart_series; + QListWidget *available_list; + QListWidget *selected_list; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 46f7a148f4..a7ad572dc1 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -232,9 +232,14 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { return hlayout; }; + auto lb = new QLabel(tr("<-Select a message to to view details")); + lb->setAlignment(Qt::AlignHCenter); + main_layout->addWidget(lb); main_layout->addLayout(newShortcutRow("Pause", "Space")); main_layout->addLayout(newShortcutRow("Help", "Alt + H")); main_layout->addStretch(0); setStyleSheet("QLabel{color:darkGray;}"); + setBackgroundRole(QPalette::Base); + setAutoFillBackground(true); } diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 95bd94e76b..3a3397af42 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -49,7 +49,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i } return show_signals ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { - return QBrush(QColor(getColor(section - 1))); + return QBrush(getColor(sigs[section - 1])); } } return {}; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index b871ffa21a..2f1a968645 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -279,7 +279,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } // color label - auto bg_color = QColor(getColor(item->row())); + auto bg_color = getColor(item->sig); QRect rc{option.rect.left() + 3, option.rect.top(), 22, option.rect.height()}; painter->setPen(Qt::NoPen); painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 8a77e0eb39..94d653bcb0 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -34,6 +34,7 @@ bool AbstractStream::updateEvent(const Event *event) { change_trackers[id].compute(data.dat, data.ts, data.freq); data.colors = change_trackers[id].colors; data.last_change_t = change_trackers[id].last_change_t; + data.bit_change_counts = change_trackers[id].bit_change_counts; } double ts = millis_since_boot(); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 0dbb3d96a6..8c10d959cb 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -16,6 +16,7 @@ struct CanData { QByteArray dat; QVector colors; QVector last_change_t; + QVector> bit_change_counts; }; class AbstractStream : public QObject { diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index f9d19dfda3..2806e175d7 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -3,6 +3,10 @@ #include #include #include +#include + +#include +#include #include "selfdrive/ui/qt/util.h" @@ -14,6 +18,7 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { if (prev_dat.size() != dat.size()) { colors.resize(dat.size()); last_change_t.resize(dat.size()); + bit_change_counts.resize(dat.size()); std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0)); std::fill(last_change_t.begin(), last_change_t.end(), ts); } else { @@ -35,6 +40,13 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue } + // Track bit level changes + for (int bit = 0; bit < 8; bit++){ + if ((cur ^ last) & (1 << bit)) { + bit_change_counts[i][bit] += 1; + } + } + last_change_t[i] = ts; } else { // Fade out @@ -96,6 +108,17 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & } } +QColor getColor(const Signal *sig) { + float h = 19 * (float)sig->lsb / 64.0; + h = fmod(h, 1.0); + + size_t hash = qHash(QString::fromStdString(sig->name)); + float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; + float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; + + return QColor::fromHsvF(h, s, v); +} + NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) { } QValidator::State NameValidator::validate(QString &input, int &pos) const { diff --git a/tools/cabana/util.h b/tools/cabana/util.h index b76652f4b0..5d5b44d63c 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -7,6 +7,8 @@ #include #include +#include "opendbc/can/common_dbc.h" + class ChangeTracker { public: void compute(const QByteArray &dat, double ts, uint32_t freq); @@ -15,6 +17,7 @@ public: QVector last_change_t; QVector colors; + QVector> bit_change_counts; private: const int periodic_threshold = 10; @@ -33,11 +36,7 @@ public: inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } inline char toHex(uint value) { return "0123456789ABCDEF"[value & 0xF]; } -inline const QString &getColor(int i) { - // TODO: add more colors - static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; - return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; -} +QColor getColor(const Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT