HKG: Car Port for G80 2022 (3.5T, HDA2)

selfdrive/modeld/models/driving_off_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e53f4e0527766082ba7bde38e275def0fe3c14f6c59ae2854439e239884d3ecc
-size 13393365
+oid sha256:eb6992bd60bada6162fea298e1a414b6b3d6a326db4eda46b9de62bcd8554754
+size 13393859

selfdrive/modeld/models/driving_on_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea89c50da3a16e710da292f97c81b083a982cfdee5c28eca0d37ed2fb99af6c5
-size 13022642
+oid sha256:86680a657bbb34f997034d1930bb2cb65c38b9222cea199732f72bd45791cfad
+size 13022803

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6263aa3fbb44cde6c68a34cdb7cd8c389789dbc02b15c1911afdac4e018281ae
-size 23267151
+oid sha256:7af05e03fd170653ff5771baf373a2c57b363da12c4c411cd416dee067b4cf58
+size 23266366

tools/jotpluggler/plot.cc

@@ -6,6 +6,7 @@
 #include <cmath>
 #include <cstdio>
 #include <limits>
+#include <unordered_set>
 
 constexpr double PLOT_Y_PAD_FRACTION = 0.4;
 
@@ -73,6 +74,10 @@ struct StateBlock {
   std::string label;
 };
 
+struct PaneEnumContext {
+  std::vector<const EnumInfo *> enums;
+};
+
 struct PaneValueFormatContext {
   SeriesFormat format;
   bool valid = false;
@@ -101,6 +106,38 @@ bool curves_are_bool_like(const std::vector<PreparedCurve> &prepared_curves) {
   return true;
 }
 
+bool curve_is_state_like(const PreparedCurve &curve) {
+  if (!curve.display_info.integer_like || curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
+    return false;
+  }
+  if (curve.enum_info != nullptr) {
+    return true;
+  }
+  std::unordered_set<int> distinct_values;
+  for (double value : curve.ys) {
+    if (!std::isfinite(value)) {
+      continue;
+    }
+    distinct_values.insert(static_cast<int>(std::llround(value)));
+    if (distinct_values.size() > 12) {
+      return false;
+    }
+  }
+  return !distinct_values.empty();
+}
+
+bool curves_use_state_blocks(const std::vector<PreparedCurve> &prepared_curves) {
+  if (prepared_curves.empty()) {
+    return false;
+  }
+  for (const PreparedCurve &curve : prepared_curves) {
+    if (!curve_is_state_like(curve)) {
+      return false;
+    }
+  }
+  return true;
+}
+
 ImU32 state_block_color(int value, float alpha = 1.0f) {
   static constexpr std::array<std::array<uint8_t, 3>, 8> kPalette = {{
     {{111, 143, 175}},
@@ -270,6 +307,36 @@ std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
   return y0 + (y1 - y0) * alpha;
 }
 
+int format_enum_axis_tick(double value, char *buf, int size, void *user_data) {
+  const auto *ctx = static_cast<const PaneEnumContext *>(user_data);
+  const int idx = static_cast<int>(std::llround(value));
+  if (ctx != nullptr && idx >= 0 && std::abs(value - static_cast<double>(idx)) < 0.01) {
+    std::vector<std::string_view> names;
+    names.reserve(ctx->enums.size());
+    for (const EnumInfo *info : ctx->enums) {
+      if (info == nullptr || static_cast<size_t>(idx) >= info->names.size()) {
+        continue;
+      }
+      const std::string &name = info->names[static_cast<size_t>(idx)];
+      if (name.empty()) continue;
+      if (std::find(names.begin(), names.end(), std::string_view(name)) == names.end()) {
+        names.emplace_back(name);
+      }
+    }
+    if (!names.empty()) {
+      std::string joined;
+      for (size_t i = 0; i < names.size(); ++i) {
+        if (i != 0) {
+          joined += ", ";
+        }
+        joined += names[i];
+      }
+      return std::snprintf(buf, size, "%d (%s)", idx, joined.c_str());
+    }
+  }
+  return std::snprintf(buf, size, "%.6g", value);
+}
+
 int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
   const auto *ctx = static_cast<const PaneValueFormatContext *>(user_data);
   if (ctx == nullptr || !ctx->valid) {
@@ -764,16 +831,23 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
   }
 
   const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
+  PaneEnumContext enum_context;
   PaneValueFormatContext pane_value_format;
-  bool state_block_mode = !prepared_curves.empty();
+  const bool state_block_mode = curves_use_state_blocks(prepared_curves);
+  bool all_enum_curves = !prepared_curves.empty();
   size_t max_legend_label_width = 0;
   for (const PreparedCurve &curve : prepared_curves) {
     max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
-    if (curve.enum_info == nullptr) {
-      state_block_mode = false;
+    if (curve.enum_info != nullptr) {
+      enum_context.enums.push_back(curve.enum_info);
+    } else {
+      all_enum_curves = false;
       merge_pane_value_format(&pane_value_format, curve.display_info);
     }
   }
+  if (prepared_curves.empty()) {
+    all_enum_curves = false;
+  }
   const int supported_count = static_cast<int>(prepared_curves.size());
   const ImVec2 plot_size = ImGui::GetContentRegionAvail();
   const bool has_cursor_time = state->has_tracker_time;
@@ -821,6 +895,8 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
     ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
     if (state_block_mode) {
       ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
+    } else if (all_enum_curves && !enum_context.enums.empty()) {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, format_enum_axis_tick, &enum_context);
     } else if (pane_value_format.valid) {
       ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
     } else {