diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index f8a53c5ae0..fdd26253fa 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -5,7 +5,44 @@ on: types: [created, edited] jobs: - # TODO: gc old branches in a separate job in this workflow + cleanup-branches: + runs-on: ubuntu-latest + permissions: + contents: write + steps: + - name: Delete stale Jenkins branches + uses: actions/github-script@v8 + with: + script: | + const cutoff = Date.now() - 24 * 60 * 60 * 1000; + const prefixes = ['tmp-jenkins', '__jenkins']; + + for await (const response of github.paginate.iterator(github.rest.repos.listBranches, { + owner: context.repo.owner, + repo: context.repo.repo, + per_page: 100, + })) { + for (const branch of response.data) { + if (!prefixes.some(p => branch.name.startsWith(p))) continue; + + const { data: commit } = await github.rest.repos.getCommit({ + owner: context.repo.owner, + repo: context.repo.repo, + ref: branch.commit.sha, + }); + + const commitDate = new Date(commit.commit.committer.date).getTime(); + if (commitDate < cutoff) { + console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`); + await github.rest.git.deleteRef({ + owner: context.repo.owner, + repo: context.repo.repo, + ref: `heads/${branch.name}`, + }); + } + } + } + scan-comments: runs-on: ubuntu-latest if: ${{ github.event.issue.pull_request }} diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 073de88f8e..3c652b6ce6 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -21,7 +21,7 @@ jobs: run: | ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish" - name: Create Pull Request - uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 + uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0 with: author: github-actions[bot] commit-message: "Update translations" @@ -48,6 +48,12 @@ jobs: python3 -m ensurepip --upgrade pip3 install uv uv lock --upgrade + - name: uv pip tree + id: pip_tree + run: | + echo 'PIP_TREE<> $GITHUB_OUTPUT + uv pip tree >> $GITHUB_OUTPUT + echo 'EOF' >> $GITHUB_OUTPUT - name: bump submodules run: | git config --global --add safe.directory '*' @@ -61,7 +67,7 @@ jobs: python selfdrive/car/docs.py git add docs/CARS.md - name: Create Pull Request - uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 + uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0 with: author: github-actions[bot] token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }} @@ -70,5 +76,10 @@ jobs: branch: auto-package-updates base: master delete-branch: true - body: 'Automatic PR from repo-maintenance -> package_updates' + body: | + Automatic PR from repo-maintenance -> package_updates + + ``` + ${{ steps.pip_tree.outputs.PIP_TREE }} + ``` labels: bot diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index 62a30bdde3..5cd51f9443 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -20,8 +20,6 @@ concurrency: env: PYTHONWARNINGS: error BASE_IMAGE: sunnypilot-base - AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: release/ci/docker_build_sp.sh base @@ -217,12 +215,13 @@ jobs: uses: actions/cache@v5 with: path: .ci_cache/comma_download_cache - key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }} + key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/test_processes.py') }} - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} + continue-on-error: ${{ github.ref == 'refs/heads/master' }} run: | ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ chmod -R 777 /tmp/comma_download_cache" @@ -236,10 +235,26 @@ jobs: with: name: process_replay_diff.txt path: selfdrive/test/process_replay/diff.txt - - name: Upload reference logs - if: false # TODO: move this to github instead of azure + - name: Checkout ci-artifacts + if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master' + uses: actions/checkout@v4 + with: + repository: commaai/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/ci-artifacts + - name: Push refs + if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master' + working-directory: ${{ github.workspace }}/ci-artifacts run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + git checkout --orphan process-replay + git rm -rf . + git config user.name "GitHub Actions Bot" + git config user.email "<>" + cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst . + echo "${{ github.sha }}" > ref_commit + git add . + git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" + git push origin process-replay --force - name: Run regen if: false timeout-minutes: 4 diff --git a/.github/workflows/vendor_third_party.yaml b/.github/workflows/vendor_third_party.yaml new file mode 100644 index 0000000000..df50cfad23 --- /dev/null +++ b/.github/workflows/vendor_third_party.yaml @@ -0,0 +1,51 @@ +name: vendor third_party + +on: + workflow_dispatch: + +jobs: + build: + if: github.ref != 'refs/heads/master' + strategy: + matrix: + os: [ubuntu-24.04, macos-latest] + runs-on: ${{ matrix.os }} + steps: + - uses: actions/checkout@v6 + with: + submodules: true + - name: Build + run: third_party/build.sh + - name: Package artifacts + run: | + git add -A third_party/ + git diff --cached --name-only -- third_party/ | tar -cf /tmp/third_party_build.tar -T - + - uses: actions/upload-artifact@v4 + with: + name: third-party-${{ runner.os }} + path: /tmp/third_party_build.tar + + commit: + needs: build + runs-on: ubuntu-24.04 + permissions: + contents: write + steps: + - uses: actions/checkout@v6 + - uses: actions/download-artifact@v4 + with: + path: /tmp/artifacts + - name: Commit vendored libraries + run: | + for f in /tmp/artifacts/*/third_party_build.tar; do + tar xf "$f" + done + git add third_party/ + if git diff --cached --quiet; then + echo "No changes to commit" + exit 0 + fi + git config user.name "github-actions[bot]" + git config user.email "github-actions[bot]@users.noreply.github.com" + git commit -m "third_party: rebuild vendor libraries" + git push diff --git a/.gitignore b/.gitignore index 8a32f23604..18f494148d 100644 --- a/.gitignore +++ b/.gitignore @@ -100,6 +100,7 @@ Pipfile .ionide .claude/ +.context/ PLAN.md TASK.md diff --git a/cereal/SConscript b/cereal/SConscript index a58a9490ce..73dc61844b 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files]) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread']) +env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread']) socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc']) diff --git a/cereal/log.capnp b/cereal/log.capnp index 8ccd86f0ed..343b7a97fa 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1478,6 +1478,11 @@ struct ProcLog { cmdline @15 :List(Text); exe @16 :Text; + + # from /proc//smaps_rollup (proportional/private memory) + memPss @17 :UInt64; # Pss — shared pages split by mapper count + memPssAnon @18 :UInt64; # Pss_Anon — private anonymous (heap, stack) + memPssShmem @19 :UInt64; # Pss_Shmem — proportional MSGQ/tmpfs share } struct CPUTimes { @@ -2227,9 +2232,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isActiveMode @16 :Bool; isRHD @4 :Bool; uncertainCount @19 :UInt32; + phoneProbOffset @20 :Float32; + phoneProbValidCount @21 :UInt32; - phoneProbOffsetDEPRECATED @20 :Float32; - phoneProbValidCountDEPRECATED @21 :UInt32; isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc index fb92c575c9..77823c413a 100644 --- a/cereal/messaging/bridge.cc +++ b/cereal/messaging/bridge.cc @@ -25,14 +25,14 @@ void msgq_to_zmq(const std::vector &endpoints, const std::string &i } void zmq_to_msgq(const std::vector &endpoints, const std::string &ip) { - auto poller = std::make_unique(); - auto pub_context = std::make_unique(); - auto sub_context = std::make_unique(); - std::map sub2pub; + auto poller = std::make_unique(); + auto pub_context = std::make_unique(); + auto sub_context = std::make_unique(); + std::map sub2pub; for (auto endpoint : endpoints) { - auto pub_sock = new MSGQPubSocket(); - auto sub_sock = new ZMQSubSocket(); + auto pub_sock = new PubSocket(); + auto sub_sock = new BridgeZmqSubSocket(); size_t queue_size = services.at(endpoint).queue_size; pub_sock->connect(pub_context.get(), endpoint, true, queue_size); sub_sock->connect(sub_context.get(), endpoint, ip, false); diff --git a/cereal/messaging/bridge_zmq.cc b/cereal/messaging/bridge_zmq.cc new file mode 100644 index 0000000000..5c56673b47 --- /dev/null +++ b/cereal/messaging/bridge_zmq.cc @@ -0,0 +1,170 @@ +#include "cereal/messaging/bridge_zmq.h" + +#include +#include +#include + +static size_t fnv1a_hash(const std::string &str) { + const size_t fnv_prime = 0x100000001b3; + size_t hash_value = 0xcbf29ce484222325; + for (char c : str) { + hash_value ^= (unsigned char)c; + hash_value *= fnv_prime; + } + return hash_value; +} + +// FIXME: This is a hack to get the port number from the socket name, might have collisions. +static int get_port(std::string endpoint) { + size_t hash_value = fnv1a_hash(endpoint); + int start_port = 8023; + int max_port = 65535; + return start_port + (hash_value % (max_port - start_port)); +} + +BridgeZmqContext::BridgeZmqContext() { + context = zmq_ctx_new(); +} + +BridgeZmqContext::~BridgeZmqContext() { + if (context != nullptr) { + zmq_ctx_term(context); + } +} + +void BridgeZmqMessage::init(size_t sz) { + size = sz; + data = new char[size]; +} + +void BridgeZmqMessage::init(char *d, size_t sz) { + size = sz; + data = new char[size]; + memcpy(data, d, size); +} + +void BridgeZmqMessage::close() { + if (size > 0) { + delete[] data; + } + data = nullptr; + size = 0; +} + +BridgeZmqMessage::~BridgeZmqMessage() { + close(); +} + +int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) { + sock = zmq_socket(context->getRawContext(), ZMQ_SUB); + if (sock == nullptr) { + return -1; + } + + zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0); + + if (conflate) { + int arg = 1; + zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int)); + } + + int reconnect_ivl = 500; + zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl)); + + full_endpoint = "tcp://" + address + ":"; + if (check_endpoint) { + full_endpoint += std::to_string(get_port(endpoint)); + } else { + full_endpoint += endpoint; + } + + return zmq_connect(sock, full_endpoint.c_str()); +} + +void BridgeZmqSubSocket::setTimeout(int timeout) { + zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int)); +} + +Message *BridgeZmqSubSocket::receive(bool non_blocking) { + zmq_msg_t msg; + assert(zmq_msg_init(&msg) == 0); + + int flags = non_blocking ? ZMQ_DONTWAIT : 0; + int rc = zmq_msg_recv(&msg, sock, flags); + + Message *ret = nullptr; + if (rc >= 0) { + ret = new BridgeZmqMessage; + ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg)); + } + + zmq_msg_close(&msg); + return ret; +} + +BridgeZmqSubSocket::~BridgeZmqSubSocket() { + if (sock != nullptr) { + zmq_close(sock); + } +} + +int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) { + sock = zmq_socket(context->getRawContext(), ZMQ_PUB); + if (sock == nullptr) { + return -1; + } + + full_endpoint = "tcp://*:"; + if (check_endpoint) { + full_endpoint += std::to_string(get_port(endpoint)); + } else { + full_endpoint += endpoint; + } + + // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same. + pid = getpid(); + + return zmq_bind(sock, full_endpoint.c_str()); +} + +int BridgeZmqPubSocket::sendMessage(Message *message) { + assert(pid == getpid()); + return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT); +} + +int BridgeZmqPubSocket::send(char *data, size_t size) { + assert(pid == getpid()); + return zmq_send(sock, data, size, ZMQ_DONTWAIT); +} + +BridgeZmqPubSocket::~BridgeZmqPubSocket() { + if (sock != nullptr) { + zmq_close(sock); + } +} + +void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) { + assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0]))); + polls[num_polls].socket = socket->getRawSocket(); + polls[num_polls].events = ZMQ_POLLIN; + + sockets.push_back(socket); + num_polls++; +} + +std::vector BridgeZmqPoller::poll(int timeout) { + std::vector ret; + + int rc = zmq_poll(polls, num_polls, timeout); + if (rc < 0) { + return ret; + } + + for (size_t i = 0; i < num_polls; i++) { + if (polls[i].revents) { + ret.push_back(sockets[i]); + } + } + + return ret; +} diff --git a/cereal/messaging/bridge_zmq.h b/cereal/messaging/bridge_zmq.h new file mode 100644 index 0000000000..ebdbc56c24 --- /dev/null +++ b/cereal/messaging/bridge_zmq.h @@ -0,0 +1,72 @@ +#pragma once + +#include +#include +#include + +#include + +#include "msgq/ipc.h" + +class BridgeZmqContext { +public: + BridgeZmqContext(); + void *getRawContext() { return context; } + ~BridgeZmqContext(); + +private: + void *context = nullptr; +}; + +class BridgeZmqMessage : public Message { +public: + void init(size_t size); + void init(char *data, size_t size); + void close(); + size_t getSize() { return size; } + char *getData() { return data; } + ~BridgeZmqMessage(); + +private: + char *data = nullptr; + size_t size = 0; +}; + +class BridgeZmqSubSocket { +public: + int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true); + void setTimeout(int timeout); + Message *receive(bool non_blocking = false); + void *getRawSocket() { return sock; } + ~BridgeZmqSubSocket(); + +private: + void *sock = nullptr; + std::string full_endpoint; +}; + +class BridgeZmqPubSocket { +public: + int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true); + int sendMessage(Message *message); + int send(char *data, size_t size); + void *getRawSocket() { return sock; } + ~BridgeZmqPubSocket(); + +private: + void *sock = nullptr; + std::string full_endpoint; + int pid = -1; +}; + +class BridgeZmqPoller { +public: + void registerSocket(BridgeZmqSubSocket *socket); + std::vector poll(int timeout); + +private: + static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128; + std::vector sockets; + zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {}; + size_t num_polls = 0; +}; diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc index 7f8c738d4d..5e7ea22273 100644 --- a/cereal/messaging/msgq_to_zmq.cc +++ b/cereal/messaging/msgq_to_zmq.cc @@ -22,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) { } void MsgqToZmq::run(const std::vector &endpoints, const std::string &ip) { - zmq_context = std::make_unique(); - msgq_context = std::make_unique(); + zmq_context = std::make_unique(); + msgq_context = std::make_unique(); // Create ZMQPubSockets for each endpoint for (const auto &endpoint : endpoints) { auto &socket_pair = socket_pairs.emplace_back(); socket_pair.endpoint = endpoint; - socket_pair.pub_sock = std::make_unique(); + socket_pair.pub_sock = std::make_unique(); int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint); if (ret != 0) { printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno())); @@ -49,7 +49,7 @@ void MsgqToZmq::run(const std::vector &endpoints, const std::string for (auto sub_sock : msgq_poller->poll(100)) { // Process messages for each socket - ZMQPubSocket *pub_sock = sub2pub.at(sub_sock); + BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock); for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) { auto msg = std::unique_ptr(sub_sock->receive(true)); if (!msg) break; @@ -72,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() { // Set up ZMQ monitor for each pub socket for (int i = 0; i < socket_pairs.size(); ++i) { std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i); - zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED); + zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED); void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR); zmq_connect(monitor_socket, addr.c_str()); @@ -130,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() { // Clean up monitor sockets for (int i = 0; i < pollitems.size(); ++i) { - zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0); + zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0); zmq_close(pollitems[i].socket); } cv.notify_one(); diff --git a/cereal/messaging/msgq_to_zmq.h b/cereal/messaging/msgq_to_zmq.h index ebdbe5df69..64f3a2173e 100644 --- a/cereal/messaging/msgq_to_zmq.h +++ b/cereal/messaging/msgq_to_zmq.h @@ -7,9 +7,8 @@ #include #include -#define private public #include "msgq/impl_msgq.h" -#include "msgq/impl_zmq.h" +#include "cereal/messaging/bridge_zmq.h" class MsgqToZmq { public: @@ -22,16 +21,16 @@ protected: struct SocketPair { std::string endpoint; - std::unique_ptr pub_sock; + std::unique_ptr pub_sock; std::unique_ptr sub_sock; int connected_clients = 0; }; - std::unique_ptr msgq_context; - std::unique_ptr zmq_context; + std::unique_ptr msgq_context; + std::unique_ptr zmq_context; std::mutex mutex; std::condition_variable cv; std::unique_ptr msgq_poller; - std::map sub2pub; + std::map sub2pub; std::vector socket_pairs; }; diff --git a/common/utils.py b/common/utils.py index ccc6719f5f..faaa96ecbc 100644 --- a/common/utils.py +++ b/common/utils.py @@ -167,6 +167,92 @@ def managed_proc(cmd: list[str], env: dict[str, str]): proc.kill() +def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None): + rows = [list(row) for row in tabular_data] + + def fmt(val): + if isinstance(val, str): + return val + if isinstance(val, (bool, int)): + return str(val) + try: + return format(val, floatfmt) + except (TypeError, ValueError): + return str(val) + + formatted = [[fmt(c) for c in row] for row in rows] + hdrs = [str(h) for h in headers] if headers else None + + ncols = max((len(r) for r in formatted), default=0) + if hdrs: + ncols = max(ncols, len(hdrs)) + if ncols == 0: + return "" + + for r in formatted: + r.extend([""] * (ncols - len(r))) + if hdrs: + hdrs.extend([""] * (ncols - len(hdrs))) + + widths = [0] * ncols + if hdrs: + for i in range(ncols): + widths[i] = len(hdrs[i]) + for row in formatted: + for i in range(ncols): + widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n'))) + + def _align(s, w): + if stralign == "center": + return s.center(w) + return s.ljust(w) + + if tablefmt == "html": + parts = [""] + if hdrs: + parts.append("") + parts.append("" + "".join(f"" for h in hdrs) + "") + parts.append("") + parts.append("") + for row in formatted: + parts.append("" + "".join(f"" for c in row) + "") + parts.append("") + parts.append("
{h}
{c}
") + return "\n".join(parts) + + if tablefmt == "simple_grid": + def _sep(left, mid, right): + return left + mid.join("\u2500" * (w + 2) for w in widths) + right + + top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518") + + def _fmt_row(cells): + split = [c.split('\n') for c in cells] + nlines = max(len(s) for s in split) + for s in split: + s.extend([""] * (nlines - len(s))) + return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)] + + lines = [top] + if hdrs: + lines.extend(_fmt_row(hdrs)) + lines.append(mid_sep) + for ri, row in enumerate(formatted): + lines.extend(_fmt_row(row)) + lines.append(mid_sep if ri < len(formatted) - 1 else bot) + return "\n".join(lines) + + # simple + gap = " " + lines = [] + if hdrs: + lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True))) + lines.append(gap.join("-" * w for w in widths)) + for row in formatted: + lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols))) + return "\n".join(lines) + + def retry(attempts=3, delay=1.0, ignore_failure=False): def decorator(func): @functools.wraps(func) diff --git a/msgq_repo b/msgq_repo index 20f2493855..4c4e814ed5 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474 +Subproject commit 4c4e814ed592db52431bb53d37f0bb93299e960c diff --git a/opendbc_repo b/opendbc_repo index ff2f9686c2..f07b9b3f38 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ff2f9686c208824a72b30d4cc540a6ab78c5983e +Subproject commit f07b9b3f38ab94a367c4d576b8cdc0f73a81ee06 diff --git a/panda b/panda index ed8a6f9ec2..a95e060e85 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ed8a6f9ec2849c144ab1b4a4dde2ba2c30ae3b1c +Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571 diff --git a/pyproject.toml b/pyproject.toml index 1e62b804c0..3d6eb07475 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -89,7 +89,6 @@ testing = [ "pytest-timeout", "pytest-asyncio", "pytest-mock", - "pytest-repeat", "ruff", "codespell", "pre-commit-hooks", @@ -97,15 +96,12 @@ testing = [ dev = [ "av", - "azure-identity", - "azure-storage-blob", "dictdiffer", "matplotlib", "opencv-python-headless", "parameterized >=0.8, <0.9", "pyautogui", "pywinctl", - "tabulate", ] tools = [ diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py index ddc8b3a868..30ccf9ca55 100755 --- a/selfdrive/assets/fonts/process.py +++ b/selfdrive/assets/fonts/process.py @@ -11,7 +11,7 @@ LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json" GLYPH_PADDING = 6 EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥" -UNIFONT_LANGUAGES = {"ar", "th", "zh-CHT", "zh-CHS", "ko", "ja"} +UNIFONT_LANGUAGES = {"th", "zh-CHT", "zh-CHS", "ko", "ja"} def _languages(): diff --git a/selfdrive/assets/icons_mici/buttons/button_side_back.png b/selfdrive/assets/icons_mici/buttons/button_side_back.png deleted file mode 100644 index 3d648d34f1..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_back.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9df44871e9f5fa910622b0b92205b92a54d137dbdc3827b92e8622d85ff2e08e -size 5189 diff --git a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png b/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png deleted file mode 100644 index e431cb0c73..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:013b368b38b17d9b2ef6aaf0f498f672deed95888084b7287f42bdfba617cbb6 -size 10142 diff --git a/selfdrive/assets/icons_mici/buttons/button_side_check.png b/selfdrive/assets/icons_mici/buttons/button_side_check.png deleted file mode 100644 index 820b236066..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_check.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8fd563eec78d5ce4a8204c2f596789e1090cb3e26a35b4ffeacee4ab61968538 -size 8303 diff --git a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png b/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png deleted file mode 100644 index 6c38508af9..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0be8d5eddcd9f87acbf1daccf446be6218522120f64aee1ee0a3c0b31560f076 -size 15761 diff --git a/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png new file mode 100644 index 0000000000..39dd7b1947 --- /dev/null +++ b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af8d5ecb6468442361462aa838a2d234b1256b8139418be8ef2962e4350cfbef +size 2176 diff --git a/selfdrive/assets/icons_mici/settings/keyboard/confirm.png b/selfdrive/assets/icons_mici/settings/keyboard/confirm.png deleted file mode 100644 index 98ca5c61dc..0000000000 --- a/selfdrive/assets/icons_mici/settings/keyboard/confirm.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:43b64365a42d7bf772d567b8867a6ced4ec0175bb88b6acaa3a5345f19ca696e -size 1268 diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter.png b/selfdrive/assets/icons_mici/settings/keyboard/enter.png new file mode 100644 index 0000000000..0b7fc95c51 --- /dev/null +++ b/selfdrive/assets/icons_mici/settings/keyboard/enter.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dd956d5ccfce01a01bea74ef59c9e73dfca406a5ff9ac62417203afa6027fba +size 5620 diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png b/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png new file mode 100644 index 0000000000..251d5d8d14 --- /dev/null +++ b/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dd1c2308872729d58adab390030ae9c987dc7908f0c39391651ea2b6cb620c5 +size 2445 diff --git a/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png b/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png deleted file mode 100644 index 77d9a77d6f..0000000000 --- a/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:88e6c50358f627fc714c1e9883143aeed00baabeab16132e16001aa1051e5eb8 -size 1272 diff --git a/selfdrive/assets/icons_mici/tethering_short.png b/selfdrive/assets/icons_mici/tethering_short.png deleted file mode 100644 index f97fed95de..0000000000 --- a/selfdrive/assets/icons_mici/tethering_short.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fce940a3cbd2e9530e8efdde90794013a272919b2f3ea482bc06535c795640e7 -size 2176 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 9408132c5b..efdef9dd71 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") -SOURCES = ['lead0', 'lead1', 'cruise', 'e2e'] +LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource +MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise) X_DIM = 3 U_DIM = 1 @@ -107,10 +108,10 @@ def gen_long_model(): a_min = SX.sym('a_min') a_max = SX.sym('a_max') x_obstacle = SX.sym('x_obstacle') - prev_a = SX.sym('prev_a') + a_prev = SX.sym('a_prev') lead_t_follow = SX.sym('lead_t_follow') lead_danger_factor = SX.sym('lead_danger_factor') - model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor) + model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor) # dynamics model f_expl = vertcat(v_ego, a_ego, j_ego) @@ -142,7 +143,7 @@ def gen_long_ocp(): a_min, a_max = ocp.model.p[0], ocp.model.p[1] x_obstacle = ocp.model.p[2] - prev_a = ocp.model.p[3] + a_prev = ocp.model.p[3] lead_t_follow = ocp.model.p[4] lead_danger_factor = ocp.model.p[5] @@ -159,7 +160,7 @@ def gen_long_ocp(): x_ego, v_ego, a_ego, - a_ego - prev_a, + a_ego - a_prev, j_ego] ocp.model.cost_y_expr = vertcat(*costs) ocp.model.cost_y_expr_e = vertcat(*costs[:-1]) @@ -217,7 +218,7 @@ class LongitudinalMpc: self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() - self.source = SOURCES[2] + self.source = LongitudinalPlanSource.cruise def reset(self): self.solver.reset() @@ -227,7 +228,7 @@ class LongitudinalMpc: self.v_solution = np.zeros(N+1) self.a_solution = np.zeros(N+1) self.j_solution = np.zeros(N) - self.prev_a = np.array(self.a_solution) + self.a_prev = np.array(self.a_solution) self.yref = np.zeros((N+1, COST_DIM)) for i in range(N): @@ -335,7 +336,7 @@ class LongitudinalMpc: cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] + self.source = MPC_SOURCES[np.argmin(x_obstacles[0])] self.yref[:,:] = 0.0 for i in range(N): @@ -345,7 +346,7 @@ class LongitudinalMpc: self.params[:,0] = ACCEL_MIN self.params[:,1] = ACCEL_MAX self.params[:,2] = np.min(x_obstacles, axis=1) - self.params[:,3] = np.copy(self.prev_a) + self.params[:,3] = np.copy(self.a_prev) self.params[:,4] = t_follow self.params[:,5] = LEAD_DANGER_FACTOR @@ -377,7 +378,7 @@ class LongitudinalMpc: self.a_solution = self.x_sol[:,2] self.j_solution = self.u_sol[:,0] - self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) + self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) t = time.monotonic() if self.solution_status != 0: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index cabaa55290..e02b02d2e0 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET @@ -164,7 +164,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP): output_a_target = min(output_a_target_e2e, output_a_target_mpc) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc if output_a_target < output_a_target_mpc: - self.mpc.source = SOURCES[3] + self.mpc.source = LongitudinalPlanSource.e2e else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc diff --git a/selfdrive/debug/mem_usage.py b/selfdrive/debug/mem_usage.py new file mode 100755 index 0000000000..9bed566e19 --- /dev/null +++ b/selfdrive/debug/mem_usage.py @@ -0,0 +1,238 @@ +#!/usr/bin/env python3 +import argparse +import os +from collections import defaultdict + +import numpy as np +from tabulate import tabulate + +from openpilot.tools.lib.logreader import LogReader + +DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" +MB = 1024 * 1024 +TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center") + + +def _get_procs(): + from openpilot.selfdrive.test.test_onroad import PROCS + return PROCS + + +def is_openpilot_proc(name): + if any(p in name for p in _get_procs()): + return True + # catch openpilot processes not in PROCS (athenad, manager, etc.) + return 'openpilot' in name or name.startswith(('selfdrive.', 'system.')) + + +def get_proc_name(proc): + if len(proc.cmdline) > 0: + return list(proc.cmdline)[0] + return proc.name + + +def pct(val_mb, total_mb): + return val_mb / total_mb * 100 if total_mb else 0 + + +def has_pss(proc_logs): + """Check if logs contain PSS data (new field, not in old logs).""" + try: + for proc in proc_logs[-1].procLog.procs: + if proc.memPss > 0: + return True + except AttributeError: + pass + return False + + +def print_summary(proc_logs, device_states): + mem = proc_logs[-1].procLog.mem + total = mem.total / MB + used = (mem.total - mem.available) / MB + cached = mem.cached / MB + shared = mem.shared / MB + buffers = mem.buffers / MB + + lines = [ + f" Total: {total:.0f} MB", + f" Used (total-avail): {used:.0f} MB ({pct(used, total):.0f}%)", + f" Cached: {cached:.0f} MB ({pct(cached, total):.0f}%) Buffers: {buffers:.0f} MB ({pct(buffers, total):.0f}%)", + f" Shared/MSGQ: {shared:.0f} MB ({pct(shared, total):.0f}%)", + ] + + if device_states: + mem_pcts = [m.deviceState.memoryUsagePercent for m in device_states] + lines.append(f" deviceState memory: {np.min(mem_pcts)}-{np.max(mem_pcts)}% (avg {np.mean(mem_pcts):.0f}%)") + + print("\n-- Memory Summary --") + print("\n".join(lines)) + return total + + +def collect_per_process_mem(proc_logs, use_pss): + """Collect per-process memory samples. Returns {name: {metric: [values_per_sample_in_MB]}}.""" + by_proc = defaultdict(lambda: defaultdict(list)) + + for msg in proc_logs: + sample = defaultdict(lambda: defaultdict(float)) + for proc in msg.procLog.procs: + name = get_proc_name(proc) + sample[name]['rss'] += proc.memRss / MB + if use_pss: + sample[name]['pss'] += proc.memPss / MB + sample[name]['pss_anon'] += proc.memPssAnon / MB + sample[name]['pss_shmem'] += proc.memPssShmem / MB + + for name, metrics in sample.items(): + for metric, val in metrics.items(): + by_proc[name][metric].append(val) + + return by_proc + + +def _has_pss_detail(by_proc) -> bool: + """Check if any process has non-zero pss_anon/pss_shmem (unavailable on some kernels).""" + return any(sum(v.get('pss_anon', [])) > 0 or sum(v.get('pss_shmem', [])) > 0 for v in by_proc.values()) + + +def process_table_rows(by_proc, total_mb, use_pss, show_detail): + """Build table rows. Returns (rows, total_row).""" + mem_key = 'pss' if use_pss else 'rss' + rows = [] + for name in sorted(by_proc, key=lambda n: np.mean(by_proc[n][mem_key]), reverse=True): + m = by_proc[name] + vals = m[mem_key] + avg = round(np.mean(vals)) + row = [name, f"{avg} MB", f"{round(np.max(vals))} MB", f"{round(pct(avg, total_mb), 1)}%"] + if show_detail: + row.append(f"{round(np.mean(m['pss_anon']))} MB") + row.append(f"{round(np.mean(m['pss_shmem']))} MB") + rows.append(row) + + # Total row + total_row = None + if by_proc: + max_samples = max(len(v[mem_key]) for v in by_proc.values()) + totals = [] + for i in range(max_samples): + s = sum(v[mem_key][i] for v in by_proc.values() if i < len(v[mem_key])) + totals.append(s) + avg_total = round(np.mean(totals)) + total_row = ["TOTAL", f"{avg_total} MB", f"{round(np.max(totals))} MB", f"{round(pct(avg_total, total_mb), 1)}%"] + if show_detail: + total_row.append(f"{round(sum(np.mean(v['pss_anon']) for v in by_proc.values()))} MB") + total_row.append(f"{round(sum(np.mean(v['pss_shmem']) for v in by_proc.values()))} MB") + + return rows, total_row + + +def print_process_tables(op_procs, other_procs, total_mb, use_pss): + all_procs = {**op_procs, **other_procs} + show_detail = use_pss and _has_pss_detail(all_procs) + + header = ["process", "avg", "max", "%"] + if show_detail: + header += ["anon", "shmem"] + + op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail) + # filter other: >5MB avg and not bare interpreter paths (test infra noise) + other_filtered = {n: v for n, v in other_procs.items() + if np.mean(v['pss' if use_pss else 'rss']) > 5.0 + and os.path.basename(n.split()[0]) not in ('python', 'python3')} + other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail) + + rows = op_rows + if op_total: + rows.append(op_total) + if other_rows: + sep_width = len(header) + rows.append([""] * sep_width) + rows.extend(other_rows) + if other_total: + other_total[0] = "TOTAL (other)" + rows.append(other_total) + + metric = "PSS (no shared double-count)" if use_pss else "RSS (includes shared, overcounts)" + print(f"\n-- Per-Process Memory: {metric} --") + print(tabulate(rows, header, **TABULATE_OPTS)) + + +def print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss): + last = proc_logs[-1].procLog.mem + used = (last.total - last.available) / MB + shared = last.shared / MB + cached_buf = (last.buffers + last.cached) / MB - shared # shared (MSGQ) is in Cached; separate it + msgq = shared + + mem_key = 'pss' if use_pss else 'rss' + op_total = sum(v[mem_key][-1] for v in op_procs.values()) if op_procs else 0 + other_total = sum(v[mem_key][-1] for v in other_procs.values()) if other_procs else 0 + proc_sum = op_total + other_total + remainder = used - (cached_buf + msgq) - proc_sum + + if not use_pss: + # RSS double-counts shared; add back once to partially correct + remainder += shared + + header = ["", "MB", "%", ""] + label = "PSS" if use_pss else "RSS*" + rows = [ + ["Used (total - avail)", f"{used:.0f}", f"{pct(used, total_mb):.1f}", "memory in use by the system"], + [" Cached + Buffers", f"{cached_buf:.0f}", f"{pct(cached_buf, total_mb):.1f}", "pagecache + fs metadata, reclaimable"], + [" MSGQ (shared)", f"{msgq:.0f}", f"{pct(msgq, total_mb):.1f}", "/dev/shm tmpfs, also in process PSS"], + [f" openpilot {label}", f"{op_total:.0f}", f"{pct(op_total, total_mb):.1f}", "sum of openpilot process memory"], + [f" other {label}", f"{other_total:.0f}", f"{pct(other_total, total_mb):.1f}", "sum of non-openpilot process memory"], + [" kernel/ION/GPU", f"{remainder:.0f}", f"{pct(remainder, total_mb):.1f}", "slab, ION/DMA-BUF, GPU, page tables"], + ] + note = "" if use_pss else " (*RSS overcounts shared mem)" + print(f"\n-- Memory Accounting (last sample){note} --") + print(tabulate(rows, header, tablefmt="simple_grid", stralign="right")) + + +def print_report(proc_logs, device_states=None): + """Print full memory analysis report. Can be called from tests or CLI.""" + if not proc_logs: + print("No procLog messages found") + return + + print(f"{len(proc_logs)} procLog samples, {len(device_states or [])} deviceState samples") + + use_pss = has_pss(proc_logs) + if not use_pss: + print(" (no PSS data — re-record with updated proclogd for accurate numbers)") + + total_mb = print_summary(proc_logs, device_states or []) + + by_proc = collect_per_process_mem(proc_logs, use_pss) + op_procs = {n: v for n, v in by_proc.items() if is_openpilot_proc(n)} + other_procs = {n: v for n, v in by_proc.items() if not is_openpilot_proc(n)} + + print_process_tables(op_procs, other_procs, total_mb, use_pss) + print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Analyze memory usage from route logs") + parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path") + parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})") + args = parser.parse_args() + + if args.demo: + route = DEMO_ROUTE + elif args.route: + route = args.route + else: + parser.error("provide a route or use --demo") + + print(f"Reading logs from: {route}") + + proc_logs = [] + device_states = [] + for msg in LogReader(route): + if msg.which() == 'procLog': + proc_logs.append(msg) + elif msg.which() == 'deviceState': + device_states.append(msg) + + print_report(proc_logs, device_states) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index fca762c69b..7177998571 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -59,7 +59,7 @@ class ModelState: self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize() - output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy() + output = self.model_run(**self.tensor_inputs).numpy().flatten() t2 = time.perf_counter() return output, t2 - t1 diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 6ffce3c5b4..216c5da443 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -217,7 +217,7 @@ class ModelState(ModelStateBase): self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k] self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() + self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 4052a15481..9b1c4a1834 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:35e4a5d4c4d481f915e42358af4665b2c92b8f5c1efd1c0731f21b876ad1d856 -size 6954249 +oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59 +size 6954368 diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index d6d4566884..4f068c4f5a 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -35,7 +35,14 @@ class DRIVER_MONITOR_SETTINGS: self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 - self._PHONE_THRESH = 0.5 + + self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4 + self._PHONE_THRESH2 = 15.0 + self._PHONE_MAX_OFFSET = 0.06 + self._PHONE_MIN_OFFSET = 0.025 + self._PHONE_DATA_AVG = 0.05 + self._PHONE_DATA_VAR = 3*0.005 + self._PHONE_MAX_COUNT = int(360 / self._DT_DMON) self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 @@ -145,10 +152,11 @@ class DriverMonitoring: # init driver status wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2) + phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2) self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT) + self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT) self.pose = DriverPose(settings=self.settings) self.blink = DriverBlink() - self.phone_prob = 0. self.always_on = always_on self.distracted_types = [] @@ -249,7 +257,12 @@ class DriverMonitoring: if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) - if self.phone_prob > self.settings._PHONE_THRESH: + if self.phone.prob_calibrated: + using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \ + * self.settings._PHONE_THRESH2 + else: + using_phone = self.phone.prob > self.settings._PHONE_THRESH + if using_phone: distracted_types.append(DistractedType.DISTRACTED_PHONE) return distracted_types @@ -288,7 +301,7 @@ class DriverMonitoring: * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.phone_prob = driver_data.phoneProb + self.phone.prob = driver_data.phoneProb self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types @@ -302,9 +315,11 @@ class DriverMonitoring: if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted): self.pose.pitch_offseter.push_and_update(self.pose.pitch) self.pose.yaw_offseter.push_and_update(self.pose.yaw) + self.phone.prob_offseter.push_and_update(self.phone.prob) self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT + self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT if self.face_detected and not self.driver_distracted: if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD: @@ -410,6 +425,8 @@ class DriverMonitoring: "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, + "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(), + "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n, "stepChange": self.step_change, "awarenessActive": self.awareness_active, "awarenessPassive": self.awareness_passive, diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index f4064ddcd4..d21e60f838 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -6,16 +6,16 @@ import time import signal import subprocess -from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH +from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE from openpilot.common.swaglog import cloudlog -def get_expected_signature(panda: Panda) -> bytes: +def get_expected_signature() -> bytes: try: - fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn) + fn = os.path.join(FW_PATH, McuType.H7.config.app_fn) return Panda.get_signature_from_firmware(fn) except Exception: cloudlog.exception("Error computing expected signature") @@ -35,7 +35,7 @@ def flash_panda(panda_serial: str) -> Panda: cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...") return panda - fw_signature = get_expected_signature(panda) + fw_signature = get_expected_signature() internal_panda = panda.is_internal() panda_version = "bootstub" if panda.bootstub else panda.get_version() diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index c92d58c011..62f4553bff 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -304,11 +304,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.stockLkas: { - ET.PERMANENT: Alert( - "Stock LKAS: Lane Departure Detected", - "", - AlertStatus.userPrompt, AlertSize.small, - Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"), }, diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 8e279c71cd..28f3b7cd2a 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -22,7 +22,7 @@ Currently the following processes are tested: ### Usage ``` Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS] - [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only] + [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] Regression test to identify changes in a process's output optional arguments: -h, --help show this help message and exit @@ -33,7 +33,6 @@ optional arguments: --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. driverMonitoringState.events) --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents) --update-refs Updates reference logs using current commit - --upload-only Skips testing processes and uploads logs from previous test run ``` ## Forks diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 9ba599bac9..d35474f373 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -9,7 +9,7 @@ from itertools import zip_longest import matplotlib.pyplot as plt import numpy as np -from tabulate import tabulate +from openpilot.common.utils import tabulate from openpilot.common.git import get_commit from openpilot.system.hardware import PC diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit deleted file mode 100644 index 85b79391c3..0000000000 --- a/selfdrive/test/process_replay/ref_commit +++ /dev/null @@ -1 +0,0 @@ -67f3daf309dc6cbb6844fcbaeb83e6596637e551 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 7bf8fe46d7..fbe300a7c9 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -9,14 +9,13 @@ from typing import Any from opendbc.car.car_helpers import interface_names from openpilot.common.git import get_commit -from openpilot.tools.lib.openpilotci import get_url, upload_file +from openpilot.tools.lib.openpilotci import get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ check_most_messages_valid from openpilot.tools.lib.filereader import FileReader from openpilot.tools.lib.logreader import LogReader, save_log - -IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN") +from openpilot.tools.lib.url_file import URLFile source_segments = [ ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA @@ -66,46 +65,17 @@ segments = [ # dashcamOnly makes don't need to be tested until a full port is done excluded_interfaces = ["mock", "body", "psa"] -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" +BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} -def preserve_only_specified_files_from_ref_commit(*commits_to_keep): - """Keep only files in fakedata that contain any of the specified commit hashes.""" - removed = 0 - for f in os.listdir(FAKEDATA): - if not any(commit in f for commit in commits_to_keep): - os.remove(os.path.join(FAKEDATA, f)) - removed += 1 - if removed > 0: - print(f"Removed {removed} old files from {FAKEDATA}") - - -def handle_output_file(cur_log_fn, local): - """Handle the output file based on whether we're using remote or local storage.""" - assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" - - if local: - os.system(f"git add '{os.path.realpath(cur_log_fn)}'") - else: - upload_file(cur_log_fn, os.path.basename(cur_log_fn)) - os.remove(cur_log_fn) - - def run_test_process(data): segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data - res = None - if not args.upload_only: - lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) - # save logs so we can upload when updating refs - save_log(cur_log_fn, log_msgs) - - if args.update_refs or args.upload_only: - print(f'Processing: {os.path.basename(cur_log_fn)}') - handle_output_file(cur_log_fn, args.local) - + lr = LogReader.from_bytes(lr_dat) + res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) + # save logs so we can update refs + save_log(cur_log_fn, log_msgs) return (segment, cfg.proc_name, res) @@ -144,27 +114,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non return str(e), log_msgs -def finalize_git_updates(cur_commit, ref_commit_fn): - """Finalize git updates and create commit.""" - try: - # Add all new files first - os.system(f"git add {os.path.realpath(ref_commit_fn)}") - os.system(f"git add {os.path.realpath(FAKEDATA)}/*.zst") - - # Clean up old files - keep only new ref files since they're becoming the reference - preserve_only_specified_files_from_ref_commit(cur_commit) - - # Add the deletions to git - os.system(f"git add -u {os.path.realpath(FAKEDATA)}") - - # Create the commit - commit_msg = f"test_processes: update ref logs to {cur_commit[:7]}" - os.system(f'git commit -m "{commit_msg}"') - print("Successfully committed reference log updates") - except Exception as e: - print(f"Failed to commit changes: {e}") - - if __name__ == "__main__": all_cars = {car for car, _ in segments} all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS} @@ -186,10 +135,6 @@ if __name__ == "__main__": help="Msgs to ignore (e.g. carEvents)") parser.add_argument("--update-refs", action="store_true", help="Updates reference logs using current commit") - parser.add_argument("--upload-only", action="store_true", - help="Skips testing processes and uploads logs from previous test run") - parser.add_argument("--local", action="store_true", - help="Use local git/ storage instead of remote (Azure for Comma)") parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1), help="Max amount of parallel jobs") args = parser.parse_args() @@ -199,33 +144,21 @@ if __name__ == "__main__": tested_cars = {c.upper() for c in tested_cars} full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs)) - upload = args.update_refs or args.upload_only os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) - if upload: + if args.update_refs: assert full_test, "Need to run full test when updating refs" try: with open(REF_COMMIT_FN) as f: ref_commit = f.read().strip() except FileNotFoundError: - print("Couldn't find reference commit") - sys.exit(1) + ref_commit = URLFile(BASE_URL + "ref_commit", cache=False).read().decode().strip() cur_commit = get_commit() if not cur_commit: raise Exception("Couldn't get current commit") - # Could be set as default in args, but wanted to be more explicit on the flow. - if upload and not args.local and not IS_AZURE_TOKEN_DEFINED: - print("***** Warning: local/git run was used by default since AZURE_TOKEN was NOT found on the env variables! *****") - args.local = True - - # Clean up old files before starting - if upload and args.local: - print("***** Cleaning up old fakedata for local/git tracked refs *****") - preserve_only_specified_files_from_ref_commit(cur_commit, ref_commit) - print(f"***** testing against commit {ref_commit} *****") # check to make sure all car brands are tested @@ -235,12 +168,11 @@ if __name__ == "__main__": log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - if not args.upload_only: - download_segments = [seg for car, seg in segments if car in tested_cars] - log_data: dict[str, LogReader] = {} - p1 = pool.map(get_log_data, download_segments) - for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): - log_data[segment] = lr + download_segments = [seg for car, seg in segments if car in tested_cars] + log_data: dict[str, LogReader] = {} + p1 = pool.map(get_log_data, download_segments) + for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): + log_data[segment] = lr pool_args: Any = [] for car_brand, segment in segments: @@ -255,15 +187,15 @@ if __name__ == "__main__": if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'): continue - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst".replace("|", "_")) if args.update_refs: # reference logs will not exist if routes were just regenerated - ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst") + route, seg_num = segment.rsplit("--", 1) + ref_log_path = get_url(route, seg_num, "rlog.zst") else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst") + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst".replace("|", "_")) ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) - dat = None if args.upload_only else log_data[segment] - pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) + pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, log_data[segment])) log_paths[segment][cfg.proc_name]['ref'] = ref_log_path log_paths[segment][cfg.proc_name]['new'] = cur_log_fn @@ -271,19 +203,16 @@ if __name__ == "__main__": results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - if not args.upload_only: - results[segment][proc] = result + results[segment][proc] = result diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) - if not upload: + if not args.update_refs: with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: f.write(diff_long) print(diff_short) if failed: print("TEST FAILED") - print("\n\nTo push the new reference logs for this commit run:") - print("./test_processes.py --upload-only") else: print("TEST SUCCEEDED") @@ -292,8 +221,4 @@ if __name__ == "__main__": f.write(cur_commit) print(f"\n\nUpdated reference logs for commit: {cur_commit}") - # Only do git operations if we're in local mode - if upload and args.local: - finalize_git_updates(cur_commit, REF_COMMIT_FN) - sys.exit(int(failed)) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f57751c067..008b8ebe7f 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -8,7 +8,7 @@ import time import numpy as np from collections import Counter, defaultdict from pathlib import Path -from tabulate import tabulate +from openpilot.common.utils import tabulate from cereal import log import cereal.messaging as messaging @@ -56,7 +56,7 @@ PROCS = { "selfdrive.ui.soundd": 3.0, "selfdrive.ui.feedback.feedbackd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, - "system.proclogd": 3.0, + "system.proclogd": 7.0, "system.logmessaged": 1.0, "system.tombstoned": 0, "system.journald": 1.0, @@ -282,9 +282,12 @@ class TestOnroad: print("\n------------------------------------------------") print("--------------- Memory Usage -------------------") print("------------------------------------------------") + + from openpilot.selfdrive.debug.mem_usage import print_report + print_report(self.msgs['procLog'], self.msgs['deviceState']) + offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET) mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]] - print("Overall memory usage: ", mems) print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode()) # check for big leaks. note that memory usage is diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py index a83ebd1969..8f24d0b9b9 100644 --- a/selfdrive/ui/mici/layouts/main.py +++ b/selfdrive/ui/mici/layouts/main.py @@ -50,7 +50,7 @@ class MiciMainLayout(Widget): self._alerts_layout, self._home_layout, self._onroad_layout, - ], spacing=0, pad_start=0, pad_end=0) + ], spacing=0, pad_start=0, pad_end=0, scroll_indicator=False) self._scroller.set_reset_scroll_at_show(False) # Disable scrolling when onroad is interacting with bookmark diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 8a083a4a7b..64ce80e231 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -1,6 +1,5 @@ import os import threading -import json import pyray as rl from enum import IntEnum from collections.abc import Callable @@ -11,7 +10,7 @@ from openpilot.common.time_helpers import system_time_valid from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton -from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigDialog, BigConfirmationDialogV2 +from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide @@ -121,6 +120,9 @@ class PairBigButton(BigButton): def __init__(self): super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60)) + def _get_label_font_size(self): + return 64 + def _update_state(self): if ui_state.prime_state.is_paired(): self.set_text("paired") @@ -222,7 +224,7 @@ class UpdateOpenpilotBigButton(BigButton): if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT: self.set_rotate_icon(False) - self.set_value("updater failed to respond") + self.set_value("updater failed\nto respond") self._state = UpdaterState.IDLE self._hide_value_t = rl.get_time() @@ -303,30 +305,14 @@ class DeviceLayoutMici(NavWidget): self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66)) self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off")) - self._load_languages() - - def language_callback(): - def selected_language_callback(): - selected_language = dlg.get_selected_option() - ui_state.params.put("LanguageSetting", self._languages[selected_language]) - - current_language_name = ui_state.params.get("LanguageSetting") - current_language = next(name for name, lang in self._languages.items() if lang == current_language_name) - - dlg = BigMultiOptionDialog(list(self._languages), default=current_language, right_btn_callback=selected_language_callback) - gui_app.set_modal_overlay(dlg) - - # lang_button = BigButton("change language", "", "icons_mici/settings/device/language.png") - # lang_button.set_click_callback(language_callback) - regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png") regulatory_btn.set_click_callback(self._on_regulatory) - driver_cam_btn = BigButton("driver camera preview", "", "icons_mici/settings/device/cameras.png") + driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png") driver_cam_btn.set_click_callback(self._show_driver_camera) driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) - review_training_guide_btn = BigButton("review training guide", "", "icons_mici/settings/device/info.png") + review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png") review_training_guide_btn.set_click_callback(self._on_review_training_guide) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) @@ -353,7 +339,7 @@ class DeviceLayoutMici(NavWidget): def _on_regulatory(self): if not self._fcc_dialog: self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html")) - gui_app.set_modal_overlay(self._fcc_dialog, callback=setattr(self, '_fcc_dialog', None)) + gui_app.set_modal_overlay(self._fcc_dialog) def _offroad_transition(self): self._power_off_btn.set_visible(ui_state.is_offroad()) @@ -371,10 +357,6 @@ class DeviceLayoutMici(NavWidget): self._training_guide = TrainingGuide(completed_callback=completed_callback) gui_app.set_modal_overlay(self._training_guide, callback=lambda result: setattr(self, '_training_guide', None)) - def _load_languages(self): - with open(os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")) as f: - self._languages = json.load(f) - def show_event(self): super().show_event() self._scroller.show_event() diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py index 0d5e527836..fb1d56a1f6 100644 --- a/selfdrive/ui/mici/layouts/settings/network/__init__.py +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -3,8 +3,8 @@ from enum import IntEnum from collections.abc import Callable from openpilot.system.ui.widgets.scroller import Scroller -from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici -from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigCircleToggle +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon, normalize_ssid +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.lib.prime_state import PrimeType @@ -39,8 +39,7 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn.set_enabled(False) self._wifi_manager.set_tethering_active(checked) - self._tethering_toggle_btn = BigCircleToggle("icons_mici/tethering_short.png", toggle_callback=tethering_toggle_callback, - icon_size=(82, 82), icon_offset=(0, 12)) + self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) def tethering_password_callback(password: str): if password: @@ -56,9 +55,6 @@ class NetworkLayoutMici(NavWidget): self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) self._tethering_password_btn.set_click_callback(tethering_password_clicked) - # ******** IP Address ******** - self._ip_address_btn = BigButton("IP Address", "Not connected") - # ******** Network Metered ******** def network_metered_callback(value: str): self._network_metered_btn.set_enabled(False) @@ -74,8 +70,13 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) self._network_metered_btn.set_enabled(False) - wifi_button = BigButton("wi-fi") - wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) + self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47) + + self._wifi_button = BigButton("wi-fi", "not connected", self._wifi_slash_txt, scroll=True) + self._wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) # ******** Advanced settings ******** # ******** Roaming toggle ******** @@ -90,7 +91,7 @@ class NetworkLayoutMici(NavWidget): # Main scroller ---------------------------------- self._scroller = Scroller([ - wifi_button, + self._wifi_button, self._network_metered_btn, self._tethering_toggle_btn, self._tethering_password_btn, @@ -99,7 +100,6 @@ class NetworkLayoutMici(NavWidget): self._apn_btn, self._cellular_metered_btn, # */ - self._ip_address_btn, ], snap_items=False) # Set initial config @@ -158,8 +158,22 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) self._tethering_toggle_btn.set_checked(tethering_active) - # Update IP address - self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected") + # Update wi-fi button with ssid and ip address + # TODO: make sure we handle hidden ssids + connected_network = next((network for network in networks if network.is_connected), None) + self._wifi_button.set_text(normalize_ssid(connected_network.ssid) if connected_network is not None else "wi-fi") + self._wifi_button.set_value(self._wifi_manager.ipv4_address or "not connected") + if connected_network is not None: + strength = WifiIcon.get_strength_icon_idx(connected_network.strength) + if strength == 2: + strength_icon = self._wifi_full_txt + elif strength == 1: + strength_icon = self._wifi_medium_txt + else: + strength_icon = self._wifi_low_txt + self._wifi_button.set_icon(strength_icon) + else: + self._wifi_button.set_icon(self._wifi_slash_txt) # Update network metered self._network_metered_btn.set_value( diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 23b89438dc..db68632c0e 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -50,12 +50,16 @@ class WifiIcon(Widget): def set_scale(self, scale: float): self._scale = scale + @staticmethod + def get_strength_icon_idx(strength: int) -> int: + return round(strength / 100 * 2) + def _render(self, _): if self._network is None: return # Determine which wifi strength icon to use - strength = round(self._network.strength / 100 * 2) + strength = self.get_strength_icon_idx(self._network.strength) if strength == 2: strength_icon = self._wifi_full_txt elif strength == 1: @@ -314,7 +318,7 @@ class WifiUIMici(BigMultiOptionDialog): INACTIVITY_TIMEOUT = 1 def __init__(self, wifi_manager: WifiManager, back_callback: Callable): - super().__init__([], None, None, right_btn_callback=None) + super().__init__([], None) # Set up back navigation self.set_back_callback(back_callback) diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py index 3917899032..a6f59a0389 100644 --- a/selfdrive/ui/mici/layouts/settings/settings.py +++ b/selfdrive/ui/mici/layouts/settings/settings.py @@ -30,22 +30,27 @@ class PanelInfo: instance: Widget +class SettingsBigButton(BigButton): + def _get_label_font_size(self): + return 64 + + class SettingsLayout(NavWidget): def __init__(self): super().__init__() self._params = Params() self._current_panel = None # PanelType.DEVICE - toggles_btn = BigButton("toggles", "", "icons_mici/settings.png") + toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png") toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES)) - network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) + network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK)) - device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) + device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE)) - developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) + developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER)) - firehose_btn = BigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62)) + firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62)) firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE)) self._scroller = Scroller([ diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 0113066ede..f8aee7969f 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -14,7 +14,7 @@ from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets import Widget -from openpilot.common.filter_simple import BounceFilter +from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame from openpilot.common.transformations.orientation import rot_from_euler from enum import IntEnum @@ -169,6 +169,7 @@ class AugmentedRoadView(CameraView): alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png") + self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) # debug self._pm = messaging.PubMaster(['uiDebug']) @@ -221,8 +222,11 @@ class AugmentedRoadView(CameraView): # Draw all UI overlays self._model_renderer.render(self._content_rect) - # Fade out bottom of overlays for looks - rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE) + # Fade out bottom of overlays for looks (only when engaged) + fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED) + if fade_alpha > 1e-2: + rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, + rl.Color(255, 255, 255, int(255 * fade_alpha))) alert_to_render, not_animating_out = self._alert_renderer.will_render() diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 0b252c21aa..29844ccda1 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -3,9 +3,8 @@ from typing import Union from enum import Enum from collections.abc import Callable from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.label import MiciLabel +from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.scroller import DO_ZOOM -from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.common.filter_simple import BounceFilter @@ -18,6 +17,7 @@ SCROLLING_SPEED_PX_S = 50 COMPLICATION_SIZE = 36 LABEL_COLOR = rl.Color(255, 255, 255, int(255 * 0.9)) LABEL_HORIZONTAL_PADDING = 40 +LABEL_VERTICAL_PADDING = 23 # visually matches 30 in figma COMPLICATION_GREY = rl.Color(0xAA, 0xAA, 0xAA, 255) PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07 @@ -52,6 +52,12 @@ class BigCircleButton(Widget): def set_enable_pressed_state(self, pressed: bool): self._press_state_enabled = pressed + def _draw_content(self, btn_y: float): + # draw icon + icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) + rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0], + btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color) + def _render(self, _): # draw background txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg @@ -65,10 +71,7 @@ class BigCircleButton(Widget): btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) - # draw icon - icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) - rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]), - int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color) + self._draw_content(btn_y) class BigCircleToggle(BigCircleButton): @@ -93,48 +96,41 @@ class BigCircleToggle(BigCircleButton): if self._toggle_callback: self._toggle_callback(self._checked) - def _render(self, _): - super()._render(_) + def _draw_content(self, btn_y: float): + super()._draw_content(btn_y) # draw status icon - rl.draw_texture(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled, - int(self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2), - int(self._rect.y + 5), rl.WHITE) + rl.draw_texture_ex(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled, + (self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2, btn_y + 5), + 0, 1.0, rl.WHITE) class BigButton(Widget): """A lightweight stand-in for the Qt BigButton, drawn & updated each frame.""" - def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64)): + def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64), + scroll: bool = False): super().__init__() self.set_rect(rl.Rectangle(0, 0, 402, 180)) self.text = text self.value = value self._icon_size = icon_size + self._scroll = scroll self.set_icon(icon) self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) self._rotate_icon_t: float | None = None - self._label_font = gui_app.font(FontWeight.DISPLAY) - self._value_font = gui_app.font(FontWeight.ROMAN) - - self._label = MiciLabel(text, font_size=self._get_label_font_size(), width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2), - font_weight=FontWeight.DISPLAY, color=LABEL_COLOR, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True) - self._sub_label = MiciLabel(value, font_size=COMPLICATION_SIZE, width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2), - font_weight=FontWeight.ROMAN, color=COMPLICATION_GREY, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True) + self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD, + text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll, + line_height=0.9) + self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN, + text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) + self._update_label_layout() self._load_images() - # internal state - self._scroll_offset = 0 # in pixels - self._needs_scroll = measure_text_cached(self._label_font, text, self._get_label_font_size()).x + 25 > self._rect.width - self._scroll_timer = 0 - self._scroll_state = ScrollState.PRE_SCROLL - def set_icon(self, icon: Union[str, rl.Texture]): self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon @@ -149,28 +145,33 @@ class BigButton(Widget): self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180) self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180) + def _width_hint(self) -> int: + # Single line if scrolling, so hide behind icon if exists + icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0 + return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - icon_size) + def _get_label_font_size(self): - if len(self.text) < 12: - font_size = 64 - elif len(self.text) < 17: - font_size = 48 - elif len(self.text) < 20: - font_size = 42 + if len(self.text) <= 18: + return 48 else: - font_size = 36 + return 42 + def _update_label_layout(self): + self._label.set_font_size(self._get_label_font_size()) if self.value: - font_size -= 20 - - return font_size + self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP) + else: + self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) def set_text(self, text: str): self.text = text self._label.set_text(text) + self._update_label_layout() def set_value(self, value: str): self.value = value self._sub_label.set_text(value) + self._update_label_layout() def get_value(self) -> str: return self.value @@ -178,37 +179,35 @@ class BigButton(Widget): def get_text(self): return self.text - def _update_state(self): - # hold on text for a bit, scroll, hold again, reset - if self._needs_scroll: - """`dt` should be seconds since last frame (rl.get_frame_time()).""" - # TODO: this comment is generated by GPT, prob wrong and misused - dt = rl.get_frame_time() + def _draw_content(self, btn_y: float): + # LABEL ------------------------------------------------------------------ + label_x = self._rect.x + LABEL_HORIZONTAL_PADDING - self._scroll_timer += dt - if self._scroll_state == ScrollState.PRE_SCROLL: - if self._scroll_timer < 0.5: - return - self._scroll_state = ScrollState.SCROLLING - self._scroll_timer = 0 + label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) + self._label.set_color(label_color) + label_rect = rl.Rectangle(label_x, btn_y + LABEL_VERTICAL_PADDING, self._width_hint(), + self._rect.height - LABEL_VERTICAL_PADDING * 2) + self._label.render(label_rect) - elif self._scroll_state == ScrollState.SCROLLING: - self._scroll_offset -= SCROLLING_SPEED_PX_S * dt - # reset when text has completely left the button + 50 px gap - # TODO: use global constant for 30+30 px gap - # TODO: add std Widget padding option integrated into the self._rect - full_len = measure_text_cached(self._label_font, self.text, self._get_label_font_size()).x + 30 + 30 - if self._scroll_offset < (self._rect.width - full_len): - self._scroll_state = ScrollState.POST_SCROLL - self._scroll_timer = 0 + if self.value: + label_y = btn_y + self._rect.height - LABEL_VERTICAL_PADDING + sub_label_height = self._sub_label.get_content_height(self._width_hint()) + sub_label_rect = rl.Rectangle(label_x, label_y - sub_label_height, self._width_hint(), sub_label_height) + self._sub_label.render(sub_label_rect) - elif self._scroll_state == ScrollState.POST_SCROLL: - # wait for a bit before starting to scroll again - if self._scroll_timer < 0.75: - return - self._scroll_state = ScrollState.PRE_SCROLL - self._scroll_timer = 0 - self._scroll_offset = 0 + # ICON ------------------------------------------------------------------- + if self._txt_icon: + rotation = 0 + if self._rotate_icon_t is not None: + rotation = (rl.get_time() - self._rotate_icon_t) * 180 + + # draw top right with 30px padding + x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2 + y = btn_y + 30 + self._txt_icon.height / 2 + source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height) + dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height) + origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2) + rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE) def _render(self, _): # draw _txt_default_bg @@ -223,33 +222,7 @@ class BigButton(Widget): btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) - # LABEL ------------------------------------------------------------------ - lx = self._rect.x + LABEL_HORIZONTAL_PADDING - ly = btn_y + self._rect.height - 33 # - 40# - self._get_label_font_size() / 2 - - if self.value: - self._sub_label.set_position(lx, ly) - ly -= self._sub_label.font_size + 9 - self._sub_label.render() - - label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) - self._label.set_color(label_color) - self._label.set_position(lx, ly) - self._label.render() - - # ICON ------------------------------------------------------------------- - if self._txt_icon: - rotation = 0 - if self._rotate_icon_t is not None: - rotation = (rl.get_time() - self._rotate_icon_t) * 180 - - # drop top right with 30px padding - x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2 - y = self._rect.y + 30 + self._txt_icon.height / 2 - source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height) - dest_rec = rl.Rectangle(int(x), int(y), self._txt_icon.width, self._txt_icon.height) - origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2) - rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE) + self._draw_content(btn_y) class BigToggle(BigButton): @@ -258,8 +231,6 @@ class BigToggle(BigButton): self._checked = initial_state self._toggle_callback = toggle_callback - self._label.set_font_size(48) - def _load_images(self): super()._load_images() self._txt_enabled_toggle = gui_app.texture("icons_mici/buttons/toggle_pill_enabled.png", 84, 66) @@ -277,15 +248,15 @@ class BigToggle(BigButton): def _draw_pill(self, x: float, y: float, checked: bool): # draw toggle icon top right if checked: - rl.draw_texture(self._txt_enabled_toggle, int(x), int(y), rl.WHITE) + rl.draw_texture_ex(self._txt_enabled_toggle, (x, y), 0, 1.0, rl.WHITE) else: - rl.draw_texture(self._txt_disabled_toggle, int(x), int(y), rl.WHITE) + rl.draw_texture_ex(self._txt_disabled_toggle, (x, y), 0, 1.0, rl.WHITE) - def _render(self, _): - super()._render(_) + def _draw_content(self, btn_y: float): + super()._draw_content(btn_y) x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width - y = self._rect.y + y = btn_y self._draw_pill(x, y, self._checked) @@ -297,15 +268,10 @@ class BigMultiToggle(BigToggle): self._options = options self._select_callback = select_callback - self._label.set_width(int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)) - # TODO: why isn't this automatic? - self._label.set_font_size(self._get_label_font_size()) - self.set_value(self._options[0]) - def _get_label_font_size(self): - font_size = super()._get_label_font_size() - return font_size - 6 + def _width_hint(self) -> int: + return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) @@ -315,13 +281,14 @@ class BigMultiToggle(BigToggle): if self._select_callback: self._select_callback(self.value) - def _render(self, _): - BigButton._render(self, _) + def _draw_content(self, btn_y: float): + # don't draw pill from BigToggle + BigButton._draw_content(self, btn_y) checked_idx = self._options.index(self.value) x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width - y = self._rect.y + y = btn_y for i in range(len(self._options)): self._draw_pill(x, y, checked_idx == i) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index b23abe6080..b88ac20494 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -14,7 +14,6 @@ from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.ui.mici.widgets.button import BigButton -from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton DEBUG = False @@ -22,32 +21,17 @@ PADDING = 20 class BigDialogBase(NavWidget, abc.ABC): - def __init__(self, right_btn: str | None = None, right_btn_callback: Callable | None = None): + def __init__(self): super().__init__() self._ret = DialogResult.NO_ACTION self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) self.set_back_callback(lambda: setattr(self, '_ret', DialogResult.CANCEL)) - self._right_btn = None - if right_btn: - def right_btn_callback_wrapper(): - gui_app.set_modal_overlay(None) - if right_btn_callback: - right_btn_callback() - - self._right_btn = SideButton(right_btn) - self._right_btn.set_click_callback(right_btn_callback_wrapper) - # move to right side - self._right_btn._rect.x = self._rect.x + self._rect.width - self._right_btn._rect.width - def _render(self, _) -> DialogResult: """ Allows `gui_app.set_modal_overlay(BigDialog(...))`. The overlay runner keeps calling until result != NO_ACTION. """ - if self._right_btn: - self._right_btn.set_position(self._right_btn._rect.x, self._rect.y) - self._right_btn.render() return self._ret @@ -55,10 +39,8 @@ class BigDialogBase(NavWidget, abc.ABC): class BigDialog(BigDialogBase): def __init__(self, title: str, - description: str, - right_btn: str | None = None, - right_btn_callback: Callable | None = None): - super().__init__(right_btn, right_btn_callback) + description: str): + super().__init__() self._title = title self._description = description @@ -70,8 +52,6 @@ class BigDialog(BigDialogBase): # TODO: coming up with these numbers manually is a pain and not scalable # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite max_width = self._rect.width - PADDING * 2 - if self._right_btn: - max_width -= self._right_btn._rect.width title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width))) title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50) @@ -139,7 +119,7 @@ class BigInputDialog(BigDialogBase): default_text: str = "", minimum_length: int = 1, confirm_callback: Callable[[str], None] | None = None): - super().__init__(None, None) + super().__init__() self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)), font_weight=FontWeight.MEDIUM) self._keyboard = MiciKeyboard() @@ -151,7 +131,8 @@ class BigInputDialog(BigDialogBase): self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36) self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) - self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 42, 36) + self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62) + self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62) self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) # rects for top buttons @@ -186,9 +167,9 @@ class BigInputDialog(BigDialogBase): text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE) bg_block_margin = 5 - text_x = PADDING * 2 + self._enter_img.width + bg_block_margin + text_x = PADDING / 2 + self._enter_img.width + PADDING text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin, - int(self._rect.width - text_x - PADDING * 2 - self._enter_img.width) - bg_block_margin * 2, + int(self._rect.width - text_x * 2), int(text_size.y)) # draw text input @@ -224,7 +205,7 @@ class BigInputDialog(BigDialogBase): self._backspace_img_alpha.update(255 * bool(text)) if self._backspace_img_alpha.x > 1: color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x)) - rl.draw_texture(self._backspace_img, int(self._rect.width - self._enter_img.width - 15), int(text_field_rect.y), color) + rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color) if not text and self._hint_label.text and not candidate_char: # draw description if no text entered yet and not drawing candidate char @@ -236,10 +217,12 @@ class BigInputDialog(BigDialogBase): self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y, self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height) - self._enter_img_alpha.update(255 if (len(text) >= self._minimum_length) else 255 * 0.35) - if self._enter_img_alpha.x > 1: - color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x)) - rl.draw_texture(self._enter_img, int(self._rect.x + 15), int(text_field_rect.y), color) + # draw enter button + self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0) + color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x)) + rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color) + color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x)) + rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color) # keyboard goes over everything self._keyboard.render(self._rect) @@ -307,9 +290,8 @@ class BigDialogOptionButton(Widget): class BigMultiOptionDialog(BigDialogBase): BACK_TOUCH_AREA_PERCENTAGE = 0.1 - def __init__(self, options: list[str], default: str | None, - right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None): - super().__init__(right_btn, right_btn_callback=right_btn_callback) + def __init__(self, options: list[str], default: str | None): + super().__init__() self._options = options if default is not None: assert default in options @@ -322,8 +304,6 @@ class BigMultiOptionDialog(BigDialogBase): self._can_click = True self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) - if self._right_btn is not None: - self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) for option in options: self._scroller.add_widget(BigDialogOptionButton(option)) diff --git a/selfdrive/ui/mici/widgets/side_button.py b/selfdrive/ui/mici/widgets/side_button.py deleted file mode 100644 index 4803b6d208..0000000000 --- a/selfdrive/ui/mici/widgets/side_button.py +++ /dev/null @@ -1,31 +0,0 @@ -import pyray as rl -from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.lib.application import gui_app - -# --------------------------------------------------------------------------- -# Constants extracted from the original Qt style -# --------------------------------------------------------------------------- -# TODO: this should be corrected, but Scroller relies on this being incorrect :/ -WIDTH, HEIGHT = 112, 240 - - -class SideButton(Widget): - def __init__(self, btn_type: str): - super().__init__() - self.type = btn_type - self.set_rect(rl.Rectangle(0, 0, WIDTH, HEIGHT)) - - # load pre-rendered button images - if btn_type not in ("check", "back"): - btn_type = "back" - btn_img_path = f"icons_mici/buttons/button_side_{btn_type}.png" - btn_img_pressed_path = f"icons_mici/buttons/button_side_{btn_type}_pressed.png" - self._txt_btn, self._txt_btn_back = gui_app.texture(btn_img_path, 100, 224), gui_app.texture(btn_img_pressed_path, 100, 224) - - def _render(self, _) -> bool: - x = int(self._rect.x + 12) - y = int(self._rect.y + (self._rect.height - self._txt_btn.height) / 2) - rl.draw_texture(self._txt_btn if not self.is_pressed else self._txt_btn_back, - x, y, rl.WHITE) - - return False diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py index be7af5438a..a581f68747 100755 --- a/selfdrive/ui/tests/diff/diff.py +++ b/selfdrive/ui/tests/diff/diff.py @@ -3,7 +3,6 @@ import os import sys import subprocess import tempfile -import base64 import webbrowser import argparse from pathlib import Path @@ -25,12 +24,6 @@ def compare_frames(frame1_path, frame2_path): return result.returncode == 0 -def frame_to_data_url(frame_path): - with open(frame_path, 'rb') as f: - data = f.read() - return f"data:image/png;base64,{base64.b64encode(data).decode()}" - - def create_diff_video(video1, video2, output_path): """Create a diff video using ffmpeg blend filter with difference mode.""" print("Creating diff video...") @@ -60,20 +53,16 @@ def find_differences(video1, video2): print(f"Comparing {len(frames1)} frames...") different_frames = [] - frame_data = [] for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)): is_different = not compare_frames(f1, f2) if is_different: different_frames.append(i) - if i < 10 or i >= len(frames1) - 10 or is_different: - frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)}) - - return different_frames, frame_data, len(frames1) + return different_frames, len(frames1) -def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames): +def generate_html_report(video1, video2, basedir, different_frames, total_frames): chunks = [] if different_frames: current_chunk = [different_frames[0]] @@ -177,14 +166,14 @@ def main(): diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4") create_diff_video(args.video1, args.video2, diff_video_path) - different_frames, frame_data, total_frames = find_differences(args.video1, args.video2) + different_frames, total_frames = find_differences(args.video1, args.video2) if different_frames is None: sys.exit(1) print() print("Generating HTML report...") - html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames) + html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, total_frames) with open(DIFF_OUT_DIR / args.output, 'w') as f: f.write(html) diff --git a/selfdrive/ui/translations/app_ar.po b/selfdrive/ui/translations/app_ar.po deleted file mode 100644 index 608389fc07..0000000000 --- a/selfdrive/ui/translations/app_ar.po +++ /dev/null @@ -1,1218 +0,0 @@ -# Arabic translations for PACKAGE package. -# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER -# This file is distributed under the same license as the PACKAGE package. -# Automatically generated, 2025. -# -msgid "" -msgstr "" -"Project-Id-Version: PACKAGE VERSION\n" -"Report-Msgid-Bugs-To: \n" -"POT-Creation-Date: 2025-10-23 00:50-0700\n" -"PO-Revision-Date: 2025-10-22 16:32-0700\n" -"Last-Translator: Automatically generated\n" -"Language-Team: none\n" -"Language: ar\n" -"MIME-Version: 1.0\n" -"Content-Type: text/plain; charset=UTF-8\n" -"Content-Transfer-Encoding: 8bit\n" -"Plural-Forms: nplurals=6; plural=n==0?0:n==1?1:n==2?2:(n%100>=3 && " -"n%100<=10)?3:(n%100>=11 && n%100<=99)?4:5;\n" - -#: selfdrive/ui/layouts/settings/device.py:160 -#, python-format -msgid " Steering torque response calibration is complete." -msgstr " اكتملت معايرة استجابة عزم التوجيه." - -#: selfdrive/ui/layouts/settings/device.py:158 -#, python-format -msgid " Steering torque response calibration is {}% complete." -msgstr " اكتملت معايرة استجابة عزم التوجيه بنسبة {}٪." - -#: selfdrive/ui/layouts/settings/device.py:133 -#, python-format -msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}." -msgstr " جهازك موجه بمقدار {:.1f}° {} و {:.1f}° {}." - -#: selfdrive/ui/layouts/sidebar.py:43 -msgid "--" -msgstr "--" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "1 year of drive storage" -msgstr "سنة واحدة من تخزين القيادة" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "24/7 LTE connectivity" -msgstr "اتصال LTE على مدار الساعة" - -#: selfdrive/ui/layouts/sidebar.py:46 -msgid "2G" -msgstr "2G" - -#: selfdrive/ui/layouts/sidebar.py:47 -msgid "3G" -msgstr "3G" - -#: selfdrive/ui/layouts/sidebar.py:49 -msgid "5G" -msgstr "5G" - -#: selfdrive/ui/layouts/settings/developer.py:23 -msgid "" -"WARNING: openpilot longitudinal control is in alpha for this car and will " -"disable Automatic Emergency Braking (AEB).

On this car, openpilot " -"defaults to the car's built-in ACC instead of openpilot's longitudinal " -"control. Enable this to switch to openpilot longitudinal control. Enabling " -"Experimental mode is recommended when enabling openpilot longitudinal " -"control alpha. Changing this setting will restart openpilot if the car is " -"powered on." -msgstr "" -"تحذير: التحكم الطولي لـ openpilot في مرحلة ألفا لهذه السيارة وسيُعطّل نظام " -"الكبح التلقائي في حالات الطوارئ (AEB).

في هذه السيارة، يعتمد " -"openpilot افتراضياً على نظام ACC المدمج بدلاً من التحكم الطولي لـ openpilot. " -"فعّل هذا الخيار للتبديل إلى التحكم الطولي لـ openpilot. يُنصح بتمكين وضع " -"التجربة عند تفعيل نسخة ألفا من التحكم الطولي. تغيير هذا الإعداد سيعيد تشغيل " -"openpilot إذا كانت السيارة قيد التشغيل." - -#: selfdrive/ui/layouts/settings/device.py:148 -#, python-format -msgid "

Steering lag calibration is complete." -msgstr "

اكتملت معايرة تأخر التوجيه." - -#: selfdrive/ui/layouts/settings/device.py:146 -#, python-format -msgid "

Steering lag calibration is {}% complete." -msgstr "

اكتملت معايرة تأخر التوجيه بنسبة {}٪." - -#: selfdrive/ui/layouts/settings/firehose.py:138 -#, python-format -msgid "ACTIVE" -msgstr "نشط" - -#: selfdrive/ui/layouts/settings/developer.py:15 -msgid "" -"ADB (Android Debug Bridge) allows connecting to your device over USB or over " -"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info." -msgstr "" -"يتيح ADB (Android Debug Bridge) الاتصال بجهازك عبر USB أو عبر الشبكة. راجع " -"https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات." - -#: selfdrive/ui/widgets/ssh_key.py:30 -msgid "ADD" -msgstr "إضافة" - -#: system/ui/widgets/network.py:139 -#, python-format -msgid "APN Setting" -msgstr "إعداد APN" - -#: selfdrive/ui/widgets/offroad_alerts.py:109 -#, python-format -msgid "Acknowledge Excessive Actuation" -msgstr "تأكيد التشغيل المفرط" - -#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95 -#, python-format -msgid "Advanced" -msgstr "متقدم" - -#: selfdrive/ui/layouts/settings/toggles.py:98 -#, python-format -msgid "Aggressive" -msgstr "عدواني" - -#: selfdrive/ui/layouts/onboarding.py:116 -#, python-format -msgid "Agree" -msgstr "موافقة" - -#: selfdrive/ui/layouts/settings/toggles.py:70 -#, python-format -msgid "Always-On Driver Monitoring" -msgstr "مراقبة السائق دائماً" - -#: selfdrive/ui/layouts/settings/toggles.py:186 -#, python-format -msgid "" -"An alpha version of openpilot longitudinal control can be tested, along with " -"Experimental mode, on non-release branches." -msgstr "" -"يمكن اختبار نسخة ألفا من التحكم الطولي لـ openpilot، مع وضع التجربة، على " -"الفروع غير الإصدارية." - -#: selfdrive/ui/layouts/settings/device.py:187 -#, python-format -msgid "Are you sure you want to power off?" -msgstr "هل أنت متأكد أنك تريد إيقاف التشغيل؟" - -#: selfdrive/ui/layouts/settings/device.py:175 -#, python-format -msgid "Are you sure you want to reboot?" -msgstr "هل أنت متأكد أنك تريد إعادة التشغيل؟" - -#: selfdrive/ui/layouts/settings/device.py:119 -#, python-format -msgid "Are you sure you want to reset calibration?" -msgstr "هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟" - -#: selfdrive/ui/layouts/settings/software.py:163 -#, python-format -msgid "Are you sure you want to uninstall?" -msgstr "هل أنت متأكد أنك تريد إلغاء التثبيت؟" - -#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147 -#, python-format -msgid "Back" -msgstr "رجوع" - -#: selfdrive/ui/widgets/prime.py:38 -#, python-format -msgid "Become a comma prime member at connect.comma.ai" -msgstr "انضم إلى comma prime عبر connect.comma.ai" - -#: selfdrive/ui/widgets/pairing_dialog.py:130 -#, python-format -msgid "Bookmark connect.comma.ai to your home screen to use it like an app" -msgstr "ثبّت connect.comma.ai على شاشتك الرئيسية لاستخدامه كتطبيق" - -#: selfdrive/ui/layouts/settings/device.py:68 -#, python-format -msgid "CHANGE" -msgstr "تغيير" - -#: selfdrive/ui/layouts/settings/software.py:50 -#: selfdrive/ui/layouts/settings/software.py:107 -#: selfdrive/ui/layouts/settings/software.py:118 -#: selfdrive/ui/layouts/settings/software.py:147 -#, python-format -msgid "CHECK" -msgstr "تحقق" - -#: selfdrive/ui/widgets/exp_mode_button.py:50 -#, python-format -msgid "CHILL MODE ON" -msgstr "وضع الهدوء مُفعل" - -#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73 -#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136 -#: selfdrive/ui/layouts/sidebar.py:138 -#, python-format -msgid "CONNECT" -msgstr "CONNECT" - -#: system/ui/widgets/network.py:369 -#, python-format -msgid "CONNECTING..." -msgstr "CONNECTING..." - -#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 -#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 -#, python-format -msgid "Cancel" -msgstr "إلغاء" - -#: system/ui/widgets/network.py:134 -#, python-format -msgid "Cellular Metered" -msgstr "خلوي بتعرفة محدودة" - -#: selfdrive/ui/layouts/settings/device.py:68 -#, python-format -msgid "Change Language" -msgstr "تغيير اللغة" - -#: selfdrive/ui/layouts/settings/toggles.py:125 -#, python-format -msgid "Changing this setting will restart openpilot if the car is powered on." -msgstr "" -"سيؤدي تغيير هذا الإعداد إلى إعادة تشغيل openpilot إذا كانت السيارة قيد " -"التشغيل." - -#: selfdrive/ui/widgets/pairing_dialog.py:129 -#, python-format -msgid "Click \"add new device\" and scan the QR code on the right" -msgstr "اضغط \"إضافة جهاز جديد\" ثم امسح رمز QR على اليمين" - -#: selfdrive/ui/widgets/offroad_alerts.py:104 -#, python-format -msgid "Close" -msgstr "إغلاق" - -#: selfdrive/ui/layouts/settings/software.py:49 -#, python-format -msgid "Current Version" -msgstr "الإصدار الحالي" - -#: selfdrive/ui/layouts/settings/software.py:110 -#, python-format -msgid "DOWNLOAD" -msgstr "تنزيل" - -#: selfdrive/ui/layouts/onboarding.py:115 -#, python-format -msgid "Decline" -msgstr "رفض" - -#: selfdrive/ui/layouts/onboarding.py:148 -#, python-format -msgid "Decline, uninstall openpilot" -msgstr "رفض، وإلغاء تثبيت openpilot" - -#: selfdrive/ui/layouts/settings/settings.py:67 -msgid "Developer" -msgstr "المطور" - -#: selfdrive/ui/layouts/settings/settings.py:62 -msgid "Device" -msgstr "الجهاز" - -#: selfdrive/ui/layouts/settings/toggles.py:58 -#, python-format -msgid "Disengage on Accelerator Pedal" -msgstr "فصل عند الضغط على دواسة الوقود" - -#: selfdrive/ui/layouts/settings/device.py:184 -#, python-format -msgid "Disengage to Power Off" -msgstr "افصل لإيقاف التشغيل" - -#: selfdrive/ui/layouts/settings/device.py:172 -#, python-format -msgid "Disengage to Reboot" -msgstr "افصل لإعادة التشغيل" - -#: selfdrive/ui/layouts/settings/device.py:103 -#, python-format -msgid "Disengage to Reset Calibration" -msgstr "افصل لإعادة ضبط المعايرة" - -#: selfdrive/ui/layouts/settings/toggles.py:32 -msgid "Display speed in km/h instead of mph." -msgstr "عرض السرعة بالكيلومتر/ساعة بدلاً من الميل/ساعة." - -#: selfdrive/ui/layouts/settings/device.py:59 -#, python-format -msgid "Dongle ID" -msgstr "معرّف الدونجل" - -#: selfdrive/ui/layouts/settings/software.py:50 -#, python-format -msgid "Download" -msgstr "تنزيل" - -#: selfdrive/ui/layouts/settings/device.py:62 -#, python-format -msgid "Driver Camera" -msgstr "كاميرا السائق" - -#: selfdrive/ui/layouts/settings/toggles.py:96 -#, python-format -msgid "Driving Personality" -msgstr "شخصية القيادة" - -#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139 -#, python-format -msgid "EDIT" -msgstr "تعديل" - -#: selfdrive/ui/layouts/sidebar.py:138 -msgid "ERROR" -msgstr "خطأ" - -#: selfdrive/ui/layouts/sidebar.py:45 -msgid "ETH" -msgstr "ETH" - -#: selfdrive/ui/widgets/exp_mode_button.py:50 -#, python-format -msgid "EXPERIMENTAL MODE ON" -msgstr "وضع التجربة مُفعل" - -#: selfdrive/ui/layouts/settings/developer.py:166 -#: selfdrive/ui/layouts/settings/toggles.py:228 -#, python-format -msgid "Enable" -msgstr "تمكين" - -#: selfdrive/ui/layouts/settings/developer.py:39 -#, python-format -msgid "Enable ADB" -msgstr "تمكين ADB" - -#: selfdrive/ui/layouts/settings/toggles.py:64 -#, python-format -msgid "Enable Lane Departure Warnings" -msgstr "تمكين تحذيرات مغادرة المسار" - -#: system/ui/widgets/network.py:129 -#, python-format -msgid "Enable Roaming" -msgstr "تمكين التجوال" - -#: selfdrive/ui/layouts/settings/developer.py:48 -#, python-format -msgid "Enable SSH" -msgstr "تمكين SSH" - -#: system/ui/widgets/network.py:120 -#, python-format -msgid "Enable Tethering" -msgstr "تمكين الربط" - -#: selfdrive/ui/layouts/settings/toggles.py:30 -msgid "Enable driver monitoring even when openpilot is not engaged." -msgstr "تمكين مراقبة السائق حتى عندما لا يكون openpilot مُشغلاً." - -#: selfdrive/ui/layouts/settings/toggles.py:46 -#, python-format -msgid "Enable openpilot" -msgstr "تمكين openpilot" - -#: selfdrive/ui/layouts/settings/toggles.py:189 -#, python-format -msgid "" -"Enable the openpilot longitudinal control (alpha) toggle to allow " -"Experimental mode." -msgstr "فعّل تبديل التحكم الطولي (ألفا) لـ openpilot للسماح بوضع التجربة." - -#: system/ui/widgets/network.py:204 -#, python-format -msgid "Enter APN" -msgstr "أدخل APN" - -#: system/ui/widgets/network.py:241 -#, python-format -msgid "Enter SSID" -msgstr "أدخل SSID" - -#: system/ui/widgets/network.py:254 -#, python-format -msgid "Enter new tethering password" -msgstr "أدخل كلمة مرور الربط الجديدة" - -#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 -#, python-format -msgid "Enter password" -msgstr "أدخل كلمة المرور" - -#: selfdrive/ui/widgets/ssh_key.py:89 -#, python-format -msgid "Enter your GitHub username" -msgstr "أدخل اسم مستخدم GitHub الخاص بك" - -#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160 -#, python-format -msgid "Error" -msgstr "خطأ" - -#: selfdrive/ui/layouts/settings/toggles.py:52 -#, python-format -msgid "Experimental Mode" -msgstr "وضع التجربة" - -#: selfdrive/ui/layouts/settings/toggles.py:181 -#, python-format -msgid "" -"Experimental mode is currently unavailable on this car since the car's stock " -"ACC is used for longitudinal control." -msgstr "" -"وضع التجربة غير متاح حالياً في هذه السيارة لأن نظام ACC الأصلي يُستخدم للتحكم " -"الطولي." - -#: system/ui/widgets/network.py:373 -#, python-format -msgid "FORGETTING..." -msgstr "جارٍ النسيان..." - -#: selfdrive/ui/widgets/setup.py:44 -#, python-format -msgid "Finish Setup" -msgstr "إنهاء الإعداد" - -#: selfdrive/ui/layouts/settings/settings.py:66 -msgid "Firehose" -msgstr "Firehose" - -#: selfdrive/ui/layouts/settings/firehose.py:18 -msgid "Firehose Mode" -msgstr "وضع Firehose" - -#: selfdrive/ui/layouts/settings/firehose.py:25 -msgid "" -"For maximum effectiveness, bring your device inside and connect to a good " -"USB-C adapter and Wi-Fi weekly.\n" -"\n" -"Firehose Mode can also work while you're driving if connected to a hotspot " -"or unlimited SIM card.\n" -"\n" -"\n" -"Frequently Asked Questions\n" -"\n" -"Does it matter how or where I drive? Nope, just drive as you normally " -"would.\n" -"\n" -"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a " -"subset of your segments.\n" -"\n" -"What's a good USB-C adapter? Any fast phone or laptop charger should be " -"fine.\n" -"\n" -"Does it matter which software I run? Yes, only upstream openpilot (and " -"particular forks) are able to be used for training." -msgstr "" -"لأقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحوّل USB‑C جيد وبشبكة Wi‑Fi " -"أسبوعياً.\n" -"\n" -"يمكن أن يعمل وضع Firehose أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو " -"بشريحة غير محدودة.\n" -"\n" -"\n" -"الأسئلة الشائعة\n" -"\n" -"هل يهم كيف أو أين أقود؟ لا، قد بقدر المعتاد.\n" -"\n" -"هل يتم سحب كل مقاطعي في وضع Firehose؟ لا، نقوم بسحب مجموعة فرعية من " -"المقاطع.\n" -"\n" -"ما هو محول USB‑C الجيد؟ أي شاحن هاتف أو حاسب محمول سريع سيكون مناسباً.\n" -"\n" -"هل يهم أي برنامج أشغّل؟ نعم، فقط openpilot الأصلي (وبعض التفرعات المحددة) " -"يمكن استخدامه للتدريب." - -#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451 -#, python-format -msgid "Forget" -msgstr "نسيان" - -#: system/ui/widgets/network.py:319 -#, python-format -msgid "Forget Wi-Fi Network \"{}\"?" -msgstr "هل تريد نسيان شبكة Wi‑Fi \"{}\"؟" - -#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125 -msgid "GOOD" -msgstr "جيد" - -#: selfdrive/ui/widgets/pairing_dialog.py:128 -#, python-format -msgid "Go to https://connect.comma.ai on your phone" -msgstr "اذهب إلى https://connect.comma.ai على هاتفك" - -#: selfdrive/ui/layouts/sidebar.py:129 -msgid "HIGH" -msgstr "مرتفع" - -#: system/ui/widgets/network.py:155 -#, python-format -msgid "Hidden Network" -msgstr "شبكة مخفية" - -#: selfdrive/ui/layouts/settings/firehose.py:140 -#, python-format -msgid "INACTIVE: connect to an unmetered network" -msgstr "غير نشط: اتصل بشبكة غير محدودة التعرفة" - -#: selfdrive/ui/layouts/settings/software.py:53 -#: selfdrive/ui/layouts/settings/software.py:136 -#, python-format -msgid "INSTALL" -msgstr "تثبيت" - -#: system/ui/widgets/network.py:150 -#, python-format -msgid "IP Address" -msgstr "عنوان IP" - -#: selfdrive/ui/layouts/settings/software.py:53 -#, python-format -msgid "Install Update" -msgstr "تثبيت التحديث" - -#: selfdrive/ui/layouts/settings/developer.py:56 -#, python-format -msgid "Joystick Debug Mode" -msgstr "وضع تصحيح عصا التحكم" - -#: selfdrive/ui/widgets/ssh_key.py:29 -msgid "LOADING" -msgstr "جارٍ التحميل" - -#: selfdrive/ui/layouts/sidebar.py:48 -msgid "LTE" -msgstr "LTE" - -#: selfdrive/ui/layouts/settings/developer.py:64 -#, python-format -msgid "Longitudinal Maneuver Mode" -msgstr "وضع المناورة الطولية" - -#: selfdrive/ui/onroad/hud_renderer.py:148 -#, python-format -msgid "MAX" -msgstr "أقصى" - -#: selfdrive/ui/widgets/setup.py:75 -#, python-format -msgid "" -"Maximize your training data uploads to improve openpilot's driving models." -msgstr "زد من تحميل بيانات التدريب لتحسين نماذج قيادة openpilot." - -#: selfdrive/ui/layouts/settings/device.py:59 -#: selfdrive/ui/layouts/settings/device.py:60 -#, python-format -msgid "N/A" -msgstr "غير متوفر" - -#: selfdrive/ui/layouts/sidebar.py:142 -msgid "NO" -msgstr "لا" - -#: selfdrive/ui/layouts/settings/settings.py:63 -msgid "Network" -msgstr "الشبكة" - -#: selfdrive/ui/widgets/ssh_key.py:114 -#, python-format -msgid "No SSH keys found" -msgstr "لم يتم العثور على مفاتيح SSH" - -#: selfdrive/ui/widgets/ssh_key.py:126 -#, python-format -msgid "No SSH keys found for user '{}'" -msgstr "لم يتم العثور على مفاتيح SSH للمستخدم '{}'" - -#: selfdrive/ui/widgets/offroad_alerts.py:320 -#, python-format -msgid "No release notes available." -msgstr "لا توجد ملاحظات إصدار متاحة." - -#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134 -msgid "OFFLINE" -msgstr "غير متصل" - -#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93 -#: selfdrive/ui/layouts/sidebar.py:127 -#, python-format -msgid "OK" -msgstr "موافق" - -#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136 -#: selfdrive/ui/layouts/sidebar.py:144 -msgid "ONLINE" -msgstr "متصل" - -#: selfdrive/ui/widgets/setup.py:20 -#, python-format -msgid "Open" -msgstr "فتح" - -#: selfdrive/ui/layouts/settings/device.py:48 -#, python-format -msgid "PAIR" -msgstr "إقران" - -#: selfdrive/ui/layouts/sidebar.py:142 -msgid "PANDA" -msgstr "PANDA" - -#: selfdrive/ui/layouts/settings/device.py:62 -#, python-format -msgid "PREVIEW" -msgstr "معاينة" - -#: selfdrive/ui/widgets/prime.py:44 -#, python-format -msgid "PRIME FEATURES:" -msgstr "ميزات PRIME:" - -#: selfdrive/ui/layouts/settings/device.py:48 -#, python-format -msgid "Pair Device" -msgstr "إقران الجهاز" - -#: selfdrive/ui/widgets/setup.py:19 -#, python-format -msgid "Pair device" -msgstr "إقران الجهاز" - -#: selfdrive/ui/widgets/pairing_dialog.py:103 -#, python-format -msgid "Pair your device to your comma account" -msgstr "قم بإقران جهازك بحساب comma" - -#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24 -#, python-format -msgid "" -"Pair your device with comma connect (connect.comma.ai) and claim your comma " -"prime offer." -msgstr "" -"أقرِن جهازك مع comma connect (connect.comma.ai) واحصل على عرض comma prime." - -#: selfdrive/ui/widgets/setup.py:91 -#, python-format -msgid "Please connect to Wi-Fi to complete initial pairing" -msgstr "يرجى الاتصال بشبكة Wi‑Fi لإكمال الاقتران الأولي" - -#: selfdrive/ui/layouts/settings/device.py:55 -#: selfdrive/ui/layouts/settings/device.py:187 -#, python-format -msgid "Power Off" -msgstr "إيقاف التشغيل" - -#: system/ui/widgets/network.py:144 -#, python-format -msgid "Prevent large data uploads when on a metered Wi-Fi connection" -msgstr "منع رفع البيانات الكبيرة عند الاتصال بشبكة Wi‑Fi محدودة التعرفة" - -#: system/ui/widgets/network.py:135 -#, python-format -msgid "Prevent large data uploads when on a metered cellular connection" -msgstr "منع رفع البيانات الكبيرة عند الاتصال الخلوي محدود التعرفة" - -#: selfdrive/ui/layouts/settings/device.py:25 -msgid "" -"Preview the driver facing camera to ensure that driver monitoring has good " -"visibility. (vehicle must be off)" -msgstr "" -"عاين كاميرا مواجهة السائق للتأكد من أن مراقبة السائق تتم برؤية جيدة. (يجب أن " -"تكون المركبة متوقفة)" - -#: selfdrive/ui/widgets/pairing_dialog.py:161 -#, python-format -msgid "QR Code Error" -msgstr "خطأ في رمز QR" - -#: selfdrive/ui/widgets/ssh_key.py:31 -msgid "REMOVE" -msgstr "إزالة" - -#: selfdrive/ui/layouts/settings/device.py:51 -#, python-format -msgid "RESET" -msgstr "إعادة ضبط" - -#: selfdrive/ui/layouts/settings/device.py:65 -#, python-format -msgid "REVIEW" -msgstr "مراجعة" - -#: selfdrive/ui/layouts/settings/device.py:55 -#: selfdrive/ui/layouts/settings/device.py:175 -#, python-format -msgid "Reboot" -msgstr "إعادة التشغيل" - -#: selfdrive/ui/onroad/alert_renderer.py:66 -#, python-format -msgid "Reboot Device" -msgstr "إعادة تشغيل الجهاز" - -#: selfdrive/ui/widgets/offroad_alerts.py:112 -#, python-format -msgid "Reboot and Update" -msgstr "إعادة التشغيل والتحديث" - -#: selfdrive/ui/layouts/settings/toggles.py:27 -msgid "" -"Receive alerts to steer back into the lane when your vehicle drifts over a " -"detected lane line without a turn signal activated while driving over 31 mph " -"(50 km/h)." -msgstr "" -"استقبال تنبيهات للتوجيه للعودة إلى المسار عند انحراف المركبة فوق خط المسار " -"المُكتشف بدون إشارة انعطاف مفعّلة أثناء القيادة فوق 31 ميل/س (50 كم/س)." - -#: selfdrive/ui/layouts/settings/toggles.py:76 -#, python-format -msgid "Record and Upload Driver Camera" -msgstr "تسجيل ورفع فيديو كاميرا السائق" - -#: selfdrive/ui/layouts/settings/toggles.py:82 -#, python-format -msgid "Record and Upload Microphone Audio" -msgstr "تسجيل ورفع صوت الميكروفون" - -#: selfdrive/ui/layouts/settings/toggles.py:33 -msgid "" -"Record and store microphone audio while driving. The audio will be included " -"in the dashcam video in comma connect." -msgstr "" -"تسجيل وتخزين صوت الميكروفون أثناء القيادة. سيُدرج الصوت في فيديو الكاميرا " -"الأمامية في comma connect." - -#: selfdrive/ui/layouts/settings/device.py:67 -#, python-format -msgid "Regulatory" -msgstr "لوائح" - -#: selfdrive/ui/layouts/settings/toggles.py:98 -#, python-format -msgid "Relaxed" -msgstr "مسترخٍ" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "Remote access" -msgstr "وصول عن بُعد" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "Remote snapshots" -msgstr "لقطات عن بُعد" - -#: selfdrive/ui/widgets/ssh_key.py:123 -#, python-format -msgid "Request timed out" -msgstr "انتهت مهلة الطلب" - -#: selfdrive/ui/layouts/settings/device.py:119 -#, python-format -msgid "Reset" -msgstr "إعادة ضبط" - -#: selfdrive/ui/layouts/settings/device.py:51 -#, python-format -msgid "Reset Calibration" -msgstr "إعادة ضبط المعايرة" - -#: selfdrive/ui/layouts/settings/device.py:65 -#, python-format -msgid "Review Training Guide" -msgstr "مراجعة دليل التدريب" - -#: selfdrive/ui/layouts/settings/device.py:27 -msgid "Review the rules, features, and limitations of openpilot" -msgstr "مراجعة قواعد وميزات وحدود openpilot" - -#: selfdrive/ui/layouts/settings/software.py:61 -#, python-format -msgid "SELECT" -msgstr "اختيار" - -#: selfdrive/ui/layouts/settings/developer.py:53 -#, python-format -msgid "SSH Keys" -msgstr "مفاتيح SSH" - -#: system/ui/widgets/network.py:310 -#, python-format -msgid "Scanning Wi-Fi networks..." -msgstr "جارٍ مسح شبكات Wi‑Fi..." - -#: system/ui/widgets/option_dialog.py:36 -#, python-format -msgid "Select" -msgstr "اختيار" - -#: selfdrive/ui/layouts/settings/software.py:183 -#, python-format -msgid "Select a branch" -msgstr "اختر فرعاً" - -#: selfdrive/ui/layouts/settings/device.py:91 -#, python-format -msgid "Select a language" -msgstr "اختر لغة" - -#: selfdrive/ui/layouts/settings/device.py:60 -#, python-format -msgid "Serial" -msgstr "الرقم التسلسلي" - -#: selfdrive/ui/widgets/offroad_alerts.py:106 -#, python-format -msgid "Snooze Update" -msgstr "تأجيل التحديث" - -#: selfdrive/ui/layouts/settings/settings.py:65 -msgid "Software" -msgstr "البرمجيات" - -#: selfdrive/ui/layouts/settings/toggles.py:98 -#, python-format -msgid "Standard" -msgstr "قياسي" - -#: selfdrive/ui/layouts/settings/toggles.py:22 -msgid "" -"Standard is recommended. In aggressive mode, openpilot will follow lead cars " -"closer and be more aggressive with the gas and brake. In relaxed mode " -"openpilot will stay further away from lead cars. On supported cars, you can " -"cycle through these personalities with your steering wheel distance button." -msgstr "" -"يوصى بالوضع القياسي. في الوضع العدواني، سيتبع openpilot السيارات الأمامية عن " -"قرب وسيكون أكثر شدة في الوقود والفرامل. في الوضع المسترخي سيبقى بعيداً أكثر " -"عن السيارات الأمامية. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات " -"بزر مسافة المقود." - -#: selfdrive/ui/onroad/alert_renderer.py:59 -#: selfdrive/ui/onroad/alert_renderer.py:65 -#, python-format -msgid "System Unresponsive" -msgstr "النظام لا يستجيب" - -#: selfdrive/ui/onroad/alert_renderer.py:58 -#, python-format -msgid "TAKE CONTROL IMMEDIATELY" -msgstr "تولَّ السيطرة فوراً" - -#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125 -#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129 -msgid "TEMP" -msgstr "الحرارة" - -#: selfdrive/ui/layouts/settings/software.py:61 -#, python-format -msgid "Target Branch" -msgstr "الفرع المستهدف" - -#: system/ui/widgets/network.py:124 -#, python-format -msgid "Tethering Password" -msgstr "كلمة مرور الربط" - -#: selfdrive/ui/layouts/settings/settings.py:64 -msgid "Toggles" -msgstr "مفاتيح التبديل" - -#: selfdrive/ui/layouts/settings/software.py:72 -#, python-format -msgid "UNINSTALL" -msgstr "إلغاء التثبيت" - -#: selfdrive/ui/layouts/home.py:155 -#, python-format -msgid "UPDATE" -msgstr "تحديث" - -#: selfdrive/ui/layouts/settings/software.py:72 -#: selfdrive/ui/layouts/settings/software.py:163 -#, python-format -msgid "Uninstall" -msgstr "إلغاء التثبيت" - -#: selfdrive/ui/layouts/sidebar.py:117 -msgid "Unknown" -msgstr "غير معروف" - -#: selfdrive/ui/layouts/settings/software.py:48 -#, python-format -msgid "Updates are only downloaded while the car is off." -msgstr "يتم تنزيل التحديثات فقط عندما تكون السيارة متوقفة." - -#: selfdrive/ui/widgets/prime.py:33 -#, python-format -msgid "Upgrade Now" -msgstr "الترقية الآن" - -#: selfdrive/ui/layouts/settings/toggles.py:31 -msgid "" -"Upload data from the driver facing camera and help improve the driver " -"monitoring algorithm." -msgstr "" -"ارفع بيانات من كاميرا مواجهة السائق وساعد في تحسين خوارزمية مراقبة السائق." - -#: selfdrive/ui/layouts/settings/toggles.py:88 -#, python-format -msgid "Use Metric System" -msgstr "استخدام النظام المتري" - -#: selfdrive/ui/layouts/settings/toggles.py:17 -msgid "" -"Use the openpilot system for adaptive cruise control and lane keep driver " -"assistance. Your attention is required at all times to use this feature." -msgstr "" -"استخدم نظام openpilot للتحكم الذكي بالسرعة والمساعدة على البقاء داخل المسار. " -"يتطلب استخدام هذه الميزة انتباهك الكامل في جميع الأوقات." - -#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144 -msgid "VEHICLE" -msgstr "المركبة" - -#: selfdrive/ui/layouts/settings/device.py:67 -#, python-format -msgid "VIEW" -msgstr "عرض" - -#: selfdrive/ui/onroad/alert_renderer.py:52 -#, python-format -msgid "Waiting to start" -msgstr "بانتظار البدء" - -#: selfdrive/ui/layouts/settings/developer.py:19 -msgid "" -"Warning: This grants SSH access to all public keys in your GitHub settings. " -"Never enter a GitHub username other than your own. A comma employee will " -"NEVER ask you to add their GitHub username." -msgstr "" -"تحذير: يمنح هذا وصول SSH إلى جميع المفاتيح العامة في إعدادات GitHub الخاصة " -"بك. لا تُدخل مطلقاً اسم مستخدم GitHub غير اسمك. لن يطلب منك موظف في comma أبداً " -"إضافة اسم مستخدمهم." - -#: selfdrive/ui/layouts/onboarding.py:111 -#, python-format -msgid "Welcome to openpilot" -msgstr "مرحباً بك في openpilot" - -#: selfdrive/ui/layouts/settings/toggles.py:20 -msgid "When enabled, pressing the accelerator pedal will disengage openpilot." -msgstr "عند التمكين، سيؤدي الضغط على دواسة الوقود إلى فصل openpilot." - -#: selfdrive/ui/layouts/sidebar.py:44 -msgid "Wi-Fi" -msgstr "Wi‑Fi" - -#: system/ui/widgets/network.py:144 -#, python-format -msgid "Wi-Fi Network Metered" -msgstr "شبكة Wi‑Fi محدودة التعرفة" - -#: system/ui/widgets/network.py:314 -#, python-format -msgid "Wrong password" -msgstr "كلمة مرور خاطئة" - -#: selfdrive/ui/layouts/onboarding.py:145 -#, python-format -msgid "You must accept the Terms and Conditions in order to use openpilot." -msgstr "يجب عليك قبول الشروط والأحكام لاستخدام openpilot." - -#: selfdrive/ui/layouts/onboarding.py:112 -#, python-format -msgid "" -"You must accept the Terms and Conditions to use openpilot. Read the latest " -"terms at https://comma.ai/terms before continuing." -msgstr "" -"يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على " -"https://comma.ai/terms قبل المتابعة." - -#: selfdrive/ui/onroad/driver_camera_dialog.py:34 -#, python-format -msgid "camera starting" -msgstr "بدء تشغيل الكاميرا" - -#: selfdrive/ui/widgets/prime.py:63 -#, python-format -msgid "comma prime" -msgstr "comma prime" - -#: system/ui/widgets/network.py:142 -#, python-format -msgid "default" -msgstr "افتراضي" - -#: selfdrive/ui/layouts/settings/device.py:133 -#, python-format -msgid "down" -msgstr "أسفل" - -#: selfdrive/ui/layouts/settings/software.py:106 -#, python-format -msgid "failed to check for update" -msgstr "فشل التحقق من وجود تحديث" - -#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 -#, python-format -msgid "for \"{}\"" -msgstr "لـ \"{}\"" - -#: selfdrive/ui/onroad/hud_renderer.py:177 -#, python-format -msgid "km/h" -msgstr "كم/س" - -#: system/ui/widgets/network.py:204 -#, python-format -msgid "leave blank for automatic configuration" -msgstr "اتركه فارغاً للإعداد التلقائي" - -#: selfdrive/ui/layouts/settings/device.py:134 -#, python-format -msgid "left" -msgstr "يسار" - -#: system/ui/widgets/network.py:142 -#, python-format -msgid "metered" -msgstr "محدود التعرفة" - -#: selfdrive/ui/onroad/hud_renderer.py:177 -#, python-format -msgid "mph" -msgstr "ميل/س" - -#: selfdrive/ui/layouts/settings/software.py:20 -#, python-format -msgid "never" -msgstr "أبداً" - -#: selfdrive/ui/layouts/settings/software.py:31 -#, python-format -msgid "now" -msgstr "الآن" - -#: selfdrive/ui/layouts/settings/developer.py:71 -#, python-format -msgid "openpilot Longitudinal Control (Alpha)" -msgstr "التحكم الطولي لـ openpilot (ألفا)" - -#: selfdrive/ui/onroad/alert_renderer.py:51 -#, python-format -msgid "openpilot Unavailable" -msgstr "openpilot غير متاح" - -#: selfdrive/ui/layouts/settings/toggles.py:158 -#, python-format -msgid "" -"openpilot defaults to driving in chill mode. Experimental mode enables alpha-" -"level features that aren't ready for chill mode. Experimental features are " -"listed below:

End-to-End Longitudinal Control


Let the driving " -"model control the gas and brakes. openpilot will drive as it thinks a human " -"would, including stopping for red lights and stop signs. Since the driving " -"model decides the speed to drive, the set speed will only act as an upper " -"bound. This is an alpha quality feature; mistakes should be expected." -"

New Driving Visualization


The driving visualization will " -"transition to the road-facing wide-angle camera at low speeds to better show " -"some turns. The Experimental mode logo will also be shown in the top right " -"corner." -msgstr "" -"يعمل openpilot افتراضياً في وضع الهدوء. يفعّل وضع التجربة ميزات بمستوى ألفا " -"غير الجاهزة لوضع الهدوء. الميزات التجريبية مدرجة أدناه:

التحكم الطولي " -"من طرف لطرف


دع نموذج القيادة يتحكم في الوقود والفرامل. سيقود " -"openpilot كما يظن أن الإنسان سيقود، بما في ذلك التوقف عند الإشارات الحمراء " -"وعلامات التوقف. بما أن نموذج القيادة يقرر السرعة، فإن السرعة المضبوطة تعمل " -"كحد أعلى فقط. هذه ميزة بجودة ألفا؛ يُتوقع حدوث أخطاء.

تصوير قيادة " -"جديد


سينتقل عرض القيادة إلى الكاميرا الواسعة المواجهة للطريق عند " -"السرعات المنخفضة لإظهار بعض المنعطفات بشكل أفضل. كما سيظهر شعار وضع التجربة " -"في الزاوية العلوية اليمنى." - -#: selfdrive/ui/layouts/settings/device.py:165 -#, python-format -msgid "" -"openpilot is continuously calibrating, resetting is rarely required. " -"Resetting calibration will restart openpilot if the car is powered on." -msgstr "" -"يقوم openpilot بالمعايرة بشكل مستمر، ونادراً ما تتطلب إعادة الضبط. ستؤدي " -"إعادة ضبط المعايرة إلى إعادة تشغيل openpilot إذا كانت السيارة قيد التشغيل." - -#: selfdrive/ui/layouts/settings/firehose.py:20 -msgid "" -"openpilot learns to drive by watching humans, like you, drive.\n" -"\n" -"Firehose Mode allows you to maximize your training data uploads to improve " -"openpilot's driving models. More data means bigger models, which means " -"better Experimental Mode." -msgstr "" -"يتعلم openpilot القيادة بمشاهدة البشر، مثلك، يقودون.\n" -"\n" -"يتيح وضع Firehose زيادة تحميل بيانات التدريب لتحسين نماذج قيادة openpilot. " -"المزيد من البيانات يعني نماذج أكبر، مما يعني وضع تجربة أفضل." - -#: selfdrive/ui/layouts/settings/toggles.py:183 -#, python-format -msgid "openpilot longitudinal control may come in a future update." -msgstr "قد يأتي التحكم الطولي لـ openpilot في تحديث مستقبلي." - -#: selfdrive/ui/layouts/settings/device.py:26 -msgid "" -"openpilot requires the device to be mounted within 4° left or right and " -"within 5° up or 9° down." -msgstr "" -"يتطلب openpilot تركيب الجهاز ضمن 4° يساراً أو يميناً وضمن 5° للأعلى أو 9° " -"للأسفل." - -#: selfdrive/ui/layouts/settings/device.py:134 -#, python-format -msgid "right" -msgstr "يمين" - -#: system/ui/widgets/network.py:142 -#, python-format -msgid "unmetered" -msgstr "غير محدود" - -#: selfdrive/ui/layouts/settings/device.py:133 -#, python-format -msgid "up" -msgstr "أعلى" - -#: selfdrive/ui/layouts/settings/software.py:117 -#, python-format -msgid "up to date, last checked never" -msgstr "محدّث، آخر تحقق: أبداً" - -#: selfdrive/ui/layouts/settings/software.py:115 -#, python-format -msgid "up to date, last checked {}" -msgstr "محدّث، آخر تحقق {}" - -#: selfdrive/ui/layouts/settings/software.py:109 -#, python-format -msgid "update available" -msgstr "تحديث متاح" - -#: selfdrive/ui/layouts/home.py:169 -#, python-format -msgid "{} ALERT" -msgid_plural "{} ALERTS" -msgstr[0] "{} تنبيه" -msgstr[1] "{} تنبيه" -msgstr[2] "{} تنبيهان" -msgstr[3] "{} تنبيهات" -msgstr[4] "{} تنبيهات" -msgstr[5] "{} تنبيه" - -#: selfdrive/ui/layouts/settings/software.py:40 -#, python-format -msgid "{} day ago" -msgid_plural "{} days ago" -msgstr[0] "قبل {} يوم" -msgstr[1] "قبل {} يوم" -msgstr[2] "قبل {} يومين" -msgstr[3] "قبل {} أيام" -msgstr[4] "قبل {} أيام" -msgstr[5] "قبل {} يوم" - -#: selfdrive/ui/layouts/settings/software.py:37 -#, python-format -msgid "{} hour ago" -msgid_plural "{} hours ago" -msgstr[0] "قبل {} ساعة" -msgstr[1] "قبل {} ساعة" -msgstr[2] "قبل {} ساعتين" -msgstr[3] "قبل {} ساعات" -msgstr[4] "قبل {} ساعات" -msgstr[5] "قبل {} ساعة" - -#: selfdrive/ui/layouts/settings/software.py:34 -#, python-format -msgid "{} minute ago" -msgid_plural "{} minutes ago" -msgstr[0] "قبل {} دقيقة" -msgstr[1] "قبل {} دقيقة" -msgstr[2] "قبل {} دقيقتين" -msgstr[3] "قبل {} دقائق" -msgstr[4] "قبل {} دقائق" -msgstr[5] "قبل {} دقيقة" - -#: selfdrive/ui/layouts/settings/firehose.py:111 -#, python-format -msgid "{} segment of your driving is in the training dataset so far." -msgid_plural "{} segments of your driving is in the training dataset so far." -msgstr[0] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[1] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[2] "{} مقطعان من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[3] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[4] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[5] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." - -#: selfdrive/ui/widgets/prime.py:62 -#, python-format -msgid "✓ SUBSCRIBED" -msgstr "✓ مشترك" - -#: selfdrive/ui/widgets/setup.py:22 -#, python-format -msgid "🔥 Firehose Mode 🔥" -msgstr "🔥 وضع Firehose 🔥" diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 47e673ce89..99d3aafe3a 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -6,7 +6,6 @@ "Español": "es", "Türkçe": "tr", "Українська": "uk", - "العربية": "ar", "ไทย": "th", "中文（繁體）": "zh-CHT", "中文（简体）": "zh-CHS", diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 4fbde81673..a92e4c8de8 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -3,7 +3,7 @@ import pytest import time import numpy as np from dataclasses import dataclass -from tabulate import tabulate +from openpilot.common.utils import tabulate import cereal.messaging as messaging from cereal.services import SERVICE_LIST diff --git a/system/proclogd.py b/system/proclogd.py index 3279425b7b..b008f8ed9b 100755 --- a/system/proclogd.py +++ b/system/proclogd.py @@ -115,6 +115,55 @@ def _parse_proc_stat(stat: str) -> ProcStat | None: cloudlog.exception("failed to parse /proc//stat") return None +class SmapsData(TypedDict): + pss: int # bytes + pss_anon: int # bytes + pss_shmem: int # bytes + + +_SMAPS_KEYS = {b'Pss:', b'Pss_Anon:', b'Pss_Shmem:'} + +# smaps_rollup (kernel 4.14+) is ideal but missing on some BSP kernels; +# fall back to per-VMA smaps (any kernel). Pss_Anon/Pss_Shmem only in 5.x+. +_smaps_path: str | None = None # auto-detected on first call + +# per-VMA smaps is expensive (kernel walks page tables for every VMA). +# cache results and only refresh every N cycles to keep CPU low. +_smaps_cache: dict[int, SmapsData] = {} +_smaps_cycle = 0 +_SMAPS_EVERY = 20 # refresh every 20th cycle (40s at 0.5Hz) + + +def _read_smaps(pid: int) -> SmapsData: + global _smaps_path + try: + if _smaps_path is None: + _smaps_path = 'smaps_rollup' if os.path.exists(f'/proc/{pid}/smaps_rollup') else 'smaps' + + result: SmapsData = {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0} + with open(f'/proc/{pid}/{_smaps_path}', 'rb') as f: + for line in f: + parts = line.split() + if len(parts) >= 2 and parts[0] in _SMAPS_KEYS: + val = int(parts[1]) * 1024 # kB -> bytes + if parts[0] == b'Pss:': + result['pss'] += val + elif parts[0] == b'Pss_Anon:': + result['pss_anon'] += val + elif parts[0] == b'Pss_Shmem:': + result['pss_shmem'] += val + return result + except (FileNotFoundError, PermissionError, ProcessLookupError, OSError): + return {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0} + + +def _get_smaps_cached(pid: int) -> SmapsData: + """Return cached smaps data, refreshing every _SMAPS_EVERY cycles.""" + if _smaps_cycle == 0 or pid not in _smaps_cache: + _smaps_cache[pid] = _read_smaps(pid) + return _smaps_cache.get(pid, {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}) + + class ProcExtra(TypedDict): pid: int name: str @@ -189,6 +238,13 @@ def build_proc_log_message(msg) -> None: for j, arg in enumerate(extra['cmdline']): cmdline[j] = arg + # smaps is expensive (kernel walks page tables); skip small processes, use cache + if r['rss'] * PAGE_SIZE > 5 * 1024 * 1024: + smaps = _get_smaps_cached(r['pid']) + proc.memPss = smaps['pss'] + proc.memPssAnon = smaps['pss_anon'] + proc.memPssShmem = smaps['pss_shmem'] + cpu_times = _cpu_times() cpu_list = pl.init('cpuTimes', len(cpu_times)) for i, ct in enumerate(cpu_times): @@ -212,6 +268,9 @@ def build_proc_log_message(msg) -> None: pl.mem.inactive = mem_info["Inactive:"] pl.mem.shared = mem_info["Shmem:"] + global _smaps_cycle + _smaps_cycle = (_smaps_cycle + 1) % _SMAPS_EVERY + def main() -> NoReturn: pm = messaging.PubMaster(['procLog']) diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py index 70de1e3d5c..ad2a5f9399 100644 --- a/system/ui/lib/multilang.py +++ b/system/ui/lib/multilang.py @@ -16,7 +16,6 @@ TRANSLATIONS_DIR = UI_DIR.joinpath("translations") LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json") UNIFONT_LANGUAGES = [ - "ar", "th", "zh-CHT", "zh-CHS", diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py index 0859071dac..e2a548ba26 100644 --- a/system/ui/lib/scroll_panel2.py +++ b/system/ui/lib/scroll_panel2.py @@ -73,8 +73,14 @@ class GuiScrollPanel2: def _update_state(self, bounds_size: float, content_size: float) -> None: """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity.""" - if self._state == ScrollState.AUTO_SCROLL: - max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size) + max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size) + + if self._state == ScrollState.STEADY: + # if we find ourselves out of bounds, scroll back in (from external layout dimension changes, etc.) + if self.get_offset() > max_offset or self.get_offset() < min_offset: + self._state = ScrollState.AUTO_SCROLL + + elif self._state == ScrollState.AUTO_SCROLL: # simple exponential return if out of bounds out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset if out_of_bounds and self._handle_out_of_bounds: diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index c98d9a6ae5..2c76862ce5 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -631,7 +631,7 @@ class WifiManager: known_connections = self._get_connections() networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] # sort with quantized strength to reduce jumping - networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 2), n.ssid.lower())) + networks.sort(key=lambda n: (-n.is_connected, -n.is_saved, -round(n.strength / 100 * 2), n.ssid.lower())) self._networks = networks self._update_ipv4_address() diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index 75f6ec6d90..3242cc0dbe 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -94,12 +94,12 @@ class NetworkConnectivityMonitor: class SetupState(IntEnum): GETTING_STARTED = 0 NETWORK_SETUP = 1 - NETWORK_SETUP_CUSTOM_SOFTWARE = 8 - SOFTWARE_SELECTION = 2 - CUSTOM_SOFTWARE = 3 - DOWNLOADING = 4 - DOWNLOAD_FAILED = 5 - CUSTOM_SOFTWARE_WARNING = 6 + NETWORK_SETUP_CUSTOM_SOFTWARE = 2 + SOFTWARE_SELECTION = 3 + CUSTOM_SOFTWARE = 4 + DOWNLOADING = 5 + DOWNLOAD_FAILED = 6 + CUSTOM_SOFTWARE_WARNING = 7 class StartPage(Widget): @@ -590,15 +590,9 @@ class Setup(Widget): def _custom_software_warning_back_button_callback(self): self._set_state(SetupState.SOFTWARE_SELECTION) - def _custom_software_warning_continue_button_callback(self): - self._set_state(SetupState.CUSTOM_SOFTWARE) - def _getting_started_button_callback(self): self._set_state(SetupState.SOFTWARE_SELECTION) - def _software_selection_back_button_callback(self): - self._set_state(SetupState.GETTING_STARTED) - def _software_selection_continue_button_callback(self): self.use_openpilot() diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 42d9a910aa..b3b1276a58 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -195,7 +195,7 @@ NAV_BAR_WIDTH = 205 NAV_BAR_HEIGHT = 8 DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT # px extra to push down when dismissing -DISMISS_TIME_SECONDS = 1.5 +DISMISS_TIME_SECONDS = 2.0 class NavBar(Widget): @@ -242,6 +242,7 @@ class NavWidget(Widget, abc.ABC): self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1) self._playing_dismiss_animation = False self._trigger_animate_in = False + self._nav_bar_show_time = 0.0 self._back_enabled: bool | Callable[[], bool] = True self._nav_bar = NavBar() @@ -330,6 +331,7 @@ class NavWidget(Widget, abc.ABC): if self._trigger_animate_in: self._pos_filter.x = self._rect.height self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT + self._nav_bar_show_time = rl.get_time() self._trigger_animate_in = False new_y = 0.0 @@ -366,18 +368,24 @@ class NavWidget(Widget, abc.ABC): if self.back_enabled: bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2 + nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4 + # User dragging or dismissing, nav bar follows NavWidget if self._back_button_start_pos is not None or self._playing_dismiss_animation: self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x + # Waiting to show + elif nav_bar_delayed: + self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT + # Animate back to top else: self._nav_bar_y_filter.update(NAV_BAR_MARGIN) - self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) - self._nav_bar.render() - # draw black above widget when dismissing if self._rect.y > 0: rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK) + self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) + self._nav_bar.render() + return ret def show_event(self): diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py index f33ba941bf..03c49fca65 100644 --- a/system/ui/widgets/scroller.py +++ b/system/ui/widgets/scroller.py @@ -15,7 +15,6 @@ ANIMATION_SCALE = 0.6 MIN_ZOOM_ANIMATION_TIME = 0.075 # seconds DO_ZOOM = False DO_JELLO = False -SCROLL_BAR = False class LineSeparator(Widget): @@ -33,9 +32,52 @@ class LineSeparator(Widget): LINE_COLOR) +class ScrollIndicator(Widget): + HORIZONTAL_MARGIN = 4 + + def __init__(self): + super().__init__() + self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48) + self._scroll_offset: float = 0.0 + self._content_size: float = 0.0 + self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) + + def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None: + self._scroll_offset = scroll_offset + self._content_size = content_size + self._viewport = viewport + + def _render(self, _): + # scale indicator width based on content size + indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100])) + + # position based on scroll ratio + slide_range = self._viewport.width - indicator_w + max_scroll = self._content_size - self._viewport.width + scroll_ratio = -self._scroll_offset / max_scroll + x = self._viewport.x + scroll_ratio * slide_range + # don't bounce up when NavWidget shows + y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2 + + # squeeze when overscrolling past edges + dest_left = max(x, self._viewport.x) + dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width) + dest_w = max(indicator_w / 2, dest_right - dest_left) + + # keep within viewport after applying minimum width + dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w) + dest_left = max(dest_left, self._viewport.x) + + src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height) + dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height) + rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0, + rl.Color(255, 255, 255, int(255 * 0.45))) + + class Scroller(Widget): def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING, - line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING): + line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING, + scroll_indicator: bool = True): super().__init__() self._items: list[Widget] = [] self._horizontal = horizontal @@ -65,7 +107,8 @@ class Scroller(Widget): self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items) self._scroll_enabled: bool | Callable[[], bool] = True - self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80) + self._show_scroll_indicator = scroll_indicator + self._scroll_indicator = ScrollIndicator() for item in items: self.add_widget(item) @@ -241,15 +284,13 @@ class Scroller(Widget): else: item.render() - # Draw scroll indicator - if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0: - _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height - scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height - scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height) - rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE) - rl.end_scissor_mode() + # Draw scroll indicator + if self._show_scroll_indicator and self._horizontal and len(self._visible_items) > 0: + self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect) + self._scroll_indicator.render() + def show_event(self): super().show_event() if self._reset_scroll_at_show: diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore index 68858c62e4..0ae664dff6 100644 --- a/third_party/acados/.gitignore +++ b/third_party/acados/.gitignore @@ -1,5 +1,9 @@ acados_repo/ -lib +/lib !x86_64/ !larch64/ !aarch64/ +!Darwin/ +!*.so +!*.so.* +!*.dylib diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py new file mode 100644 index 0000000000..8b13789179 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/__init__.py @@ -0,0 +1 @@ + diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index 2b803ef6b2..2c4d839ae7 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" ARCHNAME="x86_64" diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so index 4e80f7c76b..50d647a862 100644 --- a/third_party/acados/x86_64/lib/libacados.so +++ b/third_party/acados/x86_64/lib/libacados.so @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:821ce18f417d211c4845b60482d465b809f90dc7d04f023d652d8221e87679b1 -size 553544 +oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263 +size 540488 diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so index 26d5a3dbe9..a98f45abd2 100644 --- a/third_party/acados/x86_64/lib/libblasfeo.so +++ b/third_party/acados/x86_64/lib/libblasfeo.so @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3feea7927d004064bbc5a13c3287467669ce801cb0a3c616cf9e089816da5a0b -size 2155088 +oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15 +size 2416112 diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so index 40e2e4e7d4..f40cb487cd 100644 --- a/third_party/acados/x86_64/lib/libhpipm.so +++ b/third_party/acados/x86_64/lib/libhpipm.so @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a042716f515913786581dff39799eb71fc66caddfa18b1c9f0d54f00c1568fd2 -size 1572648 +oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d +size 1531024 diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 index cf5e550faa..81afd059f7 100644 --- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 +++ b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6abea4815e3f03cff06fe8a9602e97f9acf102f18f803571460a94595b93be4 -size 262824 +oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64 +size 262464 diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer index e995a209b7..d41f6c3725 100755 --- a/third_party/acados/x86_64/t_renderer +++ b/third_party/acados/x86_64/t_renderer @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7a360d4b53826b91ada3358156d44a14d497bdd8ace88707fd4b386ed6d194c7 -size 17503920 +oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791 +size 5088536 diff --git a/third_party/build.sh b/third_party/build.sh new file mode 100755 index 0000000000..d3a9c6579c --- /dev/null +++ b/third_party/build.sh @@ -0,0 +1,53 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +# Reproducible builds: pin timestamps to epoch +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + +pids=() +names=() +logs=() + +for script in "$DIR"/*/build.sh; do + [ -f "$script" ] || continue + name=$(basename "$(dirname "$script")") + log=$(mktemp) + names+=("$name") + logs+=("$log") + (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 & + pids+=($!) +done + +failed=0 +for i in "${!pids[@]}"; do + echo "--- ${names[$i]} ---" + if wait "${pids[$i]}"; then + echo "OK" + else + echo "FAILED (exit $?)" + failed=1 + fi + cat "${logs[$i]}" + rm -f "${logs[$i]}" + echo +done + +[ $failed -ne 0 ] && exit $failed + +# Repack ar archives with deterministic headers (zero timestamps/uid/gid) +# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux) +while IFS= read -r -d '' lib; do + tmpdir=$(mktemp -d) + lib=$(realpath "$lib") + if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then + (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib") + fi + rm -rf "$tmpdir" +done < <(find "$DIR" -name '*.a' \ + \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \ + -print0) + +echo -e "\033[32mAll third_party builds succeeded.\033[0m" diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore index 450712e47d..1e943ae6c6 100644 --- a/third_party/libyuv/.gitignore +++ b/third_party/libyuv/.gitignore @@ -1 +1,2 @@ -libyuv/ +/libyuv/ +!*.a diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh index b960f60ef5..35a7d947a2 100755 --- a/third_party/libyuv/build.sh +++ b/third_party/libyuv/build.sh @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" ARCHNAME=$(uname -m) diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a index 1c91250231..9c4a32bcdb 100644 --- a/third_party/libyuv/larch64/lib/libyuv.a +++ b/third_party/libyuv/larch64/lib/libyuv.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363 +oid sha256:adafce26582e425164df7af36253ce58e3ed1dba9965650745c93bd96e42e976 size 462482 diff --git a/third_party/libyuv/x86_64/include b/third_party/libyuv/x86_64/include deleted file mode 120000 index f5030fe889..0000000000 --- a/third_party/libyuv/x86_64/include +++ /dev/null @@ -1 +0,0 @@ -../include \ No newline at end of file diff --git a/third_party/libyuv/x86_64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a index 8915f167dc..391b1c8769 100644 --- a/third_party/libyuv/x86_64/lib/libyuv.a +++ b/third_party/libyuv/x86_64/lib/libyuv.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e21a3bd8df01cf4ce5461e7bf6654239196036c3f829255145265c7bf31a791d -size 511974 +oid sha256:00f9759c67c6fa21657fabde9e096478ea5809716989599f673f638f039431e5 +size 504790 diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore index c4afad9c38..6b1d3ad748 100644 --- a/third_party/raylib/.gitignore +++ b/third_party/raylib/.gitignore @@ -1,3 +1,4 @@ /raylib_repo/ /raylib_python_repo/ /wheel/ +!*.a diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a index 837ad8818e..dd2e9b33f1 100644 --- a/third_party/raylib/Darwin/libraylib.a +++ b/third_party/raylib/Darwin/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7ffe1fc6497f0c111fc507988e94fd29ce4db53a4876dc82ab9267895ad82584 -size 6515352 +oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702 +size 6392532 diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh index 7f2ce5951f..d20f9d33af 100755 --- a/third_party/raylib/build.sh +++ b/third_party/raylib/build.sh @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + SUDO="" # Use sudo if not root diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a index 4e810c8b7b..fa538e5214 100644 --- a/third_party/raylib/larch64/libraylib.a +++ b/third_party/raylib/larch64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91e9a07513e84f7b553da01b34b24e12fe7130131ef73ebdb3dac3b838db815b +oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a size 2001860 diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a index cf69482563..ea124c1bcf 100644 --- a/third_party/raylib/x86_64/libraylib.a +++ b/third_party/raylib/x86_64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f0b8f59758fe1291be82a8bda7a7ca05629c7addb0683936dd404ed08e19e143 -size 2769684 +oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73 +size 2771092 diff --git a/tools/clip/run.py b/tools/clip/run.py index 5fb693f30a..d338f097d6 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -40,7 +40,7 @@ def parse_args(): parser.add_argument("-f", "--file-size", type=float, default=9.0, help="Target file size in MB") parser.add_argument("-x", "--speed", type=int, default=1, help="Speed multiplier") parser.add_argument("--demo", action="store_true", help="Use demo route with default timing") - parser.add_argument("--big", action="store_true", default=True, help="Use big UI (2160x1080)") + parser.add_argument("--big", action="store_true", help="Use big UI (2160x1080)") parser.add_argument("--qcam", action="store_true", help="Use qcamera instead of fcamera") parser.add_argument("--windowed", action="store_true", help="Show window") parser.add_argument("--no-metadata", action="store_true", help="Disable metadata overlay") @@ -208,7 +208,10 @@ class FrameQueue: def load_route_metadata(route): from openpilot.common.params import Params, UnknownKeyName - lr = LogReader(route.log_paths()[0]) + path = next((item for item in route.log_paths() if item), None) + if not path: + raise Exception('error getting route metadata: cannot find any uploaded logs') + lr = LogReader(path) init_data, car_params = lr.first('initData'), lr.first('carParams') params = Params() @@ -226,11 +229,11 @@ def load_route_metadata(route): } -def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, center=False): +def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False): + import pyray as rl + from openpilot.system.ui.lib.text_measure import measure_text_cached box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE - # measure_text_ex is NOT auto-scaled, so multiply by font_scale - # draw_text_ex IS auto-scaled, so pass size directly - text_size = rl.measure_text_ex(font, text, size * font_scale, 0) + text_size = measure_text_cached(font, text, size) text_width, text_height = int(text_size.x), int(text_size.y) if center: x = (gui_app.width - text_width) // 2 @@ -238,25 +241,41 @@ def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, c rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color) -def render_overlays(rl, gui_app, font, font_scale, metadata, title, start_time, frame_idx, show_metadata, show_time): +def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time): + from openpilot.system.ui.lib.text_measure import measure_text_cached + from openpilot.system.ui.lib.wrap_text import wrap_text + metadata_size = 16 if big else 12 + title_size = 32 if big else 24 + time_size = 24 if big else 16 + + # Time overlay + time_width = 0 + if show_time: + t = start_time + frame_idx / FRAMERATE + time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}" + time_width = int(measure_text_cached(font, time_text, time_size).x) + draw_text_box(time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font) + + # Metadata overlay (first 5 seconds) if show_metadata and metadata and frame_idx < FRAMERATE * 5: m = metadata text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}", f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"]) - # Truncate if too wide (leave 20px margin on each side) - max_width = gui_app.width - 40 - while rl.measure_text_ex(font, text, 15 * font_scale, 0).x > max_width and len(text) > 20: - text = text[:-4] + "..." - draw_text_box(rl, text, 0, 8, 15, gui_app, font, font_scale, center=True) + # Wrap text if too wide (leave margin on each side) + margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay + max_width = gui_app.width - margin + lines = wrap_text(font, text, metadata_size, max_width) + # Draw wrapped metadata text + y_offset = 6 + for line in lines: + draw_text_box(line, 0, y_offset, metadata_size, gui_app, font, center=True) + line_height = int(measure_text_cached(font, line, metadata_size).y) + 4 + y_offset += line_height + + # Title overlay if title: - draw_text_box(rl, title, 0, 60, 32, gui_app, font, font_scale, center=True) - - if show_time: - t = start_time + frame_idx / FRAMERATE - time_text = f"{int(t)//60:02d}:{int(t)%60:02d}" - time_width = int(rl.measure_text_ex(font, time_text, 24 * font_scale, 0).x) - draw_text_box(rl, time_text, gui_app.width - time_width - 45, 45, 24, gui_app, font, font_scale) + draw_text_box(title, 0, 60, title_size, gui_app, font, center=True) def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False, @@ -269,7 +288,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, else: from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView # type: ignore[assignment] from openpilot.selfdrive.ui.ui_state import ui_state - from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE + from openpilot.system.ui.lib.application import gui_app, FontWeight timer.lap("import") logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)") @@ -313,7 +332,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, ui_state.update() if should_render: road_view.render() - render_overlays(rl, gui_app, font, FONT_SCALE, metadata, title, start, frame_idx, show_metadata, show_time) + render_overlays(gui_app, font, big, metadata, title, start, frame_idx, show_metadata, show_time) frame_idx += 1 pbar.update(1) timer.lap("render") @@ -329,7 +348,6 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, def main(): logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s") args = parse_args() - assert args.big, "Clips doesn't support mici UI yet. TODO: make it work" setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start) clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed, diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py index 1c1e1f171b..6b484dfdad 100644 --- a/tools/lib/openpilotci.py +++ b/tools/lib/openpilotci.py @@ -1,12 +1,4 @@ -from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer +BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -def get_url(*args, **kwargs): - return OpenpilotCIContainer.get_url(*args, **kwargs) - -def upload_file(*args, **kwargs): - return OpenpilotCIContainer.upload_file(*args, **kwargs) - -def upload_bytes(*args, **kwargs): - return OpenpilotCIContainer.upload_bytes(*args, **kwargs) - -BASE_URL = OpenpilotCIContainer.BASE_URL +def get_url(route_name: str, segment_num, filename: str) -> str: + return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{filename}" diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index 8c16e30d56..32bdb5b1c4 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -9,7 +9,7 @@ import webbrowser from collections import defaultdict from pathlib import Path import matplotlib.pyplot as plt -from tabulate import tabulate +from openpilot.common.utils import tabulate from openpilot.tools.lib.logreader import LogReader from openpilot.system.hardware.hw import Paths diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 8c1a60f5b7..7623f669cd 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -3,8 +3,9 @@ import sys import markdown import numpy as np import matplotlib.pyplot as plt -from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver TIME = 0 LEAD_DISTANCE= 2 @@ -21,7 +22,6 @@ axis_labels = ['Time (s)', 'Lead distance (m)' ] - def get_html_from_results(results, labels, AXIS): fig, ax = plt.subplots(figsize=(16, 8)) for idx, speed in enumerate(list(results.keys())): @@ -38,242 +38,272 @@ def get_html_from_results(results, labels, AXIS): plt.close(fig) return fig_buffer.getvalue() + '
' +def generate_mpc_tuning_report(): + htmls = [] -htmls = [] + results = {} + name = 'Resuming behind lead' + labels = [] + for lead_accel in np.linspace(1.0, 4.0, 4): + man = Maneuver( + '', + duration=11, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 10 * lead_accel], + cruise_values=[100, 100], + prob_lead_values=[1.0, 1.0], + breakpoints=[1., 11], + ) + valid, results[lead_accel] = man.evaluate() + labels.append(f'{lead_accel} m/s^2 lead acceleration') -results = {} -name = 'Resuming behind lead' -labels = [] -for lead_accel in np.linspace(1.0, 4.0, 4): - man = Maneuver( - '', - duration=11, - initial_speed=0.0, - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 10 * lead_accel], - cruise_values=[100, 100], - prob_lead_values=[1.0, 1.0], - breakpoints=[1., 11], - ) - valid, results[lead_accel] = man.evaluate() - labels.append(f'{lead_accel} m/s^2 lead acceleration') - -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -results = {} -name = 'Approaching stopped car from 140m' -labels = [] -for speed in np.arange(0,45,5): - man = Maneuver( - name, - duration=30., - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=140., - speed_lead_values=[0.0, 0.], - breakpoints=[0., 30.], - ) - valid, results[speed] = man.evaluate() - results[speed][:,2] = results[speed][:,2] - results[speed][:,1] - labels.append(f'{speed} m/s approach speed') + results = {} + name = 'Approaching stopped car from 140m' + labels = [] + for speed in np.arange(0,45,5): + man = Maneuver( + name, + duration=30., + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=140., + speed_lead_values=[0.0, 0.], + breakpoints=[0., 30.], + ) + valid, results[speed] = man.evaluate() + results[speed][:,2] = results[speed][:,2] - results[speed][:,1] + labels.append(f'{speed} m/s approach speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Following 5s oscillating lead' -labels = [] -speed = np.int64(10) -for oscil in np.arange(0, 10, 1): - man = Maneuver( - '', - duration=30., - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(speed, speed), - speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil], - breakpoints=[0.,2., 5, 8, 15, 18, 25.], - ) - valid, results[oscil] = man.evaluate() - labels.append(f'{oscil} m/s oscilliation size') + results = {} + name = 'Following 5s (triangular) oscillating lead' + labels = [] + speed = np.int64(10) + for oscil in np.arange(0, 10, 1): + man = Maneuver( + '', + duration=30., + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed), + speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil], + breakpoints=[0.,2., 5, 8, 15, 18, 25.], + ) + valid, results[oscil] = man.evaluate() + labels.append(f'{oscil} m/s oscillation size') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, D_REL)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + results = {} + name = 'Following 5s (sinusoidal) oscillating lead' + labels = [] + speed = np.int64(10) + duration = float(30) + f_osc = 1. / 5 + for oscil in np.arange(0, 10, 1): + bps = DT_MDL * np.arange(int(duration / DT_MDL)) + lead_speeds = speed + oscil * np.sin(2 * np.pi * f_osc * bps) + man = Maneuver( + '', + duration=duration, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed), + speed_lead_values=lead_speeds, + breakpoints=bps, + ) + valid, results[oscil] = man.evaluate() + labels.append(f'{oscil} m/s oscilliation size') -results = {} -name = 'Speed profile when converging to steady state lead at 30m/s' -labels = [] -for distance in np.arange(20, 140, 10): - man = Maneuver( - '', - duration=50, - initial_speed=30.0, - lead_relevancy=True, - initial_distance_lead=distance, - speed_lead_values=[30.0], - breakpoints=[0.], - ) - valid, results[distance] = man.evaluate() - results[distance][:,2] = results[distance][:,2] - results[distance][:,1] - labels.append(f'{distance} m initial distance') - -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -results = {} -name = 'Speed profile when converging to steady state lead at 20m/s' -labels = [] -for distance in np.arange(20, 140, 10): - man = Maneuver( - '', - duration=50, - initial_speed=20.0, - lead_relevancy=True, - initial_distance_lead=distance, - speed_lead_values=[20.0], - breakpoints=[0.], - ) - valid, results[distance] = man.evaluate() - results[distance][:,2] = results[distance][:,2] - results[distance][:,1] - labels.append(f'{distance} m initial distance') + results = {} + name = 'Speed profile when converging to steady state lead at 30m/s' + labels = [] + for distance in np.arange(20, 140, 10): + man = Maneuver( + '', + duration=50, + initial_speed=30.0, + lead_relevancy=True, + initial_distance_lead=distance, + speed_lead_values=[30.0], + breakpoints=[0.], + ) + valid, results[distance] = man.evaluate() + results[distance][:,2] = results[distance][:,2] - results[distance][:,1] + labels.append(f'{distance} m initial distance') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Following car at 30m/s that comes to a stop' -labels = [] -for stop_time in np.arange(4, 14, 1): - man = Maneuver( - '', - duration=50, - initial_speed=30.0, - lead_relevancy=True, - initial_distance_lead=60.0, - speed_lead_values=[30.0, 30.0, 0.0, 0.0], - breakpoints=[0., 20., 20 + stop_time, 30 + stop_time], - ) - valid, results[stop_time] = man.evaluate() - results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] - labels.append(f'{stop_time} seconds stop time') + results = {} + name = 'Speed profile when converging to steady state lead at 20m/s' + labels = [] + for distance in np.arange(20, 140, 10): + man = Maneuver( + '', + duration=50, + initial_speed=20.0, + lead_relevancy=True, + initial_distance_lead=distance, + speed_lead_values=[20.0], + breakpoints=[0.], + ) + valid, results[distance] = man.evaluate() + results[distance][:,2] = results[distance][:,2] - results[distance][:,1] + labels.append(f'{distance} m initial distance') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Response to cut-in at half follow distance' -labels = [] -for speed in np.arange(0, 40, 5): - man = Maneuver( - '', - duration=10, - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(speed, speed)/2, - speed_lead_values=[speed, speed, speed], - cruise_values=[speed, speed, speed], - prob_lead_values=[0.0, 0.0, 1.0], - breakpoints=[0., 5.0, 5.01], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'Following car at 30m/s that comes to a stop' + labels = [] + for stop_time in np.arange(4, 14, 1): + man = Maneuver( + '', + duration=30, + initial_speed=30.0, + cruise_values=[30.0, 30.0, 30.0], + lead_relevancy=True, + initial_distance_lead=60.0, + speed_lead_values=[30.0, 30.0, 0.0], + breakpoints=[0., 5., 5 + stop_time], + ) + valid, results[stop_time] = man.evaluate() + results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] + labels.append(f'{stop_time} seconds stop time') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed' -labels = [] -for speed in np.arange(0, 40, 5): - man = Maneuver( - '', - duration=50, - initial_speed=0.0, - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 0.0, speed], - prob_lead_values=[1.0, 1.0, 1.0], - breakpoints=[0., 1.0, speed/2], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'Response to cut-in at half follow distance' + labels = [] + for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=20, + initial_speed=float(speed), + cruise_values=[speed, speed, speed], + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed)/2, + speed_lead_values=[speed, speed, speed], + prob_lead_values=[0.0, 0.0, 1.0], + breakpoints=[0., 5.0, 5.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'From stop to cruise' -labels = [] -for speed in np.arange(0, 40, 5): - man = Maneuver( - '', - duration=50, - initial_speed=0.0, - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 0.0], - cruise_values=[0.0, speed], - prob_lead_values=[0.0, 0.0], - breakpoints=[1., 1.01], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed' + labels = [] + for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=60, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0, speed], + prob_lead_values=[1.0, 1.0, 1.0], + breakpoints=[0., 1.0, speed/2], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -results = {} -name = 'From cruise to min' -labels = [] -for speed in np.arange(10, 40, 5): - man = Maneuver( - '', - duration=50, - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 0.0], - cruise_values=[speed, 10.0], - prob_lead_values=[0.0, 0.0], - breakpoints=[1., 1.01], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'From stop to cruise' + labels = [] + for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0], + cruise_values=[0.0, speed], + prob_lead_values=[0.0, 0.0], + breakpoints=[1., 1.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -if len(sys.argv) < 2: - file_name = 'long_mpc_tune_report.html' -else: - file_name = sys.argv[1] -with open(file_name, 'w') as f: - f.write(markdown.markdown('# MPC longitudinal tuning report')) + results = {} + name = 'From cruise to min' + labels = [] + for speed in np.arange(10, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0], + cruise_values=[speed, 10.0], + prob_lead_values=[0.0, 0.0], + breakpoints=[1., 1.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -with open(file_name, 'a') as f: - for html in htmls: - f.write(html) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + + return htmls + +if __name__ == '__main__': + htmls = generate_mpc_tuning_report() + + if len(sys.argv) < 2: + file_name = 'long_mpc_tune_report.html' + else: + file_name = sys.argv[1] + + with open(file_name, 'w') as f: + f.write(markdown.markdown('# MPC longitudinal tuning report')) + for html in htmls: + f.write(html) diff --git a/tools/op.sh b/tools/op.sh index 8b5062ad9b..8c41926e0c 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -161,9 +161,9 @@ function op_check_python() { loge "ERROR_PYTHON_NOT_FOUND" return 1 else - LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1) - UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2) - VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') + LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($4, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }') + UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($6, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }') + VERSION=$(echo $INSTALLED_PYTHON_VERSION | awk '{ split($2, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }') if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected." else diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 54667ebfe9..8707f2be99 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -160,9 +160,12 @@ def ui_thread(addr): camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] - imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) - num_px = vipc_client.width * vipc_client.height - rgb = cv2.cvtColor(imgff[: vipc_client.height * 3 // 2, : vipc_client.width], cv2.COLOR_YUV2RGB_NV12) + # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding) + h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride + nv12_size = h * 3 // 2 * stride + imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride)) + num_px = w * h + rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12) qcam = "QCAM" in os.environ bb_scale = (528 if qcam else camera.fcam.width) / 640.0 diff --git a/uv.lock b/uv.lock index 054a67cc9a..8909934e9a 100644 --- a/uv.lock +++ b/uv.lock @@ -1,10 +1,6 @@ version = 1 revision = 3 -requires-python = ">=3.11, <3.13" 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