diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 621997b181..2f50921905 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -251,6 +251,7 @@ jobs: ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ coverage xml" - name: Print diff + id: print-diff if: always() run: cat selfdrive/test/process_replay/diff.txt - uses: actions/upload-artifact@v2 @@ -260,7 +261,7 @@ jobs: name: process_replay_diff.txt path: selfdrive/test/process_replay/diff.txt - name: Upload reference logs - if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} + if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index edbca52fed..1779947ff9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -19,7 +19,7 @@ repos: rev: v2.2.1 hooks: - id: codespell - exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)' + exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' args: # if you've got a short variable name that's getting flagged, add it here - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup diff --git a/RELEASES.md b/RELEASES.md index ded06346c6..ceae8d10cb 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,12 +1,12 @@ -Version 0.9.1 (2023-2-20) +Version 0.9.1 (2023-02-23) ======================== -* Adjust alert volume using ambient noise level -* Removed driver monitoring timer resetting on interaction if face detected and distracted -* UI updates - * Driver monitoring icon shows driver's head pose - * German translation thanks to Vrabetz and CzokNorris! * New driving model * 30% improved height estimation resulting in better driving performance for tall cars +* Driver monitoring: removed timer resetting on user interaction if distracted +* UI updates + * Adjust alert volume using ambient noise level + * 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 diff --git a/cereal b/cereal index 168f460269..2cc8197d33 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 168f4602698c3a7a02ae5261cd4a0fa0f935bb59 +Subproject commit 2cc8197d3373b458e67ee518f5def2b1999012ce diff --git a/docs/CARS.md b/docs/CARS.md index 74e64b969f..e6b6bbee7d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -119,7 +119,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| +|Kia|Stinger 2018-20|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 C|| |Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| diff --git a/opendbc b/opendbc index c354dbcdb1..b8895f7c16 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit c354dbcdb1facca115b0fe742a25f59a9c52feff +Subproject commit b8895f7c16f84c1880089a864e2224b6f518bb11 diff --git a/panda b/panda index 87ea052e55..92f4dbb620 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 87ea052e5588bc09f939e92e15b6914267345917 +Subproject commit 92f4dbb620b856b3e4932ce87ec870c99536e7aa diff --git a/poetry.lock b/poetry.lock index 8edfbb868c..91e1b5c826 100644 --- a/poetry.lock +++ b/poetry.lock @@ -564,6 +564,34 @@ python-versions = ">=3.7" [package.dependencies] colorama = {version = "*", markers = "platform_system == \"Windows\""} +[[package]] +name = "click-plugins" +version = "1.1.1" +description = "An extension module for click to enable registering CLI commands via setuptools entry-points." +category = "dev" +optional = false +python-versions = "*" + +[package.dependencies] +click = ">=4.0" + +[package.extras] +dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"] + +[[package]] +name = "cligj" +version = "0.7.2" +description = "Click params for commmand line interfaces to GeoJSON" +category = "dev" +optional = false +python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4" + +[package.dependencies] +click = ">=4.0" + +[package.extras] +test = ["pytest-cov"] + [[package]] name = "cloudpickle" version = "2.2.0" @@ -959,6 +987,29 @@ python-versions = ">=3.7" docs = ["furo (>=2022.6.21)", "sphinx (>=5.1.1)", "sphinx-autodoc-typehints (>=1.19.1)"] testing = ["covdefaults (>=2.2)", "coverage (>=6.4.2)", "pytest (>=7.1.2)", "pytest-cov (>=3)", "pytest-timeout (>=2.1)"] +[[package]] +name = "fiona" +version = "1.9.1" +description = "Fiona reads and writes spatial data files" +category = "dev" +optional = false +python-versions = ">=3.7" + +[package.dependencies] +attrs = ">=19.2.0" +certifi = "*" +click = ">=8.0,<9.0" +click-plugins = ">=1.0" +cligj = ">=0.5" +munch = ">=2.3.2" +setuptools = "*" + +[package.extras] +all = ["Fiona[calc,s3,test]"] +calc = ["shapely"] +s3 = ["boto3 (>=1.3.1)"] +test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"] + [[package]] name = "flake8" version = "4.0.1" @@ -1092,6 +1143,21 @@ python-versions = ">=3.7" packaging = "*" SQLAlchemy = ">=1.4" +[[package]] +name = "geopandas" +version = "0.12.2" +description = "Geographic pandas extensions" +category = "dev" +optional = false +python-versions = ">=3.8" + +[package.dependencies] +fiona = ">=1.8" +packaging = "*" +pandas = ">=1.0.0" +pyproj = ">=2.6.1.post1" +shapely = ">=1.7" + [[package]] name = "gevent" version = "22.10.1" @@ -2325,27 +2391,18 @@ python-versions = ">=3.5" [[package]] name = "networkx" -version = "2.3" +version = "2.8.8" description = "Python package for creating and manipulating graphs and networks" category = "dev" optional = false -python-versions = ">=3.5" - -[package.dependencies] -decorator = ">=4.3.0" +python-versions = ">=3.8" [package.extras] -all = ["gdal", "lxml", "matplotlib", "nose", "numpy", "pandas", "pydot", "pygraphviz", "pyyaml", "scipy"] -gdal = ["gdal"] -lxml = ["lxml"] -matplotlib = ["matplotlib"] -nose = ["nose"] -numpy = ["numpy"] -pandas = ["pandas"] -pydot = ["pydot"] -pygraphviz = ["pygraphviz"] -pyyaml = ["pyyaml"] -scipy = ["scipy"] +default = ["matplotlib (>=3.4)", "numpy (>=1.19)", "pandas (>=1.3)", "scipy (>=1.8)"] +developer = ["mypy (>=0.982)", "pre-commit (>=2.20)"] +doc = ["nb2plots (>=0.6)", "numpydoc (>=1.5)", "pillow (>=9.2)", "pydata-sphinx-theme (>=0.11)", "sphinx 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Werkzeug = "^2.1.2" zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } omegaconf = "^2.3.0" +osmnx = "==1.2.2" [build-system] diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index c9d4b2ea0e..9a10e30f95 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -316,7 +316,10 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx goto transfer_fail; } rx_data_len = *(uint16_t *)(rx_buf+1); - assert(rx_data_len < SPI_BUF_SIZE); + if (rx_data_len >= SPI_BUF_SIZE) { + LOGE("SPI: RX data len larger than buf size %d", rx_data_len); + goto transfer_fail; + } // Read data transfer.len = rx_data_len + 1; diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index a1be07cbc3..cd5401ce7e 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, create_mads_event -from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, CHRYSLER_OLD_TUNING_BLACKLIST, ChryslerFlags +from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type @@ -42,11 +42,10 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 3.089 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 - 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 + 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): @@ -55,11 +54,10 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.7 ret.steerActuatorDelay = 0.2 - 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 + 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: diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 49f8a080cb..16ebb4fa11 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -46,12 +46,8 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 6 self.STEER_MAX = 261 # EPS allows more, up to 350? else: - 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_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 3 self.STEER_MAX = 261 # higher than this faults the EPS STEER_THRESHOLD = 120 @@ -60,9 +56,6 @@ 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_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE} @dataclass class ChryslerCarInfo(CarInfo): @@ -142,7 +135,7 @@ FINGERPRINTS = { }], CAR.JEEP_CHEROKEE_2019: [{ # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], } diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index a1695733fa..2ee0e9b4c6 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -57,6 +57,8 @@ class Request: whitelist_ecus: List[int] = field(default_factory=list) rx_offset: int = 0x8 bus: int = 1 + # FW responses from these queries will not be used for fingerprinting + logging: bool = False @dataclass diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 0db260abbd..8bf4b74e0f 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -29,10 +29,9 @@ def chunks(l, n=128): def build_fw_dict(fw_versions, filter_brand=None): fw_versions_dict = defaultdict(set) for fw in fw_versions: - if filter_brand is None or fw.brand == filter_brand: - addr = fw.address + if (filter_brand is None or fw.brand == filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None - fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion) + fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) return dict(fw_versions_dict) @@ -232,15 +231,19 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # ECUs using a subaddress need be queried one by one, the rest can be done in parallel addrs = [] parallel_addrs = [] + logging_addrs = [] ecu_types = {} for brand, brand_versions in versions.items(): - for c in brand_versions.values(): - for ecu_type, addr, sub_addr in c.keys(): + for candidate, ecu in brand_versions.items(): + for ecu_type, addr, sub_addr in ecu.keys(): a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type + if a not in logging_addrs and candidate == "debug": + logging_addrs.append(a) + if sub_addr is None: if a not in parallel_addrs: parallel_addrs.append(a) @@ -269,13 +272,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) + ecu_key = (brand, tx_addr, sub_addr) + f.ecu = ecu_types.get(ecu_key, Ecu.unknown) f.fwVersion = version f.address = tx_addr f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus + f.logging = r.logging or ecu_key in logging_addrs if sub_addr is not None: f.subAddress = sub_addr diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 5ff914d1d3..1ab9a2325e 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -107,7 +107,8 @@ class CarState(CarStateBase): ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1 ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 - ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED + ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or + pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1) ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL @@ -163,6 +164,7 @@ class CarState(CarStateBase): ("RLWheelSpd", "EBCMWheelSpdRear"), ("RRWheelSpd", "EBCMWheelSpdRear"), ("MovingBackward", "EBCMWheelSpdRear"), + ("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"), ("PRNDL2", "ECMPRDNL2"), ("ManualMode", "ECMPRDNL2"), ("LKADriverAppldTrq", "PSCMStatus"), @@ -188,6 +190,7 @@ class CarState(CarStateBase): ("VehicleIgnitionAlt", 10), ("EBCMWheelSpdFront", 20), ("EBCMWheelSpdRear", 20), + ("EBCMFrictionBrakeStatus", 20), ("AcceleratorPedal2", 33), ("ASCMSteeringButton", 33), ("ECMEngineStatus", 100), diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 375e51427a..68c9b22311 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,12 +1,15 @@ #!/usr/bin/env python3 +import numpy as np from cereal import car from math import fabs from panda import Panda +from common.numpy_fast import interp from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR -from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from selfdrive.controls.lib.drive_helpers import apply_center_deadzone ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -43,6 +46,43 @@ class CarInterface(CarInterfaceBase): else: return CarInterfaceBase.get_steer_feedforward_default + @staticmethod + def torque_from_lateral_accel_bolt(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): + friction_interp = interp( + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), + [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], + [-torque_params.friction, torque_params.friction] + ) + friction = friction_interp if friction_compensation else 0.0 + steer_torque = lateral_accel_value / torque_params.latAccelFactor + + # TODO: + # 1. Learn the correction factors from data + # 2. Generalize the logic to other GM torque control platforms + steer_break_pts = np.array([-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0]) + steer_lataccel_factors = np.array([1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5]) + steer_correction_factor = np.interp( + steer_torque, + steer_break_pts, + steer_lataccel_factors + ) + + vego_break_pts = np.array([0.0, 10.0, 15.0, 20.0, 100.0]) + vego_lataccel_factors = np.array([1.5, 1.5, 1.25, 1.0, 1.0]) + vego_correction_factor = np.interp( + vego, + vego_break_pts, + vego_lataccel_factors, + ) + + return float((steer_torque + friction) / (steer_correction_factor * vego_correction_factor)) + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + if self.CP.carFingerprint == CAR.BOLT_EUV: + return self.torque_from_lateral_accel_bolt + else: + return self.torque_from_lateral_accel_linear + @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "gm" @@ -176,7 +216,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.8 ret.centerToFront = 2.15 # measured tire_stiffness_factor = 1.0 - ret.steerActuatorDelay = 0.2 + ret.steerActuatorDelay = 0.12 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 7628d8420b..1c956192eb 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -14,8 +14,8 @@ class CarControllerParams: STEER_STEP = 3 # Active control frames per command (~33hz) INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness - STEER_DELTA_DOWN = 25 - STEER_DRIVER_ALLOWANCE = 50 + STEER_DELTA_DOWN = 15 + STEER_DRIVER_ALLOWANCE = 65 STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_FACTOR = 100 NEAR_STOP_BRAKE_PHASE = 0.5 # m/s diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 3d1c006aaa..a4ddd84ead 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -171,12 +171,14 @@ FW_QUERY_CONFIG = FwQueryConfig( [HONDA_VERSION_REQUEST], [HONDA_VERSION_RESPONSE], bus=1, + logging=True ), # Query Nidec PT bus from camera for data collection Request( [StdQueries.UDS_VERSION_REQUEST], [StdQueries.UDS_VERSION_RESPONSE], bus=0, + logging=True ), ], extra_ecus=[ diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 6246950a2c..13d595e8f2 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -199,11 +199,7 @@ class CarController: hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override, CS.mainEnabled)) # 20 Hz LFA MFA message - if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, - CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022, - CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, - CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): + if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, CC.latActive, lateral_paused, blinking_icon)) # 5 Hz ACC options diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index fce71c87e4..5a1ab761ba 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -44,6 +44,10 @@ class CarInterface(CarInterfaceBase): ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value if candidate not in CANFD_RADAR_SCC_CAR: ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value + else: + # Send LFA message on cars with HDA + if 0x485 in fingerprint[2]: + ret.flags |= HyundaiFlags.SEND_LFA.value ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index df4828d24f..bc57a294f0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -58,10 +58,9 @@ class HyundaiFlags(IntFlag): CANFD_CAMERA_SCC = 8 ALT_LIMITS = 16 - ENABLE_BLINKERS = 32 - CANFD_ALT_GEARS_2 = 64 + SEND_LFA = 128 SP_CAN_LFA_BTN = 128 @@ -1565,7 +1564,6 @@ FW_VERSIONS = { CAR.TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', @@ -1656,7 +1654,7 @@ FEATURES = { "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "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}, + "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.KIA_NIRO_HEV_2021, 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, CAR.KIA_OPTIMA_G4_FL}, } 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} @@ -1671,7 +1669,8 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N 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 -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, + CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 198f2d333d..2f3aa0b582 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -20,7 +20,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] +TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 @@ -145,7 +145,7 @@ class CarInterfaceBase(ABC): return self.get_steer_feedforward_default @staticmethod - def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): + def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction_interp = interp( apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 1cb1ccb631..44ec5be881 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -230,7 +230,7 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt) def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}") + return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage") def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: @@ -835,8 +835,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.espDisabled: { - ET.SOFT_DISABLE: soft_disable_alert("ESP Off"), - ET.NO_ENTRY: NoEntryAlert("ESP Off"), + ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"), + ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"), }, EventName.lowBattery: { diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 2f56094379..9129693e5a 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -64,10 +64,10 @@ class LatControlTorque(LatControl): error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, - lateral_accel_deadzone, friction_compensation=False) + lateral_accel_deadzone, CS.vEgo, friction_compensation=False) ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, desired_lateral_accel - actual_lateral_accel, - lateral_accel_deadzone, friction_compensation=True) + lateral_accel_deadzone, CS.vEgo, friction_compensation=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0081a20e21..ed1875dcbe 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fbf92051507b7a7585907b58baadec6b8cc475af +3e53ce81f1ce26409fdc4479e650ef5626130876 \ No newline at end of file diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index a46c25bdfa..16df867d56 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,15 +1,17 @@ #include "tools/cabana/binaryview.h" +#include + #include #include #include #include #include +#include #include -#include - #include "tools/cabana/commands.h" +#include "tools/cabana/signaledit.h" #include "tools/cabana/streams/abstractstream.h" // BinaryView @@ -38,6 +40,63 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh); + + addShortcuts(); +} + +void BinaryView::addShortcuts() { + // Delete (x, backspace, delete) + QShortcut *shortcut_delete_x = new QShortcut(QKeySequence(Qt::Key_X), this); + QShortcut *shortcut_delete_backspace = new QShortcut(QKeySequence(Qt::Key_Backspace), this); + QShortcut *shortcut_delete_delete = new QShortcut(QKeySequence(Qt::Key_Delete), this); + QObject::connect(shortcut_delete_delete, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated); + QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated); + QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{ + if (hovered_sig != nullptr) { + emit removeSignal(hovered_sig); + hovered_sig = nullptr; + } + }); + + // Change endianness (e) + QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this); + QObject::connect(shortcut_endian, &QShortcut::activated, [=]{ + if (hovered_sig != nullptr) { + const Signal *hovered_sig_prev = hovered_sig; + Signal s = *hovered_sig; + s.is_little_endian = !s.is_little_endian; + emit editSignal(hovered_sig, s); + + hovered_sig = nullptr; + highlight(hovered_sig_prev); + } + }); + + // Change signedness (s) + QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this); + QObject::connect(shortcut_sign, &QShortcut::activated, [=]{ + if (hovered_sig != nullptr) { + const Signal *hovered_sig_prev = hovered_sig; + Signal s = *hovered_sig; + s.is_signed = !s.is_signed; + emit editSignal(hovered_sig, s); + + hovered_sig = nullptr; + highlight(hovered_sig_prev); + } + }); + + // Open chart (c, p, g) + QShortcut *shortcut_plot = new QShortcut(QKeySequence(Qt::Key_P), this); + QShortcut *shortcut_plot_g = new QShortcut(QKeySequence(Qt::Key_G), this); + QShortcut *shortcut_plot_c = new QShortcut(QKeySequence(Qt::Key_C), this); + QObject::connect(shortcut_plot_g, &QShortcut::activated, shortcut_plot, &QShortcut::activated); + QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated); + QObject::connect(shortcut_plot, &QShortcut::activated, [=]{ + if (hovered_sig != nullptr) { + emit showChart(model->msg_id, hovered_sig, true, false); + } + }); } QSize BinaryView::minimumSizeHint() const { @@ -83,7 +142,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { if (bit_idx == s->lsb || bit_idx == s->msb) { anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true); resize_sig = s; - delegate->selection_color = item->bg_color; + delegate->selection_color = getColor(s); break; } } @@ -143,8 +202,8 @@ void BinaryView::refresh() { anchor_index = QModelIndex(); resize_sig = nullptr; hovered_sig = nullptr; - highlightPosition(QCursor::pos()); model->refresh(); + highlightPosition(QCursor::pos()); } QSet BinaryView::getOverlappingSignals() const { @@ -266,6 +325,17 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa hex_font.setBold(true); } +bool BinaryItemDelegate::isSameColor(const QModelIndex &index, int dx, int dy) const { + QModelIndex index2 = index.sibling(index.row() + dy, index.column() + dx); + if (!index2.isValid()) { + return false; + } + auto color1 = ((const BinaryViewModel::Item *)index.internalPointer())->bg_color; + auto color2 = ((const BinaryViewModel::Item *)index2.internalPointer())->bg_color; + // Ignore alpha + return (color1.red() == color2.red()) && (color2.green() == color2.green()) && (color1.blue() == color2.blue()); +} + void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (const BinaryViewModel::Item *)index.internalPointer(); BinaryView *bin_view = (BinaryView *)parent(); @@ -277,24 +347,71 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } else if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, selection_color); 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); - int min_alpha = item->sigs.contains(bin_view->hovered_sig) ? 255 : 50; + } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing QColor bg = item->bg_color; - if (bg.alpha() < min_alpha) { - bg.setAlpha(min_alpha); + if (bin_view->hovered_sig && item->sigs.contains(bin_view->hovered_sig)) { + bg.setAlpha(255); + painter->fillRect(option.rect, bg.darker(125)); // 4/5x brightness + painter->setPen(option.palette.color(QPalette::BrightText)); + } else { + if (item->sigs.size() > 0) { + drawBorder(painter, option, index); + bg.setAlpha(std::max(50, bg.alpha())); + } + painter->fillRect(option.rect, bg); + painter->setPen(Qt::black); } - 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); - painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB"); + painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L"); } painter->restore(); } + +// Draw border on edge of signal +void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + QColor border_color = item->bg_color; + border_color.setAlphaF(1.0); + + bool draw_left = !isSameColor(index, -1, 0); + bool draw_top = !isSameColor(index, 0, -1); + bool draw_right = !isSameColor(index, 1, 0); + bool draw_bottom = !isSameColor(index, 0, 1); + + const int spacing = 2; + QRect rc = option.rect.adjusted(draw_left * 3, draw_top * spacing, draw_right * -3, draw_bottom * -spacing); + QRegion subtract; + if (!draw_top) { + if (!draw_left && !isSameColor(index, -1, -1)) { + subtract += QRect{rc.left(), rc.top(), 3, spacing}; + } else if (!draw_right && !isSameColor(index, 1, -1)) { + subtract += QRect{rc.right() - 2, rc.top(), 3, spacing}; + } + } + if (!draw_bottom) { + if (!draw_left && !isSameColor(index, -1, 1)) { + subtract += QRect{rc.left(), rc.bottom() - (spacing - 1), 3, spacing}; + } else if (!draw_right && !isSameColor(index, 1, 1)) { + subtract += QRect{rc.right() - 2, rc.bottom() - (spacing - 1), 3, spacing}; + } + } + + painter->setPen(QPen(border_color, 1)); + if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft()); + if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight()); + if (draw_bottom) painter->drawLine(rc.bottomLeft(), rc.bottomRight()); + if (draw_top) painter->drawLine(rc.topLeft(), rc.topRight()); + + painter->setClipRegion(QRegion(rc).subtracted(subtract)); + if (!subtract.isEmpty()) { + // fill gaps inside corners. + painter->setPen(QPen(border_color, 2)); + for (auto &r : subtract) { + painter->drawRect(r); + } + } +} diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index d006672793..7cf9a8081c 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -13,6 +13,8 @@ public: BinaryItemDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; void setSelectionColor(const QColor &color) { selection_color = color; } + bool isSameColor(const QModelIndex &index, int dx, int dy) const; + void drawBorder(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index) const; QFont small_font, hex_font; QColor selection_color; @@ -66,8 +68,12 @@ signals: void signalHovered(const Signal *sig); void addSignal(int start_bit, int size, bool little_endian); void resizeSignal(const Signal *sig, int from, int size); + void removeSignal(const Signal *sig); + void editSignal(const Signal *origin_s, Signal &s); + void showChart(const QString &name, const Signal *sig, bool show, bool merge); private: + void addShortcuts(); void refresh(); std::tuple getSelection(QModelIndex index); void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5063ec9dea..ec54d7f06a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -364,6 +364,8 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { } void ChartView::addSeries(const QString &msg_id, const Signal *sig) { + if (hasSeries(msg_id, sig)) return; + QXYSeries *series = createSeries(series_type, getColor(sig)); chart()->addSeries(series); series->attachAxis(axis_x); @@ -438,9 +440,7 @@ void ChartView::manageSeries() { emit remove(); } else { for (auto s : items) { - if (!hasSeries(s->msg_id, s->sig)) { - addSeries(s->msg_id, s->sig); - } + addSeries(s->msg_id, s->sig); } for (auto it = sigs.begin(); it != sigs.end(); /**/) { bool exists = std::any_of(items.cbegin(), items.cend(), [&](auto &s) { @@ -780,8 +780,10 @@ QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor colo QXYSeries *series = nullptr; if (type == QAbstractSeries::SeriesTypeLine) { series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); } else { series = new QScatterSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); } series->setColor(color); // TODO: Due to a bug in CameraWidget the camera frames @@ -850,7 +852,9 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) // buttons QVBoxLayout *btn_layout = new QVBoxLayout(); QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this); + add_btn->setEnabled(false); QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this); + remove_btn->setEnabled(false); btn_layout->addStretch(0); btn_layout->addWidget(add_btn); btn_layout->addWidget(remove_btn); diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 41471a6169..7571d1c44e 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -54,6 +54,8 @@ private: std::map msgs; }; +const QString UNTITLED = "untitled"; + // TODO: Add helper function in dbc.h double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); bool operator==(const Signal &l, const Signal &r); @@ -63,7 +65,7 @@ int bigEndianBitIndex(int index); void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); std::pair getSignalRange(const Signal *s); DBCManager *dbc(); -inline QString msgName(const QString &id, const char *def = "untitled") { +inline QString msgName(const QString &id) { auto msg = dbc()->msg(id); - return msg ? msg->name : def; + return msg ? msg->name : UNTITLED; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 25d9b3b9ca..2036912344 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,6 +1,5 @@ #include "tools/cabana/detailwidget.h" -#include #include #include #include @@ -75,6 +74,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); QObject::connect(binary_view, &BinaryView::signalClicked, signal_view, &SignalView::expandSignal); + QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal); + QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal); + QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart); QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart); QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight); QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); }); @@ -190,11 +192,13 @@ void DetailWidget::removeMsg() { // EditMessageDialog -EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Edit message")); +EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) + : original_name(title), QDialog(parent) { + setWindowTitle(tr("Edit message: %1").arg(msg_id)); QFormLayout *form_layout = new QFormLayout(this); - form_layout->addRow("ID", new QLabel(msg_id)); + form_layout->addRow("", error_label = new QLabel); + error_label->setVisible(false); name_edit = new QLineEdit(title, this); name_edit->setValidator(new NameValidator(name_edit)); form_layout->addRow(tr("Name"), name_edit); @@ -205,12 +209,28 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title size_spin->setValue(size); form_layout->addRow(tr("Size"), size_spin); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - form_layout->addRow(buttonBox); - setFixedWidth(parent->width() * 0.9); + btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + btn_box->button(QDialogButtonBox::Ok)->setEnabled(false); + form_layout->addRow(btn_box); - connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + setFixedWidth(parent->width() * 0.9); + connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName); + connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept); + connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +void EditMessageDialog::validateName(const QString &text) { + bool valid = false; + error_label->setVisible(false); + if (!text.isEmpty() && text != original_name && text.compare(UNTITLED, Qt::CaseInsensitive) != 0) { + valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), + [&text](auto &m) { return m.second.name == text; }); + if (!valid) { + error_label->setText(tr("Name already exists")); + error_label->setVisible(true); + } + } + btn_box->button(QDialogButtonBox::Ok)->setEnabled(valid); } // WelcomeWidget diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 0983f49924..c5d5fe9a4d 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -14,8 +15,12 @@ class EditMessageDialog : public QDialog { public: EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent); + void validateName(const QString &text); + QString original_name; + QDialogButtonBox *btn_box; QLineEdit *name_edit; + QLabel *error_label; QSpinBox *size_spin; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 3a3397af42..e4ad99758b 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -81,11 +81,12 @@ void HistoryLogModel::updateState() { if (!msg_id.isEmpty()) { uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1; auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0); - if ((has_more_data = !new_msgs.empty())) { + if (!new_msgs.empty()) { beginInsertRows({}, 0, new_msgs.size() - 1); messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); endInsertRows(); } + has_more_data = new_msgs.size() >= batch_size; last_fetch_time = current_time; } } @@ -93,11 +94,12 @@ void HistoryLogModel::updateState() { void HistoryLogModel::fetchMore(const QModelIndex &parent) { if (!messages.empty()) { auto new_msgs = fetchData(messages.back().mono_time); - if ((has_more_data = !new_msgs.empty())) { + if (!new_msgs.empty()) { beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1); messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); endInsertRows(); } + has_more_data = new_msgs.size() >= batch_size; } } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 7988037c34..0499b1be8a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -449,3 +449,8 @@ void SignalView::signalHovered(const Signal *sig) { } } } + +void SignalView::leaveEvent(QEvent *event) { + emit highlight(nullptr); + QWidget::leaveEvent(event); +} diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 6a904e7328..c0b649209a 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -89,6 +89,7 @@ signals: private: void rowsChanged(); + void leaveEvent(QEvent *event); QString msg_id; QTreeView *tree;