From b501ad4d5103887fd1bc9c8a02bcfc6d1bbf80ce Mon Sep 17 00:00:00 2001 From: Comma Device Date: Sun, 24 Aug 2025 00:48:54 +0000 Subject: [PATCH 01/69] nice encoder debugging script --- system/loggerd/tests/vidc_debug.sh | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100755 system/loggerd/tests/vidc_debug.sh diff --git a/system/loggerd/tests/vidc_debug.sh b/system/loggerd/tests/vidc_debug.sh new file mode 100755 index 000000000..7471f2ab0 --- /dev/null +++ b/system/loggerd/tests/vidc_debug.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +set -e + +cd /sys/kernel/debug/tracing +echo "" > trace +echo 1 > tracing_on +echo 1 > /sys/kernel/debug/tracing/events/msm_vidc/enable + +echo 0xff > /sys/module/videobuf2_core/parameters/debug +echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level +echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug + +cat /sys/kernel/debug/tracing/trace_pipe From aea467ff02ca68988d0e82824e9ec18fd5c459f5 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 25 Aug 2025 11:43:49 -0700 Subject: [PATCH 02/69] [bot] Update Python packages (#36053) * Update Python packages * bump --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- tinygrad_repo | 2 +- uv.lock | 184 ++++++++++++----------- 4 files changed, 99 insertions(+), 91 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 43006b9a4..0fe56bc28 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0 +Subproject commit 0fe56bc289d72d2f278e9c085f2ada6ecb13e688 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a4297096c..8e4ff1e2a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6d3219bca9f66a229b38a5382d301a92b0147edb \ 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"https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" }, ] [[package]] From 1d74a97ba65b9b9ea074ef870ab70907be33918c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 25 Aug 2025 13:50:10 -0700 Subject: [PATCH 03/69] torqued: apply offset (#36005) * torqued: apply latAccelOffset to torque control feed forward * test learned latAccelOffset captures roll compensation bias on straight road driving, when the device is not flush in roll relative to the car * test correct torqued latAccelOffset parameter convergence --------- Co-authored-by: felsager --- selfdrive/controls/lib/latcontrol_torque.py | 6 +- .../tests/test_torqued_lat_accel_offset.py | 71 +++++++++++++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 75 insertions(+), 4 deletions(-) create mode 100644 selfdrive/controls/tests/test_torqued_lat_accel_offset.py diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index dffe85c47..5a2814e08 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -52,10 +52,8 @@ class LatControlTorque(LatControl): actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) - desired_lateral_accel = desired_curvature * CS.vEgo ** 2 - # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + desired_lateral_accel = desired_curvature * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 @@ -67,6 +65,8 @@ class LatControlTorque(LatControl): # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(setpoint - measurement) ff = gravity_adjusted_lateral_accel + # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll + ff -= self.torque_params.latAccelOffset ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py new file mode 100644 index 000000000..5ba998002 --- /dev/null +++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py @@ -0,0 +1,71 @@ +import numpy as np +from cereal import car, messaging +from opendbc.car import ACCELERATION_DUE_TO_GRAVITY +from opendbc.car import structs +from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS + +np.random.seed(0) + +LA_ERR_STD = 1.0 +INPUT_NOISE_STD = 0.1 +V_EGO = 30.0 + +WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int) +STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03) + +ROLL_BIAS_DEG = 1.0 +ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG))) +TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2) +TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2) + + +def generate_inputs(torque_tune, la_err_std, input_noise_std=None): + rng = np.random.default_rng(0) + steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)]) + la_errs = rng.normal(scale=la_err_std, size=steer_torques.size) + frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs]) + lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions + if input_noise_std is not None: + steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size) + lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size) + return steer_torques, lat_accels + +def get_warmed_up_estimator(steer_torques, lat_accels): + est = TorqueEstimator(car.CarParams()) + for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True): + est.filtered_points.add_point(steer_torque, lat_accel) + return est + +def simulate_straight_road_msgs(est): + carControl = messaging.new_message('carControl').carControl + carOutput = messaging.new_message('carOutput').carOutput + carState = messaging.new_message('carState').carState + livePose = messaging.new_message('livePose').livePose + carControl.latActive = True + carState.vEgo = V_EGO + carState.steeringPressed = False + ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET) + steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET))) + lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques + for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True): + carOutput.actuatorsOutput.torque = float(-steer_torque) + livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG)) + livePose.angularVelocityDevice.z = float(lat_accel / V_EGO) + for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)): + est.handle_log(t, which, msg) + +def test_estimated_offset(): + steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) + est = get_warmed_up_estimator(steer_torques, lat_accels) + msg = est.get_msg() + # TODO add lataccelfactor and friction check when we have more accurate estimates + assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.03 + +def test_straight_road_roll_bias(): + steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) + est = get_warmed_up_estimator(steer_torques, lat_accels) + simulate_straight_road_msgs(est) + msg = est.get_msg() + assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8e4ff1e2a..7d2152614 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file +866f2cb1f0e49b2cb7115aa8131164b3a75fb2c5 \ No newline at end of file From c4a7f25b626886f9143d0e9bae1eaa37a9083538 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 15:17:37 -0700 Subject: [PATCH 04/69] raylib: refactor NetworkManager constants (#36056) * new file * import * and this --- system/ui/lib/networkmanager.py | 44 +++++++++++++++++++++++++++++++++ system/ui/lib/wifi_manager.py | 27 ++++---------------- 2 files changed, 49 insertions(+), 22 deletions(-) create mode 100644 system/ui/lib/networkmanager.py diff --git a/system/ui/lib/networkmanager.py b/system/ui/lib/networkmanager.py new file mode 100644 index 000000000..07b5d42f4 --- /dev/null +++ b/system/ui/lib/networkmanager.py @@ -0,0 +1,44 @@ +from enum import IntEnum + + +# NetworkManager device states +class NMDeviceState(IntEnum): + UNKNOWN = 0 + DISCONNECTED = 30 + PREPARE = 40 + STATE_CONFIG = 50 + NEED_AUTH = 60 + IP_CONFIG = 70 + ACTIVATED = 100 + DEACTIVATING = 110 + + +# NetworkManager constants +NM = "org.freedesktop.NetworkManager" +NM_PATH = '/org/freedesktop/NetworkManager' +NM_IFACE = 'org.freedesktop.NetworkManager' +NM_ACCESS_POINT_IFACE = 'org.freedesktop.NetworkManager.AccessPoint' +NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings' +NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings' +NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection' +NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless' +NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties' +NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" + +NM_DEVICE_TYPE_WIFI = 2 +NM_DEVICE_TYPE_MODEM = 8 +NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 +NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60 + +# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags +NM_802_11_AP_FLAGS_NONE = 0x0 +NM_802_11_AP_FLAGS_PRIVACY = 0x1 +NM_802_11_AP_FLAGS_WPS = 0x2 + +# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags +NM_802_11_AP_SEC_PAIR_WEP40 = 0x00000001 +NM_802_11_AP_SEC_PAIR_WEP104 = 0x00000002 +NM_802_11_AP_SEC_GROUP_WEP40 = 0x00000010 +NM_802_11_AP_SEC_GROUP_WEP104 = 0x00000020 +NM_802_11_AP_SEC_KEY_MGMT_PSK = 0x00000100 +NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200 diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 4cb741bc9..7bd292fa4 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -14,6 +14,11 @@ from dbus_next import BusType, Variant, Message from dbus_next.errors import DBusError from dbus_next.constants import MessageType +from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_IFACE, NM_SETTINGS_PATH, NM_SETTINGS_IFACE, + NM_CONNECTION_IFACE, NM_WIRELESS_IFACE, NM_PROPERTIES_IFACE, + NM_DEVICE_IFACE, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, + NMDeviceState) + try: from openpilot.common.params import Params except ImportError: @@ -23,32 +28,10 @@ from openpilot.common.swaglog import cloudlog T = TypeVar("T") -# NetworkManager constants -NM = "org.freedesktop.NetworkManager" -NM_PATH = '/org/freedesktop/NetworkManager' -NM_IFACE = 'org.freedesktop.NetworkManager' -NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings' -NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings' -NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection' -NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless' -NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties' -NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" - -NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 - TETHERING_IP_ADDRESS = "192.168.43.1" DEFAULT_TETHERING_PASSWORD = "swagswagcomma" -# NetworkManager device states -class NMDeviceState(IntEnum): - DISCONNECTED = 30 - PREPARE = 40 - NEED_AUTH = 60 - IP_CONFIG = 70 - ACTIVATED = 100 - - class SecurityType(IntEnum): OPEN = 0 WPA = 1 From e89c6b3b88569916a47067e56cd51d0fbc96e549 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 15:23:14 -0700 Subject: [PATCH 05/69] raylib: remove redundant networking class (#36057) remove a class --- selfdrive/ui/layouts/network.py | 17 ----------------- selfdrive/ui/layouts/settings/settings.py | 8 ++++++-- 2 files changed, 6 insertions(+), 19 deletions(-) delete mode 100644 selfdrive/ui/layouts/network.py diff --git a/selfdrive/ui/layouts/network.py b/selfdrive/ui/layouts/network.py deleted file mode 100644 index 856be26e9..000000000 --- a/selfdrive/ui/layouts/network.py +++ /dev/null @@ -1,17 +0,0 @@ -import pyray as rl -from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper -from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.network import WifiManagerUI - - -class NetworkLayout(Widget): - def __init__(self): - super().__init__() - self.wifi_manager = WifiManagerWrapper() - self.wifi_ui = WifiManagerUI(self.wifi_manager) - - def _render(self, rect: rl.Rectangle): - self.wifi_ui.render(rect) - - def shutdown(self): - self.wifi_manager.shutdown() diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 674e5005f..7d2a23576 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -2,7 +2,6 @@ import pyray as rl from dataclasses import dataclass from enum import IntEnum from collections.abc import Callable -from openpilot.selfdrive.ui.layouts.network import NetworkLayout from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout @@ -10,7 +9,9 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.network import WifiManagerUI # Settings close button SETTINGS_CLOSE_TEXT = "×" @@ -53,9 +54,12 @@ class SettingsLayout(Widget): self._current_panel = PanelType.DEVICE # Panel configuration + self.wifi_manager = WifiManagerWrapper() + self.wifi_ui = WifiManagerUI(self.wifi_manager) + self._panels = { PanelType.DEVICE: PanelInfo("Device", DeviceLayout()), - PanelType.NETWORK: PanelInfo("Network", NetworkLayout()), + PanelType.NETWORK: PanelInfo("Network", self.wifi_ui), PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()), PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()), PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()), From 15fcbf24f1b2f1ecc920eb48e39dbeb2c0747e59 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 15:52:13 -0700 Subject: [PATCH 06/69] raylib home ui: show/hide events (#36058) * it's a widget * proper events * bottom --- selfdrive/ui/layouts/main.py | 12 +++++++++--- selfdrive/ui/layouts/settings/settings.py | 14 ++++++++++---- system/ui/widgets/__init__.py | 7 +++++++ 3 files changed, 26 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index 3ab8525d3..777d2f4c3 100644 --- a/selfdrive/ui/layouts/main.py +++ b/selfdrive/ui/layouts/main.py @@ -63,14 +63,20 @@ class MainLayout(Widget): # Don't hide sidebar from interactive timeout if self._current_mode != MainState.ONROAD: self._sidebar.set_visible(False) - self._current_mode = MainState.ONROAD + self._set_current_layout(MainState.ONROAD) else: - self._current_mode = MainState.HOME + self._set_current_layout(MainState.HOME) self._sidebar.set_visible(True) + def _set_current_layout(self, layout: MainState): + if layout != self._current_mode: + self._layouts[self._current_mode].hide_event() + self._current_mode = layout + self._layouts[self._current_mode].show_event() + def open_settings(self, panel_type: PanelType): self._layouts[MainState.SETTINGS].set_current_panel(panel_type) - self._current_mode = MainState.SETTINGS + self._set_current_layout(MainState.SETTINGS) self._sidebar.set_visible(False) def _on_settings_clicked(self): diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 7d2a23576..fe35ea094 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -44,7 +44,7 @@ class PanelType(IntEnum): @dataclass class PanelInfo: name: str - instance: object + instance: Widget button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) @@ -153,8 +153,14 @@ class SettingsLayout(Widget): def set_current_panel(self, panel_type: PanelType): if panel_type != self._current_panel: + self._panels[self._current_panel].instance.hide_event() self._current_panel = panel_type + self._panels[self._current_panel].instance.show_event() - def close_settings(self): - if self._close_callback: - self._close_callback() + def show_event(self): + super().show_event() + self._panels[self._current_panel].instance.show_event() + + def hide_event(self): + super().hide_event() + self._panels[self._current_panel].instance.hide_event() diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index d45f48ac3..cca2cec7a 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -129,3 +129,10 @@ class Widget(abc.ABC): def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: """Optionally handle mouse release events.""" return False + + def show_event(self): + """Optionally handle show event. Parent must manually call this""" + + def hide_event(self): + """Optionally handle hide event. Parent must manually call this""" + From 2dc0f97c933cf4c684aeb1ac95faa752f9790e3b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 22:29:14 -0700 Subject: [PATCH 07/69] raylib: fix slow Toggles panel first load (#36061) fix slow load on toggles page --- system/ui/widgets/list_view.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index e871eef0a..a8d81a8ba 100644 --- a/system/ui/widgets/list_view.py +++ b/system/ui/widgets/list_view.py @@ -213,6 +213,7 @@ class ListItem(Widget): self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT)) self._font = gui_app.font(FontWeight.NORMAL) + self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None # Cached properties for performance self._prev_max_width: int = 0 @@ -261,8 +262,7 @@ class ListItem(Widget): if self.title: # Draw icon if present if self.icon: - icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) - rl.draw_texture(icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE) + rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.width) // 2), rl.WHITE) text_x += ICON_SIZE + ITEM_PADDING # Draw main text From 7a2f2ddf32236fd497a6539ce7898a6cd915ca19 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 22:30:09 -0700 Subject: [PATCH 08/69] raylib: speed up network panel first load (#36062) * debug * debug * clean up --- system/ui/widgets/network.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0bb759a91..2ecfd36be 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -44,6 +44,7 @@ class WifiManagerUI(Widget): self.btn_width: int = 200 self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) + self._load_icons() self._networks: list[NetworkInfo] = [] self._networks_buttons: dict[str, Button] = {} @@ -64,6 +65,10 @@ class WifiManagerUI(Widget): self.wifi_manager.start() self.wifi_manager.connect() + def _load_icons(self): + for icon in STRENGTH_ICONS + ["icons/checkmark.png", "icons/circled_slash.png", "icons/lock_closed.png"]: + gui_app.texture(icon, ICON_SIZE, ICON_SIZE) + def _render(self, rect: rl.Rectangle): with self._lock: if not self._networks: From a70e4c3074accd67146ffa62905cc9722a9dfe60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Aug 2025 22:30:27 -0700 Subject: [PATCH 09/69] raylib: rm debug print --- selfdrive/ui/lib/prime_state.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index da2ff899d..a1b2472f3 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -25,7 +25,6 @@ class PrimeType(IntEnum): @lru_cache(maxsize=1) def get_token(dongle_id: str, t: int): - print('getting token') return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) From 5359f6d35464448491e1d036d6970ee67addc821 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 01:23:59 -0700 Subject: [PATCH 10/69] raylib: clean up networking (#36039) * stasj * remove one of many classes * clean up and fix * clean up * stash/draft: oh this is sick * so epic * some clean up * what the fuck, it doesn't even use these * more epic initializers + make it kind of work * so simple, wonder if we should further 2x reduce line count * i've never ever seen this pattern b4, rm * remove bs add niceness * minor organization * set security type and support listing and rming conns * forget and connect * jeepney is actually pretty good, it's 2x faster to get wifi device (0.005s to 0.002s) * temp * do blocking add in worker thread * add jeepney * lets finish with python-dbus first then evaluate - revert jeepney This reverts commit 7de04b11c2285c298bb1ec907782026c795ab207. and * safe wrap * missing * saved connections * set rest of callbacks * skip hidden APs, simplify _running * add state management * either wrong password or disconnected for now * i can't believe we didn't check this... * disable button if unsupported!!! * hide/show event no lag hopefully yayay * fix hide event * remove old wifi manager * cache wifi device path + some clean up * more clean up * more clean up * temp disable blocking prime thread * hackily get device path once * ok * debug * fix open networks * debug * clean up * all threads wait for device path, and user functions dont ever attempt to get, just skip * same place * helper * Revert "helper" This reverts commit e237d9a720915fb6bd67c539123d3e2d9d582ce1. * organize? * Revert "organize?" This reverts commit 3aca3e5d629c947711ade88799febeb3f61eda87. * c word is a bad word * rk monitor debug for now * nothing crazy * improve checkmark responsiveness * when forgetting: this is correct, but feels unresponsive * this feels good * need these two to keep forgetting and activating responsive * sort by connected, strength, then name * handle non-critical race condition * log more * unused * oh jubilee is sick you can block on signals!! * proof of concept to see if works on device whoiops * so sucking fick * ah this is not generic, it's a filter on the return vals * flip around to not drop * oh thank god * fix * stash * atomic replace * clean up * add old to keep track of what's moved over * these are already moved * so much junk * so much junk * more * tethering wasn't used so we can ignore that for now * no params now * rm duplicate imports * not used anymore * move get wifi device over to jeepney! ~no additional lines * request scan w/ keepney * get_conns * _connection_by_ssid_jeepney is 2x faster (0.01 vs 0.02s) * do forget and activate * _update_networks matches! * rm old update_networks * replace connect_to_network, about same time (yes i removed thread call) * no more python-dbus!k * doesn't hurt * AP.from_dbus: actually handle incorrect paths w/ jeep + more efficient single call * properly handle errors * it's jeepney now * less state * using the thread safe router passes a race condition test that conn failed! * bad to copy from old wifimanager * fix conn usage * clean up * curious if locks are lagging * not for now * Revert "curious if locks are lagging" This reverts commit 085dd185b083f5905a4e71ba3e8c0565175e04aa. * clean up _monitor_state * remove tests * clean up dataclasses * sort * lint: okay fine it can be non by virtue of exiting right at the perfect time * some network clean up * some wifi manager clean up * this is handled * stop can be called manually, from deleting wifimanager, or exiting python. some protection * its not mutable anymore * scan on enter * clean up * back * lint * catch dbus fail to connect catch dbus fail to connect --- pyproject.toml | 2 +- selfdrive/ui/layouts/settings/settings.py | 8 +- system/ui/lib/wifi_manager.py | 970 ++++++++-------------- system/ui/setup.py | 5 +- system/ui/updater.py | 5 +- system/ui/widgets/network.py | 58 +- uv.lock | 22 +- 7 files changed, 385 insertions(+), 685 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 710316345..556b78009 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -101,8 +101,8 @@ dev = [ "av", "azure-identity", "azure-storage-blob", - "dbus-next", "dictdiffer", + "jeepney", "matplotlib", "opencv-python-headless", "parameterized >=0.8, <0.9", diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index fe35ea094..a731a9158 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -9,7 +9,7 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached -from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.network import WifiManagerUI @@ -54,12 +54,12 @@ class SettingsLayout(Widget): self._current_panel = PanelType.DEVICE # Panel configuration - self.wifi_manager = WifiManagerWrapper() - self.wifi_ui = WifiManagerUI(self.wifi_manager) + wifi_manager = WifiManager() + wifi_manager.set_active(False) self._panels = { PanelType.DEVICE: PanelInfo("Device", DeviceLayout()), - PanelType.NETWORK: PanelInfo("Network", self.wifi_ui), + PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)), PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()), PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()), PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()), diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 7bd292fa4..96940c2b3 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,35 +1,35 @@ -import asyncio -import concurrent.futures -import copy +import atexit import threading import time import uuid from collections.abc import Callable from dataclasses import dataclass from enum import IntEnum -from typing import TypeVar +from typing import Any -from dbus_next.aio import MessageBus -from dbus_next import BusType, Variant, Message -from dbus_next.errors import DBusError -from dbus_next.constants import MessageType +from jeepney import DBusAddress, new_method_call +from jeepney.bus_messages import MatchRule, message_bus +from jeepney.io.blocking import open_dbus_connection as open_dbus_connection_blocking +from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading +from jeepney.low_level import MessageType +from jeepney.wrappers import Properties -from openpilot.system.ui.lib.networkmanager import (NM, NM_PATH, NM_IFACE, NM_SETTINGS_PATH, NM_SETTINGS_IFACE, - NM_CONNECTION_IFACE, NM_WIRELESS_IFACE, NM_PROPERTIES_IFACE, - NM_DEVICE_IFACE, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, - NMDeviceState) - -try: - from openpilot.common.params import Params -except ImportError: - # Params/Cythonized modules are not available in zipapp - Params = None from openpilot.common.swaglog import cloudlog - -T = TypeVar("T") +from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_802_11_AP_SEC_PAIR_WEP40, + NM_802_11_AP_SEC_PAIR_WEP104, NM_802_11_AP_SEC_GROUP_WEP40, + NM_802_11_AP_SEC_GROUP_WEP104, NM_802_11_AP_SEC_KEY_MGMT_PSK, + NM_802_11_AP_SEC_KEY_MGMT_802_1X, NM_802_11_AP_FLAGS_NONE, + NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS, + NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH, + NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE, + NM_DEVICE_TYPE_WIFI, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, + NM_DEVICE_STATE_REASON_NEW_ACTIVATION, + NMDeviceState) TETHERING_IP_ADDRESS = "192.168.43.1" DEFAULT_TETHERING_PASSWORD = "swagswagcomma" +SIGNAL_QUEUE_SIZE = 10 +SCAN_PERIOD_SECONDS = 10 class SecurityType(IntEnum): @@ -40,673 +40,377 @@ class SecurityType(IntEnum): UNSUPPORTED = 4 -@dataclass -class NetworkInfo: +def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: + wpa_props = wpa_flags | rsn_flags + + # obtained by looking at flags of networks in the office as reported by an Android phone + supports_wpa = (NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 | + NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK) + + if (flags == NM_802_11_AP_FLAGS_NONE) or ((flags & NM_802_11_AP_FLAGS_WPS) and not (wpa_props & supports_wpa)): + return SecurityType.OPEN + elif (flags & NM_802_11_AP_FLAGS_PRIVACY) and (wpa_props & supports_wpa) and not (wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X): + return SecurityType.WPA + else: + cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}") + return SecurityType.UNSUPPORTED + + +@dataclass(frozen=True) +class Network: ssid: str strength: int is_connected: bool security_type: SecurityType - path: str + is_saved: bool + + @classmethod + def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network": + # we only want to show the strongest AP for each Network/SSID + strongest_ap = max(aps, key=lambda ap: ap.strength) + is_connected = any(ap.is_connected for ap in aps) + security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags) + + return cls( + ssid=ssid, + strength=strongest_ap.strength, + is_connected=is_connected and is_saved, + security_type=security_type, + is_saved=is_saved, + ) + + +@dataclass(frozen=True) +class AccessPoint: + ssid: str bssid: str - is_saved: bool = False - # saved_path: str + strength: int + is_connected: bool + flags: int + wpa_flags: int + rsn_flags: int + ap_path: str + @classmethod + def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap_path: str) -> "AccessPoint": + ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace") + bssid = str(ap_props['HwAddress'][1]) + strength = int(ap_props['Strength'][1]) + flags = int(ap_props['Flags'][1]) + wpa_flags = int(ap_props['WpaFlags'][1]) + rsn_flags = int(ap_props['RsnFlags'][1]) -@dataclass -class WifiManagerCallbacks: - need_auth: Callable[[str], None] | None = None - activated: Callable[[], None] | None = None - forgotten: Callable[[str], None] | None = None - networks_updated: Callable[[list[NetworkInfo]], None] | None = None - connection_failed: Callable[[str, str], None] | None = None # Added for error feedback + return cls( + ssid=ssid, + bssid=bssid, + strength=strength, + is_connected=ap_path == active_ap_path, + flags=flags, + wpa_flags=wpa_flags, + rsn_flags=rsn_flags, + ap_path=ap_path, + ) class WifiManager: - def __init__(self, callbacks): - self.callbacks: WifiManagerCallbacks = callbacks - self.networks: list[NetworkInfo] = [] - self.bus: MessageBus = None - self.device_path: str = "" - self.device_proxy = None - self.saved_connections: dict[str, str] = {} - self.active_ap_path: str = "" - self.scan_task: asyncio.Task | None = None - # Set tethering ssid as "weedle" + first 4 characters of a dongle id - self._tethering_ssid = "weedle" - if Params is not None: - dongle_id = Params().get("DongleId") - if dongle_id: - self._tethering_ssid += "-" + dongle_id[:4] - self.running: bool = True - self._current_connection_ssid: str | None = None + def __init__(self): + self._networks = [] # a network can be comprised of multiple APs + self._active = True # used to not run when not in settings + self._exit = False - async def connect(self) -> None: - """Connect to the DBus system bus.""" + # DBus connections try: - self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect() - while not await self._find_wifi_device(): - await asyncio.sleep(1) + self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM")) # used by scanner / general method calls + self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM") # used by state monitor thread + self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE) + except FileNotFoundError: + cloudlog.exception("Failed to connect to system D-Bus") + self._exit = True - await self._setup_signals(self.device_path) - self.active_ap_path = await self.get_active_access_point() - await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD) - self.saved_connections = await self._get_saved_connections() - self.scan_task = asyncio.create_task(self._periodic_scan()) - except DBusError as e: - cloudlog.error(f"Failed to connect to DBus: {e}") - raise - except Exception as e: - cloudlog.error(f"Unexpected error during connect: {e}") - raise + # Store wifi device path + self._wifi_device: str | None = None - async def shutdown(self) -> None: - self.running = False - if self.scan_task: - self.scan_task.cancel() - try: - await self.scan_task - except asyncio.CancelledError: - pass - if self.bus: - self.bus.disconnect() + # State + self._connecting_to_ssid: str = "" + self._last_network_update: float = 0.0 - async def _request_scan(self) -> None: - try: - interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) - await interface.call_request_scan({}) - except DBusError as e: - cloudlog.warning(f"Scan request failed: {str(e)}") + # Callbacks + # TODO: implement a callback queue to avoid blocking UI thread + self._need_auth: Callable[[str], None] | None = None + self._activated: Callable[[], None] | None = None + self._forgotten: Callable[[str], None] | None = None + self._networks_updated: Callable[[list[Network]], None] | None = None + self._disconnected: Callable[[], None] | None = None - async def get_active_access_point(self): - try: - props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE) - ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint') - return ap_path.value - except DBusError as e: - cloudlog.error(f"Error fetching active access point: {str(e)}") - return '' + self._lock = threading.Lock() - async def forget_connection(self, ssid: str) -> bool: - path = self.saved_connections.get(ssid) - if not path: - return False + self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True) + self._scan_thread.start() - try: - nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) - await nm_iface.call_delete() + self._state_thread = threading.Thread(target=self._monitor_state, daemon=True) + self._state_thread.start() - if self._current_connection_ssid == ssid: - self._current_connection_ssid = None + atexit.register(self.stop) - if ssid in self.saved_connections: - del self.saved_connections[ssid] + def set_callbacks(self, need_auth: Callable[[str], None], + activated: Callable[[], None] | None, + forgotten: Callable[[str], None], + networks_updated: Callable[[list[Network]], None], + disconnected: Callable[[], None]): + self._need_auth = need_auth + self._activated = activated + self._forgotten = forgotten + self._networks_updated = networks_updated + self._disconnected = disconnected - for network in self.networks: - if network.ssid == ssid: - network.is_saved = False - network.is_connected = False + def set_active(self, active: bool): + self._active = active + + # Scan immediately if we haven't scanned in a while + if active and time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS / 2: + self._last_network_update = 0.0 + + def _monitor_state(self): + device_path = self._wait_for_wifi_device() + if device_path is None: + return + + rule = MatchRule( + type="signal", + interface=NM_DEVICE_IFACE, + member="StateChanged", + path=device_path, + ) + + # Filter for StateChanged signal + self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule)) + + with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q: + while not self._exit: + # TODO: always run, and ensure callbacks don't block UI thread + if not self._active: + time.sleep(1) + continue + + # Block until a matching signal arrives + try: + msg = self._conn_monitor.recv_until_filtered(q, timeout=1) + except TimeoutError: + continue + + new_state, previous_state, change_reason = msg.body + + # BAD PASSWORD + if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid): + self.forget_connection(self._connecting_to_ssid, block=True) + if self._need_auth is not None: + self._need_auth(self._connecting_to_ssid) + self._connecting_to_ssid = "" + + elif new_state == NMDeviceState.ACTIVATED: + if self._activated is not None: + self._update_networks() + self._activated() + self._connecting_to_ssid = "" + + elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION: + self._connecting_to_ssid = "" + if self._disconnected is not None: + self._disconnected() + + def _network_scanner(self): + self._wait_for_wifi_device() + + while not self._exit: + if self._active: + if time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS: + # Scan for networks every 10 seconds + # TODO: should update when scan is complete (PropertiesChanged), but this is more than good enough for now + self._update_networks() + self._request_scan() + self._last_network_update = time.monotonic() + time.sleep(1 / 2.) + + def _wait_for_wifi_device(self) -> str | None: + with self._lock: + device_path: str | None = None + while not self._exit: + device_path = self._get_wifi_device() + if device_path is not None: break + time.sleep(1) + return device_path - # Notify UI of forgotten connection - if self.callbacks.networks_updated: - self.callbacks.networks_updated(copy.deepcopy(self.networks)) + def _get_wifi_device(self) -> str | None: + if self._wifi_device is not None: + return self._wifi_device - return True - except DBusError as e: - cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") - return False + device_paths = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0] + for device_path in device_paths: + dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE) + dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1] - async def activate_connection(self, ssid: str) -> bool: - connection_path = self.saved_connections.get(ssid) - if not connection_path: - return False - try: - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - await nm_iface.call_activate_connection(connection_path, self.device_path, "/") - return True - except DBusError as e: - cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}") - return False + if dev_type == NM_DEVICE_TYPE_WIFI: + self._wifi_device = device_path + break - async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: - """Connect to a selected Wi-Fi network.""" - try: - self._current_connection_ssid = ssid + return self._wifi_device - if ssid in self.saved_connections: - # Forget old connection if new password provided - if password: - await self.forget_connection(ssid) - await asyncio.sleep(0.2) # NetworkManager delay - else: - # Just activate existing connection - await self.activate_connection(ssid) - return + def _get_connections(self) -> list[str]: + settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) + return list(self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]) + + def _connection_by_ssid(self, ssid: str, known_connections: list[str] | None = None) -> str | None: + for conn_path in known_connections or self._get_connections(): + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, "GetSettings")) + + # ignore connections removed during iteration (need auth, etc.) + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get connection properties for {conn_path}") + continue + + settings = reply.body[0] + if "802-11-wireless" in settings and settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") == ssid: + return conn_path + return None + + def connect_to_network(self, ssid: str, password: str): + def worker(): + # Clear all connections that may already exist to the network we are connecting to + self._connecting_to_ssid = ssid + self.forget_connection(ssid, block=True) + + is_hidden = False connection = { 'connection': { - 'type': Variant('s', '802-11-wireless'), - 'uuid': Variant('s', str(uuid.uuid4())), - 'id': Variant('s', f'openpilot connection {ssid}'), - 'autoconnect-retries': Variant('i', 0), + 'type': ('s', '802-11-wireless'), + 'uuid': ('s', str(uuid.uuid4())), + 'id': ('s', f'openpilot connection {ssid}'), + 'autoconnect-retries': ('i', 0), }, '802-11-wireless': { - 'ssid': Variant('ay', ssid.encode('utf-8')), - 'hidden': Variant('b', is_hidden), - 'mode': Variant('s', 'infrastructure'), + 'ssid': ('ay', ssid.encode("utf-8")), + 'hidden': ('b', is_hidden), + 'mode': ('s', 'infrastructure'), }, 'ipv4': { - 'method': Variant('s', 'auto'), - 'dns-priority': Variant('i', 600), + 'method': ('s', 'auto'), + 'dns-priority': ('i', 600), }, - 'ipv6': {'method': Variant('s', 'ignore')}, + 'ipv6': {'method': ('s', 'ignore')}, } - if bssid: - connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8')) - if password: connection['802-11-wireless-security'] = { - 'key-mgmt': Variant('s', 'wpa-psk'), - 'auth-alg': Variant('s', 'open'), - 'psk': Variant('s', password), + 'key-mgmt': ('s', 'wpa-psk'), + 'auth-alg': ('s', 'open'), + 'psk': ('s', password), } - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/") - except Exception as e: - self._current_connection_ssid = None - cloudlog.error(f"Error connecting to network: {e}") - # Notify UI of failure - if self.callbacks.connection_failed: - self.callbacks.connection_failed(ssid, str(e)) + settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) + self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,))) + self.activate_connection(ssid, block=True) - def is_saved(self, ssid: str) -> bool: - return ssid in self.saved_connections + threading.Thread(target=worker, daemon=True).start() - async def _find_wifi_device(self) -> bool: - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - devices = await nm_iface.get_devices() + def forget_connection(self, ssid: str, block: bool = False): + def worker(): + conn_path = self._connection_by_ssid(ssid) + if conn_path is not None: + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete')) - for device_path in devices: - device = await self.bus.introspect(NM, device_path) - device_proxy = self.bus.get_proxy_object(NM, device_path, device) - device_interface = device_proxy.get_interface(NM_DEVICE_IFACE) - device_type = await device_interface.get_device_type() # type: ignore[attr-defined] - if device_type == 2: # Wi-Fi device - self.device_path = device_path - self.device_proxy = device_proxy - return True + if self._forgotten is not None: + self._update_networks() + self._forgotten(ssid) - return False + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() - async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool: - """Create a WiFi tethering connection.""" - if len(password) < 8: - print("Tethering password must be at least 8 characters") - return False + def activate_connection(self, ssid: str, block: bool = False): + def worker(): + conn_path = self._connection_by_ssid(ssid) + if conn_path is not None: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - try: - # First, check if a hotspot connection already exists - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - connection_paths = await settings_iface.call_list_connections() + self._connecting_to_ssid = ssid + self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo', + (conn_path, self._wifi_device, "/"))) - # Look for an existing hotspot connection - for path in connection_paths: - try: - settings = await self._get_connection_settings(path) - conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value - wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() - if conn_type == '802-11-wireless' and wifi_mode == 'ap': - # Extract the SSID to check - connection_ssid = self._extract_ssid(settings) - if connection_ssid == ssid: - return True - except DBusError: + def _request_scan(self): + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return + + wifi_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_WIRELESS_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'RequestScan', 'a{sv}', ({},))) + + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to request scan: {reply}") + + def _update_networks(self): + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return + + # returns '/' if no active AP + wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) + active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] + ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] + + aps: dict[str, list[AccessPoint]] = {} + + for ap_path in ap_paths: + ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) + ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) + + # some APs have been seen dropping off during iteration + if ap_props.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get AP properties for {ap_path}") + continue + + try: + ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) + if ap.ssid == "": continue - connection = { - 'connection': { - 'id': Variant('s', 'Hotspot'), - 'uuid': Variant('s', str(uuid.uuid4())), - 'type': Variant('s', '802-11-wireless'), - 'interface-name': Variant('s', 'wlan0'), - 'autoconnect': Variant('b', False), - }, - '802-11-wireless': { - 'band': Variant('s', 'bg'), - 'mode': Variant('s', 'ap'), - 'ssid': Variant('ay', ssid.encode('utf-8')), - }, - '802-11-wireless-security': { - 'group': Variant('as', ['ccmp']), - 'key-mgmt': Variant('s', 'wpa-psk'), - 'pairwise': Variant('as', ['ccmp']), - 'proto': Variant('as', ['rsn']), - 'psk': Variant('s', password), - }, - 'ipv4': { - 'method': Variant('s', 'shared'), - 'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]), - 'gateway': Variant('s', TETHERING_IP_ADDRESS), - 'never-default': Variant('b', True), - }, - 'ipv6': { - 'method': Variant('s', 'ignore'), - }, - } + if ap.ssid not in aps: + aps[ap.ssid] = [] - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - new_connection = await settings_iface.call_add_connection(connection) - print(f"Added tethering connection with path: {new_connection}") - return True - except DBusError as e: - print(f"Failed to add tethering connection: {e}") - return False - except Exception as e: - print(f"Unexpected error adding tethering connection: {e}") - return False + aps[ap.ssid].append(ap) + except Exception: + # catch all for parsing errors + cloudlog.exception(f"Failed to parse AP properties for {ap_path}") - async def get_tethering_password(self) -> str: - """Get the current tethering password.""" - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if hotspot_path: - conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) - secrets = await conn_iface.call_get_secrets('802-11-wireless-security') - if secrets and '802-11-wireless-security' in secrets: - psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value - return str(psk) if psk is not None else "" - return "" - except DBusError as e: - print(f"Failed to get tethering password: {e}") - return "" - except Exception as e: - print(f"Unexpected error getting tethering password: {e}") - return "" + known_connections = self._get_connections() + networks = [Network.from_dbus(ssid, ap_list, self._connection_by_ssid(ssid, known_connections) is not None) + for ssid, ap_list in aps.items()] + networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) + self._networks = networks - async def set_tethering_password(self, password: str) -> bool: - """Set the tethering password.""" - if len(password) < 8: - cloudlog.error("Tethering password must be at least 8 characters") - return False + if self._networks_updated is not None: + self._networks_updated(self._networks) - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if not hotspot_path: - print("No hotspot connection found") - return False + def __del__(self): + self.stop() - # Update the connection settings with new password - settings = await self._get_connection_settings(hotspot_path) - if '802-11-wireless-security' not in settings: - settings['802-11-wireless-security'] = {} - settings['802-11-wireless-security']['psk'] = Variant('s', password) + def stop(self): + if not self._exit: + self._exit = True + self._scan_thread.join() + self._state_thread.join() - # Apply changes - conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) - await conn_iface.call_update(settings) - - # Check if connection is active and restart if needed - is_active = False - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - active_connections = await nm_iface.get_active_connections() - - for conn_path in active_connections: - props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) - conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') - if conn_id_path.value == hotspot_path: - is_active = True - await nm_iface.call_deactivate_connection(conn_path) - break - - if is_active: - await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/") - - print("Tethering password updated successfully") - return True - except DBusError as e: - print(f"Failed to set tethering password: {e}") - return False - except Exception as e: - print(f"Unexpected error setting tethering password: {e}") - return False - - async def is_tethering_active(self) -> bool: - """Check if tethering is active for the specified SSID.""" - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if not hotspot_path: - return False - - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - active_connections = await nm_iface.get_active_connections() - - for conn_path in active_connections: - props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) - conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') - - if conn_id_path.value == hotspot_path: - return True - - return False - except Exception: - return False - - async def _periodic_scan(self): - while self.running: - try: - await self._request_scan() - await asyncio.sleep(30) - except asyncio.CancelledError: - break - except DBusError as e: - cloudlog.error(f"Scan failed: {e}") - await asyncio.sleep(5) - - async def _setup_signals(self, device_path: str) -> None: - rules = [ - f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'", - f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'", - f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'", - f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'", - ] - for rule in rules: - await self._add_match_rule(rule) - - # Set up signal handlers - self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed) - self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed) - - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - settings_iface.on_new_connection(self._on_new_connection) - settings_iface.on_connection_removed(self._on_connection_removed) - - def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): - if interface == NM_WIRELESS_IFACE and 'LastScan' in changed: - asyncio.create_task(self._refresh_networks()) - elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: - new_ap_path = changed["ActiveAccessPoint"].value - if self.active_ap_path != new_ap_path: - self.active_ap_path = new_ap_path - - def _on_state_changed(self, new_state: int, old_state: int, reason: int): - if new_state == NMDeviceState.ACTIVATED: - if self.callbacks.activated: - self.callbacks.activated() - self._current_connection_ssid = None - asyncio.create_task(self._refresh_networks()) - elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): - for network in self.networks: - network.is_connected = False - - # BAD PASSWORD - if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: - if self._current_connection_ssid: - asyncio.create_task(self.forget_connection(self._current_connection_ssid)) - self.callbacks.need_auth(self._current_connection_ssid) - else: - # Try to find the network from active_ap_path - for network in self.networks: - if network.path == self.active_ap_path: - asyncio.create_task(self.forget_connection(network.ssid)) - self.callbacks.need_auth(network.ssid) - break - else: - # Couldn't identify the network that needs auth - cloudlog.error("Network needs authentication but couldn't identify which one") - - def _on_new_connection(self, path: str) -> None: - """Callback for NewConnection signal.""" - asyncio.create_task(self._add_saved_connection(path)) - - def _on_connection_removed(self, path: str) -> None: - """Callback for ConnectionRemoved signal.""" - for ssid, p in list(self.saved_connections.items()): - if path == p: - del self.saved_connections[ssid] - - if self.callbacks.forgotten: - self.callbacks.forgotten(ssid) - break - - async def _add_saved_connection(self, path: str) -> None: - """Add a new saved connection to the dictionary.""" - try: - settings = await self._get_connection_settings(path) - if ssid := self._extract_ssid(settings): - self.saved_connections[ssid] = path - except DBusError as e: - cloudlog.error(f"Failed to add connection {path}: {e}") - - def _extract_ssid(self, settings: dict) -> str | None: - """Extract SSID from connection settings.""" - ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value - return bytes(ssid_variant).decode('utf-8') if ssid_variant else None - - async def _add_match_rule(self, rule): - """Add a match rule on the bus.""" - reply = await self.bus.call( - Message( - message_type=MessageType.METHOD_CALL, - destination='org.freedesktop.DBus', - interface="org.freedesktop.DBus", - path='/org/freedesktop/DBus', - member='AddMatch', - signature='s', - body=[rule], - ) - ) - - assert reply.message_type == MessageType.METHOD_RETURN - return reply - - async def _refresh_networks(self): - """Get a list of available networks via NetworkManager.""" - wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) - access_points = await wifi_iface.get_access_points() - self.active_ap_path = await self.get_active_access_point() - network_dict = {} - for ap_path in access_points: - try: - props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE) - properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint') - ssid_variant = properties['Ssid'].value - ssid = bytes(ssid_variant).decode('utf-8') - if not ssid: - continue - - bssid = properties.get('HwAddress', Variant('s', '')).value - strength = properties['Strength'].value - flags = properties['Flags'].value - wpa_flags = properties['WpaFlags'].value - rsn_flags = properties['RsnFlags'].value - - # May be multiple access points for each SSID. Use first for ssid - # and security type, then update the rest using all APs - if ssid not in network_dict: - network_dict[ssid] = NetworkInfo( - ssid=ssid, - strength=0, - security_type=self._get_security_type(flags, wpa_flags, rsn_flags), - path="", - bssid="", - is_connected=False, - is_saved=ssid in self.saved_connections - ) - - existing_network = network_dict.get(ssid) - if existing_network.strength < strength: - existing_network.strength = strength - existing_network.path = ap_path - existing_network.bssid = bssid - if self.active_ap_path == ap_path: - existing_network.is_connected = self._current_connection_ssid != ssid - - except DBusError as e: - cloudlog.error(f"Error fetching networks: {e}") - except Exception as e: - cloudlog.error({e}) - - self.networks = sorted( - network_dict.values(), - key=lambda network: ( - not network.is_connected, - -network.strength, # Higher signal strength first - network.ssid.lower(), - ), - ) - - if self.callbacks.networks_updated: - self.callbacks.networks_updated(copy.deepcopy(self.networks)) - - async def _get_connection_settings(self, path): - """Fetch connection settings for a specific connection path.""" - try: - settings = await self._get_interface(NM, path, NM_CONNECTION_IFACE) - return await settings.call_get_settings() - except DBusError as e: - cloudlog.error(f"Failed to get settings for {path}: {str(e)}") - return {} - - async def _process_chunk(self, paths_chunk): - """Process a chunk of connection paths.""" - tasks = [self._get_connection_settings(path) for path in paths_chunk] - return await asyncio.gather(*tasks, return_exceptions=True) - - async def _get_saved_connections(self) -> dict[str, str]: - try: - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - connection_paths = await settings_iface.call_list_connections() - saved_ssids: dict[str, str] = {} - batch_size = 20 - for i in range(0, len(connection_paths), batch_size): - chunk = connection_paths[i : i + batch_size] - results = await self._process_chunk(chunk) - for path, config in zip(chunk, results, strict=True): - if isinstance(config, dict) and '802-11-wireless' in config: - if ssid := self._extract_ssid(config): - saved_ssids[ssid] = path - return saved_ssids - except DBusError as e: - cloudlog.error(f"Error fetching saved connections: {str(e)}") - return {} - - async def _get_interface(self, bus_name: str, path: str, name: str): - introspection = await self.bus.introspect(bus_name, path) - proxy = self.bus.get_proxy_object(bus_name, path, introspection) - return proxy.get_interface(name) - - def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: - """Determine the security type based on flags.""" - if flags == 0 and not (wpa_flags or rsn_flags): - return SecurityType.OPEN - if rsn_flags & 0x200: # SAE (WPA3 Personal) - # TODO: support WPA3 - return SecurityType.UNSUPPORTED - if rsn_flags: # RSN indicates WPA2 or higher - return SecurityType.WPA2 - if wpa_flags: # WPA flags indicate WPA - return SecurityType.WPA - return SecurityType.UNSUPPORTED - - -class WifiManagerWrapper: - def __init__(self): - self._manager: WifiManager | None = None - self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks() - - self._thread = threading.Thread(target=self._run, daemon=True) - self._loop: asyncio.EventLoop | None = None - self._running = False - - def set_callbacks(self, callbacks: WifiManagerCallbacks): - self._callbacks = callbacks - - def start(self) -> None: - if not self._running: - self._thread.start() - while self._thread is not None and not self._running: - time.sleep(0.1) - - def _run(self): - self._loop = asyncio.new_event_loop() - asyncio.set_event_loop(self._loop) - - try: - self._manager = WifiManager(self._callbacks) - self._running = True - self._loop.run_forever() - except Exception as e: - cloudlog.error(f"Error in WifiManagerWrapper thread: {e}") - finally: - if self._loop.is_running(): - self._loop.stop() - self._running = False - - def shutdown(self) -> None: - if self._running: - if self._manager is not None and self._loop: - shutdown_future = asyncio.run_coroutine_threadsafe(self._manager.shutdown(), self._loop) - shutdown_future.result(timeout=3.0) - - if self._loop and self._loop.is_running(): - self._loop.call_soon_threadsafe(self._loop.stop) - if self._thread and self._thread.is_alive(): - self._thread.join(timeout=2.0) - self._running = False - - def is_saved(self, ssid: str) -> bool: - """Check if a network is saved.""" - return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) - - def connect(self): - """Connect to DBus and start Wi-Fi scanning.""" - if not self._manager: - return - self._run_coroutine(self._manager.connect()) - - def forget_connection(self, ssid: str): - """Forget a saved Wi-Fi connection.""" - if not self._manager: - return - self._run_coroutine(self._manager.forget_connection(ssid)) - - def activate_connection(self, ssid: str): - """Activate an existing Wi-Fi connection.""" - if not self._manager: - return - self._run_coroutine(self._manager.activate_connection(ssid)) - - def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False): - """Connect to a Wi-Fi network.""" - if not self._manager: - return - self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden)) - - def _run_coroutine(self, coro): - """Run a coroutine in the async thread.""" - if not self._running or not self._loop: - cloudlog.error("WifiManager thread is not running") - return - asyncio.run_coroutine_threadsafe(coro, self._loop) - - def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T: - """Run a function synchronously in the async thread.""" - if not self._running or not self._loop or not self._manager: - return default - future = concurrent.futures.Future[T]() - - def wrapper(manager: WifiManager) -> None: - try: - future.set_result(func(manager)) - except Exception as e: - future.set_exception(e) - - try: - self._loop.call_soon_threadsafe(wrapper, self._manager) - return future.result(timeout=1.0) - except Exception as e: - cloudlog.error(f"WifiManagerWrapper property access failed: {e}") - return default + self._router_main.close() + self._router_main.conn.close() + self._conn_monitor.close() diff --git a/system/ui/setup.py b/system/ui/setup.py index 800ca7662..a985e783b 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -19,7 +19,7 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.label import Label, TextAlignment -from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper +from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager NetworkType = log.DeviceState.NetworkType @@ -72,8 +72,7 @@ class Setup(Widget): self.download_url = "" self.download_progress = 0 self.download_thread = None - self.wifi_manager = WifiManagerWrapper() - self.wifi_ui = WifiManagerUI(self.wifi_manager) + self.wifi_ui = WifiManagerUI(WifiManager()) self.keyboard = Keyboard() self.selected_radio = None self.warning = gui_app.texture("icons/warning.png", 150, 150) diff --git a/system/ui/updater.py b/system/ui/updater.py index 31799d362..b3cdc82cf 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -7,7 +7,7 @@ from enum import IntEnum from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight -from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import gui_button, ButtonStyle from openpilot.system.ui.widgets.label import gui_text_box, gui_label @@ -43,8 +43,7 @@ class Updater(Widget): self.show_reboot_button = False self.process = None self.update_thread = None - self.wifi_manager = WifiManagerWrapper() - self.wifi_manager_ui = WifiManagerUI(self.wifi_manager) + self.wifi_manager_ui = WifiManagerUI(WifiManager()) def install_update(self): self.current_screen = Screen.PROGRESS diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 2ecfd36be..6f5a00015 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -6,7 +6,7 @@ from typing import cast import pyray as rl from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel -from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType +from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog @@ -36,34 +36,35 @@ class UIState(IntEnum): class WifiManagerUI(Widget): - def __init__(self, wifi_manager: WifiManagerWrapper): + def __init__(self, wifi_manager: WifiManager): super().__init__() + self.wifi_manager = wifi_manager self.state: UIState = UIState.IDLE - self._state_network: NetworkInfo | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING + self._state_network: Network | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING self._password_retry: bool = False # for NEEDS_AUTH self.btn_width: int = 200 self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) self._load_icons() - self._networks: list[NetworkInfo] = [] + self._networks: list[Network] = [] self._networks_buttons: dict[str, Button] = {} self._forget_networks_buttons: dict[str, Button] = {} self._lock = Lock() - self.wifi_manager = wifi_manager self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel") - self.wifi_manager.set_callbacks( - WifiManagerCallbacks( - need_auth=self._on_need_auth, - activated=self._on_activated, - forgotten=self._on_forgotten, - networks_updated=self._on_network_updated, - connection_failed=self._on_connection_failed - ) - ) - self.wifi_manager.start() - self.wifi_manager.connect() + self.wifi_manager.set_callbacks(need_auth=self._on_need_auth, + activated=self._on_activated, + forgotten=self._on_forgotten, + networks_updated=self._on_network_updated, + disconnected=self._on_disconnected) + + def show_event(self): + # start/stop scanning when widget is visible + self.wifi_manager.set_active(True) + + def hide_event(self): + self.wifi_manager.set_active(False) def _load_icons(self): for icon in STRENGTH_ICONS + ["icons/checkmark.png", "icons/circled_slash.png", "icons/lock_closed.png"]: @@ -78,7 +79,7 @@ class WifiManagerUI(Widget): if self.state == UIState.NEEDS_AUTH and self._state_network: self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}") self.keyboard.reset() - gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result)) + gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result)) elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?') self._confirm_dialog.reset() @@ -86,7 +87,7 @@ class WifiManagerUI(Widget): else: self._draw_network_list(rect) - def _on_password_entered(self, network: NetworkInfo, result: int): + def _on_password_entered(self, network: Network, result: int): if result == 1: password = self.keyboard.text self.keyboard.clear() @@ -121,7 +122,7 @@ class WifiManagerUI(Widget): rl.end_scissor_mode() - def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool): + def _draw_network_item(self, rect, network: Network, clicked: bool): spacing = 50 ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT) signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) @@ -174,10 +175,10 @@ class WifiManagerUI(Widget): self.state = UIState.SHOW_FORGET_CONFIRM self._state_network = network - def _draw_status_icon(self, rect, network: NetworkInfo): + def _draw_status_icon(self, rect, network: Network): """Draw the status icon based on network's connection state""" icon_file = None - if network.is_connected: + if network.is_connected and self.state != UIState.CONNECTING: icon_file = "icons/checkmark.png" elif network.security_type == SecurityType.UNSUPPORTED: icon_file = "icons/circled_slash.png" @@ -191,12 +192,12 @@ class WifiManagerUI(Widget): icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2) rl.draw_texture_v(texture, icon_rect, rl.WHITE) - def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: NetworkInfo): + def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: Network): """Draw the Wi-Fi signal strength icon based on network's signal strength""" strength_level = max(0, min(3, round(network.strength / 33.0))) rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE) - def connect_to_network(self, network: NetworkInfo, password=''): + def connect_to_network(self, network: Network, password=''): self.state = UIState.CONNECTING self._state_network = network if network.is_saved and not password: @@ -204,13 +205,12 @@ class WifiManagerUI(Widget): else: self.wifi_manager.connect_to_network(network.ssid, password) - def forget_network(self, network: NetworkInfo): + def forget_network(self, network: Network): self.state = UIState.FORGETTING self._state_network = network - network.is_saved = False self.wifi_manager.forget_connection(network.ssid) - def _on_network_updated(self, networks: list[NetworkInfo]): + def _on_network_updated(self, networks: list[Network]): with self._lock: self._networks = networks for n in self._networks: @@ -237,7 +237,7 @@ class WifiManagerUI(Widget): if self.state == UIState.FORGETTING: self.state = UIState.IDLE - def _on_connection_failed(self, ssid: str, error: str): + def _on_disconnected(self): with self._lock: if self.state == UIState.CONNECTING: self.state = UIState.IDLE @@ -245,13 +245,11 @@ class WifiManagerUI(Widget): def main(): gui_app.init_window("Wi-Fi Manager") - wifi_manager = WifiManagerWrapper() - wifi_ui = WifiManagerUI(wifi_manager) + wifi_ui = WifiManagerUI(WifiManager()) for _ in gui_app.render(): wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100)) - wifi_manager.shutdown() gui_app.close() diff --git a/uv.lock b/uv.lock index 7010cdfb8..72c3d2f8e 100644 --- a/uv.lock +++ b/uv.lock @@ -442,15 +442,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/56/c8/46ac27096684f33e27dab749ef43c6b0119c6a0d852971eaefb73256dc4c/cython-3.1.3-py3-none-any.whl", hash = "sha256:d13025b34f72f77bf7f65c1cd628914763e6c285f4deb934314c922b91e6be5a", size = 1225725, upload-time = "2025-08-13T06:19:09.593Z" }, ] -[[package]] -name = "dbus-next" -version = "0.2.3" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/ce/45/6a40fbe886d60a8c26f480e7d12535502b5ba123814b3b9a0b002ebca198/dbus_next-0.2.3.tar.gz", hash = "sha256:f4eae26909332ada528c0a3549dda8d4f088f9b365153952a408e28023a626a5", size = 71112, upload-time = "2021-07-25T22:11:28.398Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, -] - [[package]] name = "dictdiffer" version = "0.9.0" @@ -690,6 +681,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/15/aa/0aca39a37d3c7eb941ba736ede56d689e7be91cab5d9ca846bde3999eba6/isodate-0.7.2-py3-none-any.whl", hash = "sha256:28009937d8031054830160fce6d409ed342816b543597cece116d966c6d99e15", size = 22320, upload-time = "2024-10-08T23:04:09.501Z" }, ] +[[package]] +name = "jeepney" +version = "0.9.0" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/7b/6f/357efd7602486741aa73ffc0617fb310a29b588ed0fd69c2399acbb85b0c/jeepney-0.9.0.tar.gz", hash = "sha256:cf0e9e845622b81e4a28df94c40345400256ec608d0e55bb8a3feaa9163f5732", size = 106758, upload-time = "2025-02-27T18:51:01.684Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/b2/a3/e137168c9c44d18eff0376253da9f1e9234d0239e0ee230d2fee6cea8e55/jeepney-0.9.0-py3-none-any.whl", hash = "sha256:97e5714520c16fc0a45695e5365a2e11b81ea79bba796e26f9f1d178cb182683", size = 49010, upload-time = "2025-02-27T18:51:00.104Z" }, +] + [[package]] name = "jinja2" version = "3.1.6" @@ -1241,8 +1241,8 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, - { name = "dbus-next" }, { name = "dictdiffer" }, + { name = "jeepney" }, { name = "matplotlib" }, { name = "opencv-python-headless" }, { name = "parameterized" }, @@ -1294,11 +1294,11 @@ requires-dist = [ { name = "codespell", marker = "extra == 'testing'" }, { name = "crcmod" }, { name = "cython" }, - { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" }, { name = "inputs" }, + { name = "jeepney", marker = "extra == 'dev'" }, { name = "jinja2", marker = "extra == 'docs'" }, { name = "json-rpc" }, { name = "libusb1" }, From 23b4aaf2a5e3008bf230cfaa86027b1ccbaedbb7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:25:01 -0700 Subject: [PATCH 11/69] raylib networking: remove locking on UI thread (#36063) * use callback queue to make this thread safe and remove locks (which lag ui thread?) * woah this works * no more lock! * always run signal handler and store callbacks, like qt * debug * more * okay not for now * combine _get_connections and _connection_by_ssid, closer to qt and not an explosion of GetSettings dbus calls * debug * try this * skip * len * skip hidden networks * actually slower * stash * back to 8929f37d495a524d4a996d66b82d4a947fbf4f1c * clean up --- system/ui/lib/wifi_manager.py | 26 ++++++++----- system/ui/widgets/network.py | 72 ++++++++++++++++------------------- 2 files changed, 50 insertions(+), 48 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 96940c2b3..58181157c 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -133,12 +133,12 @@ class WifiManager: # State self._connecting_to_ssid: str = "" self._last_network_update: float = 0.0 + self._callback_queue: list[Callable] = [] # Callbacks - # TODO: implement a callback queue to avoid blocking UI thread self._need_auth: Callable[[str], None] | None = None self._activated: Callable[[], None] | None = None - self._forgotten: Callable[[str], None] | None = None + self._forgotten: Callable[[], None] | None = None self._networks_updated: Callable[[list[Network]], None] | None = None self._disconnected: Callable[[], None] | None = None @@ -154,7 +154,7 @@ class WifiManager: def set_callbacks(self, need_auth: Callable[[str], None], activated: Callable[[], None] | None, - forgotten: Callable[[str], None], + forgotten: Callable[[], None], networks_updated: Callable[[list[Network]], None], disconnected: Callable[[], None]): self._need_auth = need_auth @@ -163,6 +163,15 @@ class WifiManager: self._networks_updated = networks_updated self._disconnected = disconnected + def _enqueue_callback(self, cb: Callable, *args): + self._callback_queue.append(lambda: cb(*args)) + + def process_callbacks(self): + # Call from UI thread to run any pending callbacks + to_run, self._callback_queue = self._callback_queue, [] + for cb in to_run: + cb() + def set_active(self, active: bool): self._active = active @@ -187,7 +196,6 @@ class WifiManager: with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q: while not self._exit: - # TODO: always run, and ensure callbacks don't block UI thread if not self._active: time.sleep(1) continue @@ -204,19 +212,19 @@ class WifiManager: if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid): self.forget_connection(self._connecting_to_ssid, block=True) if self._need_auth is not None: - self._need_auth(self._connecting_to_ssid) + self._enqueue_callback(self._need_auth, self._connecting_to_ssid) self._connecting_to_ssid = "" elif new_state == NMDeviceState.ACTIVATED: if self._activated is not None: self._update_networks() - self._activated() + self._enqueue_callback(self._activated) self._connecting_to_ssid = "" elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION: self._connecting_to_ssid = "" if self._disconnected is not None: - self._disconnected() + self._enqueue_callback(self._disconnected) def _network_scanner(self): self._wait_for_wifi_device() @@ -324,7 +332,7 @@ class WifiManager: if self._forgotten is not None: self._update_networks() - self._forgotten(ssid) + self._enqueue_callback(self._forgotten) if block: worker() @@ -400,7 +408,7 @@ class WifiManager: self._networks = networks if self._networks_updated is not None: - self._networks_updated(self._networks) + self._enqueue_callback(self._networks_updated, self._networks) def __del__(self): self.stop() diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 6f5a00015..3e6317a49 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,6 +1,5 @@ from enum import IntEnum from functools import partial -from threading import Lock from typing import cast import pyray as rl @@ -50,7 +49,6 @@ class WifiManagerUI(Widget): self._networks: list[Network] = [] self._networks_buttons: dict[str, Button] = {} self._forget_networks_buttons: dict[str, Button] = {} - self._lock = Lock() self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel") self.wifi_manager.set_callbacks(need_auth=self._on_need_auth, @@ -71,21 +69,22 @@ class WifiManagerUI(Widget): gui_app.texture(icon, ICON_SIZE, ICON_SIZE) def _render(self, rect: rl.Rectangle): - with self._lock: - if not self._networks: - gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) - return + self.wifi_manager.process_callbacks() - if self.state == UIState.NEEDS_AUTH and self._state_network: - self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}") - self.keyboard.reset() - gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result)) - elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: - self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?') - self._confirm_dialog.reset() - gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) - else: - self._draw_network_list(rect) + if not self._networks: + gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + return + + if self.state == UIState.NEEDS_AUTH and self._state_network: + self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}") + self.keyboard.reset() + gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result)) + elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: + self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?') + self._confirm_dialog.reset() + gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) + else: + self._draw_network_list(rect) def _on_password_entered(self, network: Network, result: int): if result == 1: @@ -211,36 +210,31 @@ class WifiManagerUI(Widget): self.wifi_manager.forget_connection(network.ssid) def _on_network_updated(self, networks: list[Network]): - with self._lock: - self._networks = networks - for n in self._networks: - self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT, - button_style=ButtonStyle.NO_EFFECT) - self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI, - font_size=45) + self._networks = networks + for n in self._networks: + self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT, + button_style=ButtonStyle.NO_EFFECT) + self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI, + font_size=45) def _on_need_auth(self, ssid): - with self._lock: - network = next((n for n in self._networks if n.ssid == ssid), None) - if network: - self.state = UIState.NEEDS_AUTH - self._state_network = network - self._password_retry = True + network = next((n for n in self._networks if n.ssid == ssid), None) + if network: + self.state = UIState.NEEDS_AUTH + self._state_network = network + self._password_retry = True def _on_activated(self): - with self._lock: - if self.state == UIState.CONNECTING: - self.state = UIState.IDLE + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE - def _on_forgotten(self, ssid): - with self._lock: - if self.state == UIState.FORGETTING: - self.state = UIState.IDLE + def _on_forgotten(self): + if self.state == UIState.FORGETTING: + self.state = UIState.IDLE def _on_disconnected(self): - with self._lock: - if self.state == UIState.CONNECTING: - self.state = UIState.IDLE + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE def main(): From 8059106caee2500bdc8186fd9ce3ea9d36a352f9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:33:08 -0700 Subject: [PATCH 12/69] raylib networking: reduce DBus calls (#36065) * this reduces getsettings calls from n*n to n * these are combined now * same check --- system/ui/lib/wifi_manager.py | 23 ++++++++++++----------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 58181157c..418c418d0 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -264,12 +264,12 @@ class WifiManager: return self._wifi_device - def _get_connections(self) -> list[str]: + def _get_connections(self) -> dict[str, str]: settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) - return list(self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]) + known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0] - def _connection_by_ssid(self, ssid: str, known_connections: list[str] | None = None) -> str | None: - for conn_path in known_connections or self._get_connections(): + conns: dict[str, str] = {} + for conn_path in known_connections: conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, "GetSettings")) @@ -279,9 +279,11 @@ class WifiManager: continue settings = reply.body[0] - if "802-11-wireless" in settings and settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") == ssid: - return conn_path - return None + if "802-11-wireless" in settings: + ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") + if ssid != "": + conns[ssid] = conn_path + return conns def connect_to_network(self, ssid: str, password: str): def worker(): @@ -325,7 +327,7 @@ class WifiManager: def forget_connection(self, ssid: str, block: bool = False): def worker(): - conn_path = self._connection_by_ssid(ssid) + conn_path = self._get_connections().get(ssid, None) if conn_path is not None: conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete')) @@ -341,7 +343,7 @@ class WifiManager: def activate_connection(self, ssid: str, block: bool = False): def worker(): - conn_path = self._connection_by_ssid(ssid) + conn_path = self._get_connections().get(ssid, None) if conn_path is not None: if self._wifi_device is None: cloudlog.warning("No WiFi device found") @@ -402,8 +404,7 @@ class WifiManager: cloudlog.exception(f"Failed to parse AP properties for {ap_path}") known_connections = self._get_connections() - networks = [Network.from_dbus(ssid, ap_list, self._connection_by_ssid(ssid, known_connections) is not None) - for ssid, ap_list in aps.items()] + networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) self._networks = networks From ec254074d12b2d8c1446d82e9762b739709952aa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:51:45 -0700 Subject: [PATCH 13/69] raylib: prevent Firehose from blocking UI (#36067) * stop blocking ui thread for 1s!! * rm * whoopsiedaisy whoopsiedaisy * meh --- selfdrive/ui/layouts/settings/firehose.py | 6 +++--- selfdrive/ui/lib/api_helpers.py | 14 ++++++++++++++ selfdrive/ui/lib/prime_state.py | 15 +++------------ 3 files changed, 20 insertions(+), 15 deletions(-) create mode 100644 selfdrive/ui/lib/api_helpers.py diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py index 74a8f317d..b3db1fa5f 100644 --- a/selfdrive/ui/layouts/settings/firehose.py +++ b/selfdrive/ui/layouts/settings/firehose.py @@ -2,7 +2,7 @@ import pyray as rl import time import threading -from openpilot.common.api import Api, api_get +from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.ui.ui_state import ui_state @@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.widgets import Widget - +from openpilot.selfdrive.ui.lib.api_helpers import get_token TITLE = "Firehose Mode" DESCRIPTION = ( @@ -163,7 +163,7 @@ class FirehoseLayout(Widget): dongle_id = self.params.get("DongleId") if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: return - identity_token = Api(dongle_id).get_token() + identity_token = get_token(dongle_id) response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) if response.status_code == 200: data = response.json() diff --git a/selfdrive/ui/lib/api_helpers.py b/selfdrive/ui/lib/api_helpers.py new file mode 100644 index 000000000..b83efedb6 --- /dev/null +++ b/selfdrive/ui/lib/api_helpers.py @@ -0,0 +1,14 @@ +import time +from functools import lru_cache +from openpilot.common.api import Api + +TOKEN_EXPIRY_HOURS = 2 + + +@lru_cache(maxsize=1) +def _get_token(dongle_id: str, t: int): + return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) + + +def get_token(dongle_id: str): + return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index a1b2472f3..be2132c1b 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -2,14 +2,12 @@ from enum import IntEnum import os import threading import time -from functools import lru_cache -from openpilot.common.api import Api, api_get +from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID - -TOKEN_EXPIRY_HOURS = 2 +from openpilot.selfdrive.ui.lib.api_helpers import get_token class PrimeType(IntEnum): @@ -23,11 +21,6 @@ class PrimeType(IntEnum): PURPLE = 5, -@lru_cache(maxsize=1) -def get_token(dongle_id: str, t: int): - return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) - - class PrimeState: FETCH_INTERVAL = 5.0 # seconds between API calls API_TIMEOUT = 10.0 # seconds for API requests @@ -57,15 +50,13 @@ class PrimeState: return try: - identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) + identity_token = get_token(dongle_id) response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) if response.status_code == 200: data = response.json() is_paired = data.get("is_paired", False) prime_type = data.get("prime_type", 0) self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED) - elif response.status_code == 401: - get_token.cache_clear() except Exception as e: cloudlog.error(f"Failed to fetch prime status: {e}") From 4cd76f4966c091a0fdb9df7dce9cfb966ed132d7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 26 Aug 2025 03:55:05 -0700 Subject: [PATCH 14/69] raylib networking: prevent concurrently updating networks (#36066) * dont run by multiple threads at the same time! * this doesn't work since we rely on is_connected * Revert "this doesn't work since we rely on is_connected" This reverts commit 7455b2fe831bf5c9524e8ee71a9966de32a9755a. --- system/ui/lib/wifi_manager.py | 63 ++++++++++++++++++----------------- 1 file changed, 32 insertions(+), 31 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 418c418d0..af9ae943e 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -370,46 +370,47 @@ class WifiManager: cloudlog.warning(f"Failed to request scan: {reply}") def _update_networks(self): - if self._wifi_device is None: - cloudlog.warning("No WiFi device found") - return + with self._lock: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - # returns '/' if no active AP - wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) - active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] - ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] + # returns '/' if no active AP + wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) + active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] + ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] - aps: dict[str, list[AccessPoint]] = {} + aps: dict[str, list[AccessPoint]] = {} - for ap_path in ap_paths: - ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) - ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) + for ap_path in ap_paths: + ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) + ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) - # some APs have been seen dropping off during iteration - if ap_props.header.message_type == MessageType.error: - cloudlog.warning(f"Failed to get AP properties for {ap_path}") - continue - - try: - ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) - if ap.ssid == "": + # some APs have been seen dropping off during iteration + if ap_props.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get AP properties for {ap_path}") continue - if ap.ssid not in aps: - aps[ap.ssid] = [] + try: + ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) + if ap.ssid == "": + continue - aps[ap.ssid].append(ap) - except Exception: - # catch all for parsing errors - cloudlog.exception(f"Failed to parse AP properties for {ap_path}") + if ap.ssid not in aps: + aps[ap.ssid] = [] - known_connections = self._get_connections() - networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] - networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) - self._networks = networks + aps[ap.ssid].append(ap) + except Exception: + # catch all for parsing errors + cloudlog.exception(f"Failed to parse AP properties for {ap_path}") - if self._networks_updated is not None: - self._enqueue_callback(self._networks_updated, self._networks) + known_connections = self._get_connections() + networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] + networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) + self._networks = networks + + if self._networks_updated is not None: + self._enqueue_callback(self._networks_updated, self._networks) def __del__(self): self.stop() From 8450f9f3330221caa89f38807c916f35fcbae615 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 26 Aug 2025 09:57:08 -0700 Subject: [PATCH 15/69] update: more migration --- system/updated/updated.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/system/updated/updated.py b/system/updated/updated.py index 11928bc24..d1e745ec1 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -243,7 +243,13 @@ class Updater: if b is None: b = self.get_branch(BASEDIR) b = { - ("tici", "release3"): "release-tici" + ("tici", "release3"): "release-tici", + ("tici", "release3-staging"): "release-tici", + ("tici", "master"): "master-tici", + ("tici", "nightly"): "release-tici", + ("tici", "nightly-dev"): "release-tici", + + ("tizi", "release3"): "release-tizi", }.get((HARDWARE.get_device_type(), b), b) return b From 8ee3c7b485a07250ae6caf341cb9daa02a31e26d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 11:52:58 -0700 Subject: [PATCH 16/69] add back dbus-next --- pyproject.toml | 1 + uv.lock | 23 +++++++++++++++++------ 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 556b78009..7d6516c0f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -101,6 +101,7 @@ dev = [ "av", "azure-identity", "azure-storage-blob", + "dbus-next", # TODO: remove once we moved everything to jeepney "dictdiffer", "jeepney", "matplotlib", diff --git a/uv.lock b/uv.lock index 72c3d2f8e..95a60715b 100644 --- a/uv.lock +++ b/uv.lock @@ -442,6 +442,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/56/c8/46ac27096684f33e27dab749ef43c6b0119c6a0d852971eaefb73256dc4c/cython-3.1.3-py3-none-any.whl", hash = "sha256:d13025b34f72f77bf7f65c1cd628914763e6c285f4deb934314c922b91e6be5a", size = 1225725, upload-time = "2025-08-13T06:19:09.593Z" }, ] +[[package]] +name = "dbus-next" +version = "0.2.3" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/ce/45/6a40fbe886d60a8c26f480e7d12535502b5ba123814b3b9a0b002ebca198/dbus_next-0.2.3.tar.gz", hash = "sha256:f4eae26909332ada528c0a3549dda8d4f088f9b365153952a408e28023a626a5", size = 71112, upload-time = "2021-07-25T22:11:28.398Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, +] + [[package]] name = "dictdiffer" version = "0.9.0" @@ -1241,6 +1250,7 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, + { name = "dbus-next" }, { name = "dictdiffer" }, { name = "jeepney" }, { name = "matplotlib" }, @@ -1294,6 +1304,7 @@ requires-dist = [ { name = "codespell", marker = "extra == 'testing'" }, { name = "crcmod" }, { name = "cython" }, + { name = "dbus-next", marker = "extra == 'dev'" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" }, @@ -1467,11 +1478,11 @@ wheels = [ [[package]] name = "platformdirs" -version = "4.3.8" +version = "4.4.0" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/fe/8b/3c73abc9c759ecd3f1f7ceff6685840859e8070c4d947c93fae71f6a0bf2/platformdirs-4.3.8.tar.gz", hash = "sha256:3d512d96e16bcb959a814c9f348431070822a6496326a4be0911c40b5a74c2bc", size = 21362, upload-time = "2025-05-07T22:47:42.121Z" } +sdist = { url = "https://files.pythonhosted.org/packages/23/e8/21db9c9987b0e728855bd57bff6984f67952bea55d6f75e055c46b5383e8/platformdirs-4.4.0.tar.gz", hash = "sha256:ca753cf4d81dc309bc67b0ea38fd15dc97bc30ce419a7f58d13eb3bf14c4febf", size = 21634, upload-time = "2025-08-26T14:32:04.268Z" } wheels = [ - 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{ url = "https://files.pythonhosted.org/packages/36/3d/742617a7c644deb0c1628dcf6bb2d2165ab7c6aab56fe5222758994007f8/sentry_sdk-2.35.0-py2.py3-none-any.whl", hash = "sha256:6e0c29b9a5d34de8575ffb04d289a987ff3053cf2c98ede445bea995e3830263", size = 363806, upload-time = "2025-08-14T17:11:18.29Z" }, + { url = "https://files.pythonhosted.org/packages/62/1f/5feb6c42cc30126e9574eabc28139f8c626b483a47c537f648d133628df0/sentry_sdk-2.35.1-py2.py3-none-any.whl", hash = "sha256:13b6d6cfdae65d61fe1396a061cf9113b20f0ec1bcb257f3826b88f01bb55720", size = 363887, upload-time = "2025-08-26T08:23:30.335Z" }, ] [[package]] From f5d67b5eee14b3f7a0f31cee875338f4cc88b46a Mon Sep 17 00:00:00 2001 From: Jaume Balust Date: Tue, 26 Aug 2025 16:23:24 -0600 Subject: [PATCH 17/69] cereal: fix frequency precision by changing from int to float (#36060) --- cereal/messaging/socketmaster.cc | 2 +- cereal/services.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc index 1a7a48980..7f7e2795c 100644 --- a/cereal/messaging/socketmaster.cc +++ b/cereal/messaging/socketmaster.cc @@ -33,7 +33,7 @@ MessageContext message_context; struct SubMaster::SubMessage { std::string name; SubSocket *socket = nullptr; - int freq = 0; + float freq = 0.0f; bool updated = false, alive = false, valid = false, ignore_alive; uint64_t rcv_time = 0, rcv_frame = 0; void *allocated_msg_reader = nullptr; diff --git a/cereal/services.py b/cereal/services.py index a4c7463f2..edeca412c 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -109,12 +109,12 @@ def build_header(): h += "#include \n" h += "#include \n" - h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n" + h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n" h += "static std::map services = {\n" for k, v in SERVICE_LIST.items(): should_log = "true" if v.should_log else "false" decimation = -1 if v.decimation is None else v.decimation - h += ' { "%s", {"%s", %s, %d, %d}},\n' % \ + h += ' { "%s", {"%s", %s, %f, %d}},\n' % \ (k, k, should_log, v.frequency, decimation) h += "};\n" From 82582576587c9c6d89ccf85f7bd306f23be396a2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 15:34:34 -0700 Subject: [PATCH 18/69] ci: modernize test onroad (#36059) * start * fix * better * more * test * Revert "test" This reverts commit 17066ac123668cb7280cf85e3f21a3043b4785b0. * remove --- Jenkinsfile | 9 ++++----- selfdrive/test/test_onroad.py | 17 +++-------------- 2 files changed, 7 insertions(+), 19 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0905abd6d..f0c0cf137 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -178,7 +178,7 @@ node { try { if (env.BRANCH_NAME == 'devel-staging') { - deviceStage("build release3-staging", "tici-needs-can", [], [ + deviceStage("build release3-staging", "tizi-needs-can", [], [ step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"), ]) } @@ -186,12 +186,12 @@ node { if (env.BRANCH_NAME == '__nightly') { parallel ( 'nightly': { - deviceStage("build nightly", "tici-needs-can", [], [ + deviceStage("build nightly", "tizi-needs-can", [], [ step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"), ]) }, 'nightly-dev': { - deviceStage("build nightly-dev", "tici-needs-can", [], [ + deviceStage("build nightly-dev", "tizi-needs-can", [], [ step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"), ]) }, @@ -200,9 +200,8 @@ node { if (!env.BRANCH_NAME.matches(excludeRegex)) { parallel ( - // tici tests 'onroad tests': { - deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [ + deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [ step("build openpilot", "cd system/manager && ./build.py"), step("check dirty", "release/check-dirty.sh"), step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0149653c8..3cb1af10d 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout from openpilot.common.params import Params from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.selfdrive.test.helpers import set_params_enabled, release_only -from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.log_time_series import msgs_to_time_series @@ -33,7 +32,7 @@ CPU usage budget TEST_DURATION = 25 LOG_OFFSET = 8 -MAX_TOTAL_CPU = 280. # total for all 8 cores +MAX_TOTAL_CPU = 287. # total for all 8 cores PROCS = { # Baseline CPU usage by process "selfdrive.controls.controlsd": 16.0, @@ -67,20 +66,10 @@ PROCS = { "system.statsd": 1.0, "system.loggerd.uploader": 15.0, "system.loggerd.deleter": 1.0, + "./pandad": 19.0, + "system.qcomgpsd.qcomgpsd": 1.0, } -PROCS.update({ - "tici": { - "./pandad": 5.0, - "./ubloxd": 1.0, - "system.ubloxd.pigeond": 6.0, - }, - "tizi": { - "./pandad": 19.0, - "system.qcomgpsd.qcomgpsd": 1.0, - } -}.get(HARDWARE.get_device_type(), {})) - TIMINGS = { # rtols: max/min, rsd "can": [2.5, 0.35], From ea6677c464f74b429ccb2dd4e367b1e6ef4a3cdd Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 26 Aug 2025 17:16:57 -0700 Subject: [PATCH 19/69] AGNOS 13 (#36069) * staging * prod --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 28 ++++++------- system/hardware/tici/all-partitions.json | 52 ++++++++++++------------ 3 files changed, 41 insertions(+), 41 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 4c011c6ac..7124b360f 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.8" + export AGNOS_VERSION="13" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 941a4956b..b252a8110 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -23,14 +23,14 @@ }, { "name": "abl", - 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params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) - desired_lateral_accel = desired_curvature * CS.vEgo ** 2 + + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature + # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 @@ -65,8 +67,6 @@ class LatControlTorque(LatControl): # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(setpoint - measurement) ff = gravity_adjusted_lateral_accel - # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll - ff -= self.torque_params.latAccelOffset ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py deleted file mode 100644 index 5ba998002..000000000 --- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py +++ /dev/null @@ -1,71 +0,0 @@ -import numpy as np -from cereal import car, messaging -from opendbc.car import ACCELERATION_DUE_TO_GRAVITY -from opendbc.car import structs -from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD -from openpilot.common.realtime import DT_MDL -from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS - -np.random.seed(0) - -LA_ERR_STD = 1.0 -INPUT_NOISE_STD = 0.1 -V_EGO = 30.0 - -WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int) -STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03) - -ROLL_BIAS_DEG = 1.0 -ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG))) -TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2) -TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2) - - -def generate_inputs(torque_tune, la_err_std, input_noise_std=None): - rng = np.random.default_rng(0) - steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)]) - la_errs = rng.normal(scale=la_err_std, size=steer_torques.size) - frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs]) - lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions - if input_noise_std is not None: - steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size) - lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size) - return steer_torques, lat_accels - -def get_warmed_up_estimator(steer_torques, lat_accels): - est = TorqueEstimator(car.CarParams()) - for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True): - est.filtered_points.add_point(steer_torque, lat_accel) - return est - -def simulate_straight_road_msgs(est): - carControl = messaging.new_message('carControl').carControl - carOutput = messaging.new_message('carOutput').carOutput - carState = messaging.new_message('carState').carState - livePose = messaging.new_message('livePose').livePose - carControl.latActive = True - carState.vEgo = V_EGO - carState.steeringPressed = False - ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET) - steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET))) - lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques - for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True): - carOutput.actuatorsOutput.torque = float(-steer_torque) - livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG)) - livePose.angularVelocityDevice.z = float(lat_accel / V_EGO) - for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)): - est.handle_log(t, which, msg) - -def test_estimated_offset(): - steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) - est = get_warmed_up_estimator(steer_torques, lat_accels) - msg = est.get_msg() - # TODO add lataccelfactor and friction check when we have more accurate estimates - assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.03 - -def test_straight_road_roll_bias(): - steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) - est = get_warmed_up_estimator(steer_torques, lat_accels) - simulate_straight_road_msgs(est) - msg = est.get_msg() - assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7d2152614..8e4ff1e2a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -866f2cb1f0e49b2cb7115aa8131164b3a75fb2c5 \ No newline at end of file +209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file From b976135d2f3c2ea7c28bf6b92084068f38c7d108 Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Wed, 27 Aug 2025 13:06:01 -0700 Subject: [PATCH 21/69] torqued: apply offset (with more robust unit test) (#36075) * torqued: apply latAccelOffset to torque control feed forward * test learned latAccelOffset captures roll compensation bias on straight road driving, when the device is not flush in roll relative to the car * test correct torqued latAccelOffset parameter convergence --- selfdrive/controls/lib/latcontrol_torque.py | 6 +- .../tests/test_torqued_lat_accel_offset.py | 70 +++++++++++++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 74 insertions(+), 4 deletions(-) create mode 100644 selfdrive/controls/tests/test_torqued_lat_accel_offset.py diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index dffe85c47..5a2814e08 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -52,10 +52,8 @@ class LatControlTorque(LatControl): actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) - desired_lateral_accel = desired_curvature * CS.vEgo ** 2 - # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + desired_lateral_accel = desired_curvature * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 @@ -67,6 +65,8 @@ class LatControlTorque(LatControl): # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(setpoint - measurement) ff = gravity_adjusted_lateral_accel + # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll + ff -= self.torque_params.latAccelOffset ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py new file mode 100644 index 000000000..84389856b --- /dev/null +++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py @@ -0,0 +1,70 @@ +import numpy as np +from cereal import car, messaging +from opendbc.car import ACCELERATION_DUE_TO_GRAVITY +from opendbc.car import structs +from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS + +np.random.seed(0) + +LA_ERR_STD = 1.0 +INPUT_NOISE_STD = 0.08 +V_EGO = 30.0 + +WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int) +STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03) + +ROLL_BIAS_DEG = 2.0 +ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG))) +TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2) +TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2) + +def generate_inputs(torque_tune, la_err_std, input_noise_std=None): + rng = np.random.default_rng(0) + steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)]) + la_errs = rng.normal(scale=la_err_std, size=steer_torques.size) + frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs]) + lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions + if input_noise_std is not None: + steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size) + lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size) + return steer_torques, lat_accels + +def get_warmed_up_estimator(steer_torques, lat_accels): + est = TorqueEstimator(car.CarParams()) + for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True): + est.filtered_points.add_point(steer_torque, lat_accel) + return est + +def simulate_straight_road_msgs(est): + carControl = messaging.new_message('carControl').carControl + carOutput = messaging.new_message('carOutput').carOutput + carState = messaging.new_message('carState').carState + livePose = messaging.new_message('livePose').livePose + carControl.latActive = True + carState.vEgo = V_EGO + carState.steeringPressed = False + ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET) + steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET))) + lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques + for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True): + carOutput.actuatorsOutput.torque = float(-steer_torque) + livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG)) + livePose.angularVelocityDevice.z = float(lat_accel / V_EGO) + for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)): + est.handle_log(t, which, msg) + +def test_estimated_offset(): + steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) + est = get_warmed_up_estimator(steer_torques, lat_accels) + msg = est.get_msg() + # TODO add lataccelfactor and friction check when we have more accurate estimates + assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1 + +def test_straight_road_roll_bias(): + steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) + est = get_warmed_up_estimator(steer_torques, lat_accels) + simulate_straight_road_msgs(est) + msg = est.get_msg() + assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8e4ff1e2a..e1133061f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file +4c677a3ebcbd3d4faa3de98e3fb9c0bb83b47926 \ No newline at end of file From 375dfe16a80c60c52934bf998de9be2c3b21ec59 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 13:39:21 -0700 Subject: [PATCH 22/69] jenkins: remove bmx device --- Jenkinsfile | 4 ---- 1 file changed, 4 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index f0c0cf137..76f7f2cea 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -249,10 +249,6 @@ node { step("build", "cd system/manager && ./build.py"), step("test sensord", "pytest system/sensord/tests/test_sensord.py"), ]) - deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ - step("build", "cd system/manager && ./build.py"), - step("test sensord", "pytest system/sensord/tests/test_sensord.py"), - ]) }, 'replay': { deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ From f8ff156869f4abc64c595dc2a442071df4c8543d Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 27 Aug 2025 13:48:23 -0700 Subject: [PATCH 23/69] modeld: desire->desire_pulse (#36076) consistent naming --- selfdrive/modeld/modeld.py | 12 ++++++------ selfdrive/modeld/models/driving_policy.onnx | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8bc8bf01a..6e09f40e2 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -106,7 +106,7 @@ class ModelState: # policy inputs self.numpy_inputs = { - 'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), + 'desire_pulse': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), } @@ -131,13 +131,13 @@ class ModelState: def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray], inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge - inputs['desire'][0] = 0 - new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) - self.prev_desire[:] = inputs['desire'] + inputs['desire_pulse'][0] = 0 + new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) + self.prev_desire[:] = inputs['desire_pulse'] self.full_desire[0,:-1] = self.full_desire[0,1:] self.full_desire[0,-1] = new_desire - self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) + self.numpy_inputs['desire_pulse'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} @@ -313,7 +313,7 @@ def main(demo=False): bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names} transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names} inputs:dict[str, np.ndarray] = { - 'desire': vec_desire, + 'desire_pulse': vec_desire, 'traffic_convention': traffic_convention, } diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 867a0d3b9..eb6bd7b8a 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251 -size 12343523 +oid sha256:72e98a95541f200bd2faeae8d718997483696fd4801fc7d718c167b05854707d +size 12343535 From a3fcde2ae8d0d6442a739e6a271b3c1fb8f70146 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 14:19:23 -0700 Subject: [PATCH 24/69] jenkins: tizi-replay --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 76f7f2cea..dd420fdeb 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -251,7 +251,7 @@ node { ]) }, 'replay': { - deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ + deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]), step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]), ]) From b309bf417355ee891dd9d0b2e828f1cefdb89da0 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 14:26:56 -0700 Subject: [PATCH 25/69] jenkins: sensord device --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index dd420fdeb..8eb113e87 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -245,7 +245,7 @@ node { ]) }, 'sensord': { - deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ + deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test sensord", "pytest system/sensord/tests/test_sensord.py"), ]) From 2aa7648bb87d45e47b3db7ae58262a722b4b39e2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 14:29:39 -0700 Subject: [PATCH 26/69] jenkins: remove ar device --- Jenkinsfile | 7 ------- 1 file changed, 7 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 8eb113e87..54dff318d 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -223,13 +223,6 @@ node { step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"), ]) }, - 'camerad AR0231': { - deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ - step("build", "cd system/manager && ./build.py"), - step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), - step("test exposure", "pytest system/camerad/test/test_exposure.py"), - ]) - }, 'camerad OX03C10': { deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), From a254a05df057e5ad8ea3650de553eef4d6804852 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 14:39:02 -0700 Subject: [PATCH 27/69] jenkins: replace tici-common (#36073) * common * remove * test * Revert "test" This reverts commit 2c76a8f818e42e0af1d4540dede3595fe0d59ed9. * Reapply "test" This reverts commit d9974dd8564d0699dcfa3aac0ffb2dca33f3b47d. * Revert "Reapply "test"" This reverts commit 2377c6ab20df5dd06886f3dd9a0be07abfce9df6. * tizi bounds --- Jenkinsfile | 3 +-- system/hardware/tici/tests/test_power_draw.py | 4 ++-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 54dff318d..6c4e01854 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -208,12 +208,11 @@ node { ]) }, 'HW + Unit Tests': { - deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [ + deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]), step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"), step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]), - step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]), step("test manager", "pytest system/manager/test/test_manager.py"), ]) }, diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index db0fab884..46b45460b 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -32,8 +32,8 @@ class Proc: PROCS = [ Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), - Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), + Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']), + Proc(['dmonitoringmodeld'], 0.7, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] From 1d8dc8a69a188285e65595d83224e54d497178dc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 27 Aug 2025 15:11:58 -0700 Subject: [PATCH 28/69] camerad: remove AR0231 (#36070) --- system/camerad/SConscript | 2 +- system/camerad/cameras/spectra.cc | 3 +- system/camerad/sensors/ar0231.cc | 136 ---------------------- system/camerad/sensors/ar0231_registers.h | 121 ------------------- system/camerad/sensors/sensor.h | 12 -- 5 files changed, 2 insertions(+), 272 deletions(-) delete mode 100644 system/camerad/sensors/ar0231.cc delete mode 100644 system/camerad/sensors/ar0231_registers.h diff --git a/system/camerad/SConscript b/system/camerad/SConscript index fe5cf87b7..734f748a2 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -4,7 +4,7 @@ libs = [common, 'OpenCL', messaging, visionipc, gpucommon] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', - 'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) + 'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 47ae9061f..caf787157 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -1004,8 +1004,7 @@ bool SpectraCamera::openSensor() { }; // Figure out which sensor we have - if (!init_sensor_lambda(new AR0231) && - !init_sensor_lambda(new OX03C10) && + if (!init_sensor_lambda(new OX03C10) && !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num); enabled = false; diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc deleted file mode 100644 index e4ae29f07..000000000 --- a/system/camerad/sensors/ar0231.cc +++ /dev/null @@ -1,136 +0,0 @@ -#include -#include - -#include "system/camerad/sensors/sensor.h" - -namespace { - -const size_t AR0231_REGISTERS_HEIGHT = 2; -// TODO: this extra height is universal and doesn't apply per camera -const size_t AR0231_STATS_HEIGHT = 2 + 8; - -const float sensor_analog_gains_AR0231[] = { - 1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3 - 3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7 - 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 - 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass - -} // namespace - -AR0231::AR0231() { - image_sensor = cereal::FrameData::ImageSensor::AR0231; - bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR; - pixel_size_mm = 0.003; - data_word = true; - frame_width = 1928; - frame_height = 1208; - frame_stride = (frame_width * 12 / 8) + 4; - extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT; - - registers_offset = 0; - frame_offset = AR0231_REGISTERS_HEIGHT; - stats_offset = AR0231_REGISTERS_HEIGHT + frame_height; - - start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231)); - init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); - probe_reg_addr = 0x3000; - probe_expected_data = 0x354; - bits_per_pixel = 12; - mipi_format = CAM_FORMAT_MIPI_RAW_12; - frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - mclk_frequency = 19200000; //Hz - - readout_time_ns = 22850000; - - dc_gain_factor = 2.5; - dc_gain_min_weight = 0; - dc_gain_max_weight = 1; - dc_gain_on_grey = 0.2; - dc_gain_off_grey = 0.3; - exposure_time_min = 2; // with HDR, fastest ss - exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms - analog_gain_min_idx = 0x1; // 0.25x - analog_gain_rec_idx = 0x6; // 0.8x - analog_gain_max_idx = 0xD; // 4.0x - analog_gain_cost_delta = 0; - analog_gain_cost_low = 0.1; - analog_gain_cost_high = 5.0; - for (int i = 0; i <= analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; - } - min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; - target_grey_factor = 1.0; - - black_level = 168; - color_correct_matrix = { - 0x000000af, 0x00000ff9, 0x00000fd8, - 0x00000fbc, 0x000000bb, 0x00000009, - 0x00000fb6, 0x00000fe0, 0x000000ea, - }; - for (int i = 0; i < 65; i++) { - float fx = i / 64.0; - const float gamma_k = 0.75; - const float gamma_b = 0.125; - const float mp = 0.01; // ideally midpoint should be adaptive - const float rk = 9 - 100*mp; - // poly approximation for s curve - fx = (fx > mp) ? - ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) : - ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b); - gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); - } - prepare_gamma_lut(); - linearization_lut = { - 0x02000000, 0x02000000, 0x02000000, 0x02000000, - 0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff, - 0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff, - 0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff, - 0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff, - 0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff, - 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, - 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, - 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, - }; - linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff}; - vignetting_lut = { - 0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2, - 0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7, - 0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d, - 0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed, - 0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1, - 0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17, - 0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93, - 0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e, - 0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6, - 0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee, - 0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8, - 0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676, - 0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22, - }; -} - -std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { - uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; - return { - {0x3366, analog_gain_reg}, - {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, - {0x3012, (uint16_t)exposure_time}, - }; -} - -int AR0231::getSlaveAddress(int port) const { - assert(port >= 0 && port <= 2); - return (int[]){0x20, 0x30, 0x20}[port]; -} - -float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { - // Cost of ev diff - float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; - // Cost of absolute gain - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - // Cost of changing gain - score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; - return score; -} diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h deleted file mode 100644 index e0872a673..000000000 --- a/system/camerad/sensors/ar0231_registers.h +++ /dev/null @@ -1,121 +0,0 @@ -#pragma once - -const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; -const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; - -const struct i2c_random_wr_payload init_array_ar0231[] = { - {0x301A, 0x0018}, // RESET_REGISTER - - // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config - - // CLOCK Settings - // input clock is 19.2 / 2 * 0x37 = 528 MHz - // pixclk is 528 / 6 = 88 MHz - // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms - // img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms - {0x302A, 0x0006}, // VT_PIX_CLK_DIV - {0x302C, 0x0001}, // VT_SYS_CLK_DIV - {0x302E, 0x0002}, // PRE_PLL_CLK_DIV - {0x3030, 0x0037}, // PLL_MULTIPLIER - {0x3036, 0x000C}, // OP_PIX_CLK_DIV - {0x3038, 0x0001}, // OP_SYS_CLK_DIV - - // FORMAT - {0x3040, 0xC000}, // READ_MODE - {0x3004, 0x0000}, // X_ADDR_START_ - {0x3008, 0x0787}, // X_ADDR_END_ - {0x3002, 0x0000}, // Y_ADDR_START_ - {0x3006, 0x04B7}, // Y_ADDR_END_ - {0x3032, 0x0000}, // SCALING_MODE - {0x30A2, 0x0001}, // X_ODD_INC_ - {0x30A6, 0x0001}, // Y_ODD_INC_ - {0x3402, 0x0788}, // X_OUTPUT_CONTROL - {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL - {0x3064, 0x1982}, // SMIA_TEST - {0x30BA, 0x11F2}, // DIGITAL_CTRL - - // Enable external trigger and disable GPIO outputs - {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE - {0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE - {0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2 - - // Readout timing - {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR) - {0x300A, 0x0855}, // FRAME_LENGTH_LINES - {0x3042, 0x0000}, // EXTRA_DELAY - - // Readout Settings - {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI - {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 - {0x3342, 0x1212}, // MIPI_F1_PDT_EDT - {0x3346, 0x1212}, // MIPI_F2_PDT_EDT - {0x334A, 0x1212}, // MIPI_F3_PDT_EDT - {0x334E, 0x1212}, // MIPI_F4_PDT_EDT - {0x3344, 0x0011}, // MIPI_F1_VDT_VC - {0x3348, 0x0111}, // MIPI_F2_VDT_VC - {0x334C, 0x0211}, // MIPI_F3_VDT_VC - {0x3350, 0x0311}, // MIPI_F4_VDT_VC - {0x31B0, 0x0053}, // FRAME_PREAMBLE - {0x31B2, 0x003B}, // LINE_PREAMBLE - {0x301A, 0x001C}, // RESET_REGISTER - - // Noise Corrections - {0x3092, 0x0C24}, // ROW_NOISE_CONTROL - {0x337A, 0x0C80}, // DBLC_SCALE0 - {0x3370, 0x03B1}, // DBLC - {0x3044, 0x0400}, // DARK_CONTROL - - // Enable temperature sensor - {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG - {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG - - // Enable dead pixel correction using - // the 1D line correction scheme - {0x31E0, 0x0003}, - - // HDR Settings - {0x3082, 0x0004}, // OPERATION_MODE_CTRL - {0x3238, 0x0444}, // EXPOSURE_RATIO - - {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN - {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN - {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN - {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN - - // TODO: do these have to be lower than LINE_LENGTH_PCK? - {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ - {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2 - - {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? - {0x33DA, 0x0000}, // COMPANDING - {0x318E, 0x0200}, // PRE_HDR_GAIN_EN - - // DLO Settings - {0x3100, 0x4000}, // DLO_CONTROL0 - {0x3280, 0x0CCC}, // T1 G1 - {0x3282, 0x0CCC}, // T1 R - {0x3284, 0x0CCC}, // T1 B - {0x3286, 0x0CCC}, // T1 G2 - {0x3288, 0x0FA0}, // T2 G1 - {0x328A, 0x0FA0}, // T2 R - {0x328C, 0x0FA0}, // T2 B - {0x328E, 0x0FA0}, // T2 G2 - - // Initial Gains - {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_ - {0x3366, 0xFF77}, // ANALOG_GAIN (1x) - - {0x3060, 0x3333}, // ANALOG_COLOR_GAIN - - {0x3362, 0x0000}, // DC GAIN - - {0x305A, 0x00F8}, // red gain - {0x3058, 0x0122}, // blue gain - {0x3056, 0x009A}, // g1 gain - {0x305C, 0x009A}, // g2 gain - - {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_ - - // Initial Integration Time - {0x3012, 0x0005}, -}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index d4be3cf03..96aa8b604 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -10,7 +10,6 @@ #include "media/cam_sensor.h" #include "cereal/gen/cpp/log.capnp.h" -#include "system/camerad/sensors/ar0231_registers.h" #include "system/camerad/sensors/ox03c10_registers.h" #include "system/camerad/sensors/os04c10_registers.h" @@ -88,17 +87,6 @@ public: }; }; -class AR0231 : public SensorInfo { -public: - AR0231(); - std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; - float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; - int getSlaveAddress(int port) const override; - -private: - mutable std::map> ar0231_register_lut; -}; - class OX03C10 : public SensorInfo { public: OX03C10(); From bb06468eadc230fc59315539b81626046acfc09c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 27 Aug 2025 16:41:57 -0700 Subject: [PATCH 29/69] safety standards for forks (#36077) standards for forks --- docs/SAFETY.md | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/docs/SAFETY.md b/docs/SAFETY.md index 18a450a39..25815e337 100644 --- a/docs/SAFETY.md +++ b/docs/SAFETY.md @@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf) released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/)) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, -hardware-in-the-loop and in-vehicle tests before each software release. +hardware-in-the-loop, and in-vehicle tests before each software release. Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements. @@ -29,8 +29,18 @@ ensuring two main safety requirements. For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety). -**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or - not fully meeting the above requirements. +[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. -[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. +--- +### Forks of openpilot + +* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring) +* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py) +* If your fork modifies any of the code in `opendbc/safety/`: + * your fork cannot use the openpilot trademark + * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes + +Failure to comply with these standards will get you and your users banned from comma.ai servers. + +**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.** From a2c5fca787de19a84b47eb8123ac1c46b980dd0e Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 27 Aug 2025 17:54:53 -0700 Subject: [PATCH 30/69] modeld input queues class (#36072) * move from xx * no get_single * stupid name * thats fine * desire_pulse * 1less * desire->desire_pulse * simplify * reduce copies * more less --- selfdrive/modeld/constants.py | 9 +-- selfdrive/modeld/fill_model_msg.py | 2 +- selfdrive/modeld/modeld.py | 88 +++++++++++++++++++++++------- 3 files changed, 73 insertions(+), 26 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 5ca0a86bc..ff7e1d860 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -13,12 +13,9 @@ class ModelConstants: META_T_IDXS = [2., 4., 6., 8., 10.] # model inputs constants - MODEL_FREQ = 20 - HISTORY_FREQ = 5 - HISTORY_LEN_SECONDS = 5 - TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ - FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS - INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS + N_FRAMES = 2 + MODEL_RUN_FREQ = 20 + MODEL_CONTEXT_FREQ = 5 # "model_trained_fps" FEATURE_LEN = 512 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a2b54b420..82c4c92b1 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -149,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D meta.hardBrakePredicted = hard_brake_predicted.item() # confidence - if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: + if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0: # any disengage prob brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE] gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE] diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 6e09f40e2..e08fc30c2 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -77,6 +77,64 @@ class FrameMeta: if vipc is not None: self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof +class InputQueues: + def __init__ (self, model_fps, env_fps, n_frames_input): + assert env_fps % model_fps == 0 + assert env_fps >= model_fps + self.model_fps = model_fps + self.env_fps = env_fps + self.n_frames_input = n_frames_input + + self.dtypes = {} + self.shapes = {} + self.q = {} + + def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None: + self.dtypes.update(input_dtypes) + if self.env_fps == self.model_fps: + self.shapes.update(input_shapes) + else: + for k in input_shapes: + shape = list(input_shapes[k]) + if 'img' in k: + n_channels = shape[1] // self.n_frames_input + shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels + else: + shape[1] = (self.env_fps // self.model_fps) * shape[1] + self.shapes[k] = tuple(shape) + + def reset(self) -> None: + self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()} + + def enqueue(self, inputs:dict[str, np.ndarray]) -> None: + for k in inputs.keys(): + if inputs[k].dtype != self.dtypes[k]: + raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}') + input_shape = list(self.shapes[k]) + input_shape[1] = -1 + single_input = inputs[k].reshape(tuple(input_shape)) + sz = single_input.shape[1] + self.q[k][:,:-sz] = self.q[k][:,sz:] + self.q[k][:,-sz:] = single_input + + def get(self, *names) -> dict[str, np.ndarray]: + if self.env_fps == self.model_fps: + return {k: self.q[k] for k in names} + else: + out = {} + for k in names: + shape = self.shapes[k] + if 'img' in k: + n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1)) + out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1) + elif 'pulse' in k: + # any pulse within interval counts + out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2) + else: + idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1] + out[k] = self.q[k][:, idxs] + return out + class ModelState: frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] @@ -97,19 +155,15 @@ class ModelState: self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] - self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names} + self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) - self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32) - self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP) - # policy inputs - self.numpy_inputs = { - 'desire_pulse': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), - 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), - 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), - } + self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes} + self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES) + for k in ['desire_pulse', 'features_buffer']: + self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) + self.full_input_queues.reset() # img buffers are managed in openCL transform code self.vision_inputs: dict[str, Tensor] = {} @@ -135,11 +189,6 @@ class ModelState: new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) self.prev_desire[:] = inputs['desire_pulse'] - self.full_desire[0,:-1] = self.full_desire[0,1:] - self.full_desire[0,-1] = new_desire - self.numpy_inputs['desire_pulse'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) - - self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} if TICI and not USBGPU: @@ -158,9 +207,10 @@ class ModelState: self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) - self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:] - self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :] - self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs] + self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) + for k in ['desire_pulse', 'features_buffer']: + 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() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) @@ -218,7 +268,7 @@ def main(demo=False): params = Params() # setup filter to track dropped frames - frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ) frame_id = 0 last_vipc_frame_id = 0 run_count = 0 From 93f7925c4d4a535e18da5cf6a7d49f7382eca1a4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 18:36:10 -0700 Subject: [PATCH 31/69] jenkins: tizi ox --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 6c4e01854..cba09e19f 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -223,7 +223,7 @@ node { ]) }, 'camerad OX03C10': { - deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ + deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), step("test exposure", "pytest system/camerad/test/test_exposure.py"), From 7a19a110011900b0c0bc6dd6d9d8176ffef856f8 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 18:46:50 -0700 Subject: [PATCH 32/69] jenkins: tizi loopback device --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index cba09e19f..3e9da0563 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -217,7 +217,7 @@ node { ]) }, 'loopback': { - deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [ + deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [ step("build openpilot", "cd system/manager && ./build.py"), step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"), ]) From 63961dec45c634f478fec88e180c928e6f9709d4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 27 Aug 2025 19:04:16 -0700 Subject: [PATCH 33/69] jenkins: run pandad test once --- Jenkinsfile | 1 - 1 file changed, 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 3e9da0563..f3a63d3de 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -253,7 +253,6 @@ node { step("build openpilot", "cd system/manager && ./build.py"), step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"), step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"), - step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]), step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"), // TODO: enable once new AGNOS is available // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"), From 3e2549f2b8675ce482200e06855857122f3583e3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 28 Aug 2025 08:19:39 -0700 Subject: [PATCH 34/69] remove tici-specific code (#36078) * remove tici-specific code * lil more * update those --- README.md | 6 +++--- common/params_keys.h | 1 - docs/CONTRIBUTING.md | 2 +- docs/how-to/connect-to-comma.md | 8 ++++---- docs/how-to/replay-a-drive.md | 2 +- docs/how-to/turn-the-speed-blue.md | 2 +- mkdocs.yml | 2 +- selfdrive/pandad/pandad.py | 5 ----- selfdrive/pandad/tests/bootstub.panda.bin | Bin 15732 -> 0 bytes selfdrive/pandad/tests/test_pandad.py | 6 +----- selfdrive/pandad/tests/test_pandad_spi.py | 3 --- selfdrive/selfdrived/alerts_offroad.json | 4 ---- selfdrive/selfdrived/selfdrived.py | 10 +--------- selfdrive/ui/tests/test_ui/run.py | 2 +- selfdrive/ui/ui.cc | 3 +-- selfdrive/ui/ui_state.py | 5 +---- system/camerad/cameras/hw.h | 2 +- system/hardware/hardwared.py | 7 ------- system/hardware/tici/amplifier.py | 12 ------------ system/hardware/tici/hardware.py | 15 +++++---------- system/hardware/tici/pins.py | 5 ----- system/ui/reset.py | 5 ----- system/updated/updated.py | 6 ------ 23 files changed, 22 insertions(+), 91 deletions(-) delete mode 100755 selfdrive/pandad/tests/bootstub.panda.bin diff --git a/README.md b/README.md index f3af58f85..9f1819afb 100644 --- a/README.md +++ b/README.md @@ -42,10 +42,10 @@ Using openpilot in a car ------ To use openpilot in a car, you need four things: -1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). -2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. +1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). +2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md). -4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. +4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car. We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. diff --git a/common/params_keys.h b/common/params_keys.h index c54600462..211b4d550 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -94,7 +94,6 @@ inline static std::unordered_map keys = { {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, - {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}}, diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 154734b7f..7583095ea 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -39,7 +39,7 @@ All of these are examples of good PRs: ### First contribution [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty. -There's lot of bounties that don't require a comma 3/3X or a car. +There's lot of bounties that don't require a comma 3X or a car. ## Pull Requests diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index cbaccaae6..5f02e1159 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -1,11 +1,11 @@ -# connect to a comma 3/3X +# connect to a comma 3X -A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console). +A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console). ## Serial Console On both the comma three and 3X, the serial console is accessible from the main OBD-C port. -Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power. +Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power. On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect. @@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555` > [!NOTE] -> The default port for ADB is 5555 on the comma 3/3X. +> The default port for ADB is 5555 on the comma 3X. For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb). diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md index 084b6bf82..b0db36a46 100644 --- a/docs/how-to/replay-a-drive.md +++ b/docs/how-to/replay-a-drive.md @@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging. Just run `tools/replay/replay --demo`. ## Replaying CAN data -*Hardware required: jungle and comma 3/3X* +*Hardware required: jungle and comma 3X* 1. Connect your PC to a jungle. 2. diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index 13b3b03e8..eb6e75afa 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -3,7 +3,7 @@ In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI. -And if you have a comma 3/3X, we'll deploy the change to your device for testing. +And if you have a comma 3X, we'll deploy the change to your device for testing. ## 1. Set up your development environment diff --git a/mkdocs.yml b/mkdocs.yml index a66d1c76d..550f807ac 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -21,7 +21,7 @@ nav: - What is openpilot?: getting-started/what-is-openpilot.md - How-to: - Turn the speed blue: how-to/turn-the-speed-blue.md - - Connect to a comma 3/3X: how-to/connect-to-comma.md + - Connect to a comma 3X: how-to/connect-to-comma.md # - Make your first pull request: how-to/make-first-pr.md #- Replay a drive: how-to/replay-a-drive.md - Concepts: diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index 4e49813f5..d75af283f 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -85,11 +85,6 @@ def main() -> None: cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") - # TODO: remove this in the next AGNOS - # wait until USB is up before counting - if time.monotonic() < 60.: - no_internal_panda_count = 0 - # Handle missing internal panda if 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zV@Brg9`a%EE%gIcyWIaOewLp-=61)T?i=&Adyg!oa*nRWH_5i7qz8Z8|Kjlhi#Fbz z|K_$stH*8g&3y6JznrgZ-R&Chu z{YTyhBDcJ7CXzF!Y`=K>*0WiU@ryn=+xXF&gPJ#-`tYBvlhfZ(?w`EUnDn=ag$G<$ zcaL1~WbE1P&Hvib{TTcDUz_LbZ;$$ke}cU6(v-EI7^ke8a`LIx1%anuY#2T2ojYDl zFdR2NVr;a0dW+?z)XIBx9{!Pr*<;7Y+|R`3#@J^J`TU pandad # - plus some buffer print("startup times", ts, sum(ts) / len(ts)) - assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0) + assert 0.1 < (sum(ts)/len(ts)) < 0.7 def test_protocol_version_check(self): - if not self.spi: - pytest.skip("SPI test") # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") self._flash_bootstub_and_test(fn, expect_mismatch=True) diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py index 9f7cc3b02..da4b18199 100644 --- a/selfdrive/pandad/tests/test_pandad_spi.py +++ b/selfdrive/pandad/tests/test_pandad_spi.py @@ -6,7 +6,6 @@ import random import cereal.messaging as messaging from cereal.services import SERVICE_LIST -from openpilot.system.hardware import HARDWARE from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages @@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ class TestBoarddSpi: @classmethod def setup_class(cls): - if HARDWARE.get_device_type() == 'tici': - pytest.skip("only for spi pandas") os.environ['STARTED'] = '1' os.environ['SPI_ERR_PROB'] = '0.001' if not JUNGLE_SPAM: diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 42aca2200..3d97135f6 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -29,10 +29,6 @@ "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.", "severity": 1 }, - "Offroad_StorageMissing": { - "text": "NVMe drive not mounted.", - "severity": 1 - }, "Offroad_CarUnrecognized": { "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.", "severity": 0 diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index cf22040e8..e9c62fe32 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -21,7 +21,6 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert -from openpilot.system.hardware import HARDWARE from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ @@ -122,13 +121,6 @@ class SelfdriveD: self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) - # some comma three with NVMe experience NVMe dropouts mid-drive that - # cause loggerd to crash on write, so ignore it only on that platform - self.ignored_processes = set() - nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment")) - if HARDWARE.get_device_type() == 'tici' and nvme_expected: - self.ignored_processes = {'loggerd', } - # Determine startup event self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster if not car_recognized: @@ -299,7 +291,7 @@ class SelfdriveD: if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running - if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes): + if self.sm.recv_frame['managerState'] and not_running: self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 422183c5d..32aead0b4 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -29,7 +29,7 @@ UI_DELAY = 0.1 # may be slower on CI? TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = [] -OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot'] +OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ] DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys( ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState", "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState", diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4f8bd7ddf..9ec61b9b8 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -54,8 +54,7 @@ static void update_state(UIState *s) { } if (sm.updated("wideRoadCameraState")) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); - float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; - scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); + scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f); } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) { scene.light_sensor = -1; } diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index c2bb5f77a..c4a2c0ca1 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -105,10 +105,7 @@ class UIState: # Handle wide road camera state updates if self.sm.updated["wideRoadCameraState"]: cam_state = self.sm["wideRoadCameraState"] - - # Scale factor based on sensor type - scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0 - self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0) + self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0) elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]: self.light_sensor = -1 diff --git a/system/camerad/cameras/hw.h b/system/camerad/cameras/hw.h index d299627ce..f20a1b3ad 100644 --- a/system/camerad/cameras/hw.h +++ b/system/camerad/cameras/hw.h @@ -13,7 +13,7 @@ typedef enum { ISP_BPS_PROCESSED, // fully processed image through the BPS } SpectraOutputType; -// For the comma 3/3X three camera platform +// For the comma 3X three camera platform struct CameraConfig { int camera_num; diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index fad93601d..1048acfe0 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -6,7 +6,6 @@ import struct import threading import time from collections import OrderedDict, namedtuple -from pathlib import Path import psutil @@ -334,12 +333,6 @@ def hardware_thread(end_event, hw_queue) -> None: # to make a different decision in your software startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID) - # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there - if TICI and HARDWARE.get_device_type() == "tici": - if not os.path.isfile("/persist/comma/living-in-the-moment"): - if not Path("/data/media").is_mount(): - set_offroad_alert_if_changed("Offroad_StorageMissing", True) - # Handle offroad/onroad transition should_start = all(onroad_conditions.values()) if started_ts is None: diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index f6b29ec0c..bfdcc6dda 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -61,18 +61,6 @@ BASE_CONFIG = [ ] CONFIGS = { - "tici": [ - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), - - *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), - *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), - *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), - *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)), - *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)), - ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 35f9916c3..6a9b98af8 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -425,9 +425,6 @@ class Tici(HardwareBase): # pandad core affine_irq(3, "spi_geni") # SPI - if "tici" in self.get_device_type(): - affine_irq(3, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) - affine_irq(3, "xhci-hcd:usb1") # internal panda USB (also modem) try: pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip() subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid]) @@ -446,22 +443,20 @@ class Tici(HardwareBase): cmds = [] - if self.get_device_type() in ("tici", "tizi"): + if self.get_device_type() in ("tizi", ): # clear out old blue prime initial APN os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="') cmds += [ + # SIM hot swap + 'AT+QSIMDET=1,0', + 'AT+QSIMSTAT=1', + # configure modem as data-centric 'AT+QNVW=5280,0,"0102000000000000"', 'AT+QNVFW="/nv/item_files/ims/IMS_enable",00', 'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01', ] - if self.get_device_type() == "tizi": - # SIM hot swap, not routed on tici - cmds += [ - 'AT+QSIMDET=1,0', - 'AT+QSIMSTAT=1', - ] elif manufacturer == 'Cavli Inc.': cmds += [ 'AT^SIMSWAP=1', # use SIM slot, instead of internal eSIM diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 747278d1e..bdbea591f 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -1,5 +1,3 @@ -# TODO: these are also defined in a header - # GPIO pin definitions class GPIO: # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset @@ -26,7 +24,4 @@ class GPIO: CAM2_RSTN = 12 # Sensor interrupts - BMX055_ACCEL_INT = 21 - BMX055_GYRO_INT = 23 - BMX055_MAGN_INT = 87 LSM_INT = 84 diff --git a/system/ui/reset.py b/system/ui/reset.py index b1bf5a6b6..a5cf1731d 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -13,7 +13,6 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle from openpilot.system.ui.widgets.label import gui_label, gui_text_box -NVME = "/dev/nvme0n1" USERDATA = "/dev/disk/by-partlabel/userdata" TIMEOUT = 3*60 @@ -49,10 +48,6 @@ class Reset(Widget): if PC: return - # Best effort to wipe NVME - os.system(f"sudo umount {NVME}") - os.system(f"yes | sudo mkfs.ext4 {NVME}") - # Removing data and formatting rm = os.system("sudo rm -rf /data/*") os.system(f"sudo umount {USERDATA}") diff --git a/system/updated/updated.py b/system/updated/updated.py index d1e745ec1..a80a663ec 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -243,12 +243,6 @@ class Updater: if b is None: b = self.get_branch(BASEDIR) b = { - ("tici", "release3"): "release-tici", - ("tici", "release3-staging"): "release-tici", - ("tici", "master"): "master-tici", - ("tici", "nightly"): "release-tici", - ("tici", "nightly-dev"): "release-tici", - ("tizi", "release3"): "release-tizi", }.get((HARDWARE.get_device_type(), b), b) return b From 9fcac06297ebf9357d8b1fbf5a3ab573e9733190 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 28 Aug 2025 11:49:31 -0700 Subject: [PATCH 35/69] op.sh: fix switch on fresh install --- tools/op.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/op.sh b/tools/op.sh index e83b46b2d..54ff8e97e 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -365,6 +365,7 @@ function op_switch() { fi BRANCH="$1" + git config --replace-all remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*" git fetch "$REMOTE" "$BRANCH" git checkout -f FETCH_HEAD git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH" From 76e91da3adb48777fe10b8933172e43c19e02691 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 28 Aug 2025 22:11:20 +0200 Subject: [PATCH 36/69] process_replay: use LiveParametersV2 in custom params (#36080) Fill LiveParametersV2 in get_custom_params_from_lr --- selfdrive/test/process_replay/process_replay.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 56a0fdb61..1144b7955 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -591,7 +591,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> if len(live_calibration) > 0: custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes() if len(live_parameters) > 0: - custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes() + custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes() if len(live_torque_parameters) > 0: custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes() From c990515eaff7e638514b7073b863f494ecf534e4 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 29 Aug 2025 14:16:52 -0700 Subject: [PATCH 37/69] update RELEASES.md for 0.10.1 --- RELEASES.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index dacf0eaa1..d89ee2462 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,9 @@ Version 0.10.1 (2025-09-08) ======================== +* New driving model + * World Model: removed global localization inputs + * World Model: 2x the number of parameters + * World Model: trained on 4x the number of segments * Record driving feedback using LKAS button * Honda City 2023 support thanks to drFritz! From 67fd6c80dd64d0c0168c6109c1d0a0e6dae54472 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 1 Sep 2025 09:37:18 -0700 Subject: [PATCH 38/69] [bot] Update Python packages (#36090) * Update Python packages * no more stall --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- cereal/log.capnp | 2 +- opendbc_repo | 2 +- panda | 2 +- selfdrive/pandad/pandad.cc | 1 - tinygrad_repo | 2 +- uv.lock | 172 +++++++++++++++++++++---------------- 6 files changed, 101 insertions(+), 80 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index e75684356..b98c1f524 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -585,7 +585,6 @@ struct PandaState @0xa7649e2575e4591e { heartbeatLost @22 :Bool; interruptLoad @25 :Float32; fanPower @28 :UInt8; - fanStallCount @34 :UInt8; spiErrorCount @33 :UInt16; @@ -714,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e { usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; safetyParamDEPRECATED @20 :Int16; safetyParam2DEPRECATED @26 :UInt32; + fanStallCountDEPRECATED @34 :UInt8; } struct PeripheralState { diff --git a/opendbc_repo b/opendbc_repo index 0fe56bc28..ac6122e27 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0fe56bc289d72d2f278e9c085f2ada6ecb13e688 +Subproject commit ac6122e272e0dc040d5abf3bde6fca4e034a7ef7 diff --git a/panda b/panda index 3dc213862..819fa5854 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3dc21386239e3073a623156b75901aa302340d6c +Subproject commit 819fa5854e2e75da7f982f7d06be69c61793d6e1 diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index faaeb1531..8289df549 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -152,7 +152,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); 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{dest}") + def reboot_modem(self): + modem = self.get_modem() + for state in (0, 1): + try: + modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) + except Exception: + pass + def get_networks(self): r = {} From 6a4f685d0491d089151cc93e3267cf6c258b9f65 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 3 Sep 2025 11:34:03 -0700 Subject: [PATCH 40/69] feat(esim): bootstrap (#36094) * bootstrap * more * fix * simple * moar * clarify --------- Co-authored-by: Comma Device --- system/hardware/base.py | 7 +++++++ system/hardware/esim.py | 27 ++++++++++++++++++++++++++- system/hardware/tici/esim.py | 29 +++++++++++++++++++++++++++++ system/hardware/tici/hardware.py | 2 +- 4 files changed, 63 insertions(+), 2 deletions(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index b457ea4e1..ce97bf294 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -65,6 +65,10 @@ class ThermalConfig: return ret class LPABase(ABC): + @abstractmethod + def bootstrap(self) -> None: + pass + @abstractmethod def list_profiles(self) -> list[Profile]: pass @@ -89,6 +93,9 @@ class LPABase(ABC): def switch_profile(self, iccid: str) -> None: pass + def is_comma_profile(self, iccid: str) -> bool: + return any(iccid.startswith(prefix) for prefix in ('8985235',)) + class HardwareBase(ABC): @staticmethod def get_cmdline() -> dict[str, str]: diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 58ead6593..909ad41e0 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -3,10 +3,32 @@ import argparse import time from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.base import LPABase + + +def bootstrap(lpa: LPABase) -> None: + print('┌──────────────────────────────────────────────────────────────────────────────┐') + print('│ WARNING, PLEASE READ BEFORE PROCEEDING │') + print('│ │') + print('│ this is an irreversible operation that will remove the comma-provisioned │') + print('│ profile. │') + print('│ │') + print('│ after this operation, you must purchase a new eSIM from comma in order to │') + print('│ use the comma prime subscription again. │') + print('└──────────────────────────────────────────────────────────────────────────────┘') + print() + for severity in ('sure', '100% sure'): + print(f'are you {severity} you want to proceed? (y/N) ', end='') + confirm = input() + if confirm != 'y': + print('aborting') + exit(0) + lpa.bootstrap() if __name__ == '__main__': parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') + parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)') parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') parser.add_argument('--switch', metavar='iccid', help='switch to profile') parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') @@ -16,7 +38,10 @@ if __name__ == '__main__': mutated = False lpa = HARDWARE.get_sim_lpa() - if args.switch: + if args.bootstrap: + bootstrap(lpa) + mutated = True + elif args.switch: lpa.switch_profile(args.switch) mutated = True elif args.delete: diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py index b489286f5..391ba4553 100644 --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -40,6 +40,7 @@ class TiciLPA(LPABase): self._process_notifications() def download_profile(self, qr: str, nickname: str | None = None) -> None: + self._check_bootstrapped() msgs = self._invoke('profile', 'download', '-a', qr) self._validate_successful(msgs) new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None) @@ -54,6 +55,7 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) def switch_profile(self, iccid: str) -> None: + self._check_bootstrapped() self._validate_profile_exists(iccid) latest = self.get_active_profile() if latest and latest.iccid == iccid: @@ -61,6 +63,33 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'enable', iccid)) self._process_notifications() + def bootstrap(self) -> None: + """ + find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles + and must be deleted. + + **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order + to use comma prime again. + """ + if self._is_bootstrapped(): + return + + for p in self.list_profiles(): + if self.is_comma_profile(p.iccid): + self._disable_profile(p.iccid) + self.delete_profile(p.iccid) + + def _disable_profile(self, iccid: str) -> None: + self._validate_successful(self._invoke('profile', 'disable', iccid)) + self._process_notifications() + + def _check_bootstrapped(self) -> None: + assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation' + + def _is_bootstrapped(self) -> bool: + """ check if any comma provisioned profiles are on the eUICC """ + return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles())) + def _invoke(self, *cmd: str): proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) try: diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 13a30ae01..0f50acdc3 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -487,7 +487,7 @@ class Tici(HardwareBase): # eSIM prime dest = "/etc/NetworkManager/system-connections/esim.nmconnection" - if sim_id.startswith('8985235') and not os.path.exists(dest): + if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest): with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: dat = f.read() dat = dat.replace("sim-id=", f"sim-id={sim_id}") From a5044302a290cbb31a2e69a3a0e5bb769193d5b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 3 Sep 2025 16:06:41 -0700 Subject: [PATCH 41/69] auto source: auto source --- tools/auto_source.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/auto_source.py b/tools/auto_source.py index 401929a9a..bef6a43e5 100755 --- a/tools/auto_source.py +++ b/tools/auto_source.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, ReadMode def main(): @@ -9,7 +9,7 @@ def main(): sys.exit(1) log_path = sys.argv[1] - lr = LogReader(log_path, sort_by_time=True) + lr = LogReader(log_path, default_mode=ReadMode.AUTO, sort_by_time=True) print("\n".join(lr.logreader_identifiers)) From ef870d5533917bf7db080029fb18e20ac02d0cc9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Sep 2025 18:11:44 -0700 Subject: [PATCH 42/69] bump opendbc (#36103) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index ac6122e27..f85a5575b 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ac6122e272e0dc040d5abf3bde6fca4e034a7ef7 +Subproject commit f85a5575ba6b7e14329fdfa6a3f5d3427f00cab0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e1133061f..a833fadb9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4c677a3ebcbd3d4faa3de98e3fb9c0bb83b47926 \ No newline at end of file +afcab1abb62b9d5678342956cced4712f44e909e \ No newline at end of file From 2b7707ecf6f5a1759a88722460834a42a0e7bb17 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Sep 2025 18:20:43 -0700 Subject: [PATCH 43/69] Deduplicate car interface test (#36101) deduplicate test car interfaces --- opendbc_repo | 2 +- selfdrive/car/tests/test_car_interfaces.py | 45 ++-------------------- 2 files changed, 4 insertions(+), 43 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index f85a5575b..7afc25d8d 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f85a5575ba6b7e14329fdfa6a3f5d3427f00cab0 +Subproject commit 7afc25d8d4096bb31e25c0b7ae0b961ea05f5394 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 5c4729ee9..c40443d7e 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,15 +1,12 @@ import os -import math import hypothesis.strategies as st from hypothesis import Phase, given, settings from parameterized import parameterized from cereal import car from opendbc.car import DT_CTRL -from opendbc.car.car_helpers import interfaces from opendbc.car.structs import CarParams -from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args -from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS +from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface from opendbc.car.mock.values import CAR as MOCK from opendbc.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle @@ -18,11 +15,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator -ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} -ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus} - -ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests} - MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60')) @@ -34,39 +26,8 @@ class TestCarInterfaces: phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_car_interfaces(self, car_name, data): - CarInterface = interfaces[car_name] - - args = get_fuzzy_car_interface_args(data.draw) - - car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], - alpha_long=args['alpha_long'], is_release=False, docs=False) - car_params = car_params.as_reader() - car_interface = CarInterface(car_params) - assert car_params - assert car_interface - - assert car_params.mass > 1 - assert car_params.wheelbase > 0 - # centerToFront is center of gravity to front wheels, assert a reasonable range - assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7 - assert car_params.maxLateralAccel > 0 - - # Longitudinal sanity checks - assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) - assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) - - # Lateral sanity checks - if car_params.steerControlType != CarParams.SteerControlType.angle: - tune = car_params.lateralTuning - if tune.which() == 'pid': - if car_name != MOCK.MOCK: - assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0 - assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP) - assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP) - - elif tune.which() == 'torque': - assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0 - assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0 + car_interface = get_fuzzy_car_interface(car_name, data.draw) + car_params = car_interface.CP.as_reader() cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface From f0f04d4b5b752be1e0b12bac33dbca830bcf6815 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 4 Sep 2025 18:51:29 -0700 Subject: [PATCH 44/69] Firehose model (#36087) 816ce390-c41a-42fa-a5df-f393cbe2dcc4/400 --- selfdrive/modeld/models/driving_policy.onnx | 2 +- selfdrive/modeld/models/driving_vision.onnx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index eb6bd7b8a..7b8784674 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:72e98a95541f200bd2faeae8d718997483696fd4801fc7d718c167b05854707d +oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419 size 12343535 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index ce0dc927e..4b4fa05df 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef +oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781 size 46271991 From 1f1efec4c9b80a0be60498b38651954b127357f3 Mon Sep 17 00:00:00 2001 From: pencilpusher <83676301+jakethesnake420@users.noreply.github.com> Date: Fri, 5 Sep 2025 18:05:06 -0500 Subject: [PATCH 45/69] replay: C3/C3X hardware decoder (#35821) * bump msgq * add third_party/linux/include/media/msm_vidc.h * add sde_rotator hw interface * add msm_vidc hw decoder interface * update SConscript to build qcom decoder and rotator * use qcom decoder in replay framereader * decode directly to NV12 with the correct stride without using the hw rotator * bump msgq back to master * don't compile rotator * cleanup * works now but much to simplify * rm signals * rm header --------- Co-authored-by: Test User Co-authored-by: Adeeb Shihadeh --- tools/replay/SConscript | 2 +- tools/replay/framereader.cc | 65 ++++++- tools/replay/framereader.h | 27 ++- tools/replay/qcom_decoder.cc | 346 +++++++++++++++++++++++++++++++++++ tools/replay/qcom_decoder.h | 88 +++++++++ 5 files changed, 515 insertions(+), 13 deletions(-) create mode 100644 tools/replay/qcom_decoder.cc create mode 100644 tools/replay/qcom_decoder.h diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 18849407c..99c8263a8 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -12,7 +12,7 @@ else: base_libs.append('OpenCL') replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", - "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] + "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc", "qcom_decoder.cc"] replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index ed88626be..f2b1faf2c 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -8,6 +8,7 @@ #include "common/util.h" #include "third_party/libyuv/include/libyuv.h" #include "tools/replay/util.h" +#include "system/hardware/hw.h" #ifdef __APPLE__ #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX @@ -37,7 +38,13 @@ struct DecoderManager { return it->second.get(); } - auto decoder = std::make_unique(); + std::unique_ptr decoder; + if (Hardware::TICI() && hw_decoder) { + decoder = std::make_unique(); + } else { + decoder = std::make_unique(); + } + if (!decoder->open(codecpar, hw_decoder)) { decoder.reset(nullptr); } @@ -114,19 +121,19 @@ bool FrameReader::get(int idx, VisionBuf *buf) { // class VideoDecoder -VideoDecoder::VideoDecoder() { +FFmpegVideoDecoder::FFmpegVideoDecoder() { av_frame_ = av_frame_alloc(); hw_frame_ = av_frame_alloc(); } -VideoDecoder::~VideoDecoder() { +FFmpegVideoDecoder::~FFmpegVideoDecoder() { if (hw_device_ctx) av_buffer_unref(&hw_device_ctx); if (decoder_ctx) avcodec_free_context(&decoder_ctx); av_frame_free(&av_frame_); av_frame_free(&hw_frame_); } -bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) { +bool FFmpegVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) { const AVCodec *decoder = avcodec_find_decoder(codecpar->codec_id); if (!decoder) return false; @@ -149,7 +156,7 @@ bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) { return true; } -bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) { +bool FFmpegVideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) { const AVCodecHWConfig *config = nullptr; for (int i = 0; (config = avcodec_get_hw_config(decoder_ctx->codec, i)) != nullptr; i++) { if (config->methods & AV_CODEC_HW_CONFIG_METHOD_HW_DEVICE_CTX && config->device_type == hw_device_type) { @@ -175,7 +182,7 @@ bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) { return true; } -bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { +bool FFmpegVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { int current_idx = idx; if (idx != reader->prev_idx + 1) { // seeking to the nearest key frame @@ -219,7 +226,7 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { return false; } -AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) { +AVFrame *FFmpegVideoDecoder::decodeFrame(AVPacket *pkt) { int ret = avcodec_send_packet(decoder_ctx, pkt); if (ret < 0) { rError("Error sending a packet for decoding: %d", ret); @@ -239,7 +246,7 @@ AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) { return (av_frame_->format == hw_pix_fmt) ? hw_frame_ : av_frame_; } -bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) { +bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) { if (hw_pix_fmt == HW_PIX_FMT) { for (int i = 0; i < height/2; i++) { memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width); @@ -256,3 +263,45 @@ bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) { } return true; } + +bool QcomVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) { + if (codecpar->codec_id != AV_CODEC_ID_HEVC) { + rError("Hardware decoder only supports HEVC codec"); + return false; + } + width = codecpar->width; + height = codecpar->height; + msm_vidc.init(VIDEO_DEVICE, width, height, V4L2_PIX_FMT_HEVC); + return true; +} + +bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { + int from_idx = idx; + if (idx != reader->prev_idx + 1) { + // seeking to the nearest key frame + for (int i = idx; i >= 0; --i) { + if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) { + from_idx = i; + break; + } + } + + auto pos = reader->packets_info[from_idx].pos; + int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE); + if (ret < 0) { + rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret)); + return false; + } + } + reader->prev_idx = idx; + bool result = false; + AVPacket pkt; + msm_vidc.avctx = reader->input_ctx; + for (int i = from_idx; i <= idx; ++i) { + if (av_read_frame(reader->input_ctx, &pkt) == 0) { + result = msm_vidc.decodeFrame(&pkt, buf) && (i == idx); + av_packet_unref(&pkt); + } + } + return result; +} diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index a15847e31..1fb3cdfeb 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -6,6 +6,7 @@ #include "msgq/visionipc/visionbuf.h" #include "tools/replay/filereader.h" #include "tools/replay/util.h" +#include "tools/replay/qcom_decoder.h" extern "C" { #include @@ -40,11 +41,18 @@ public: class VideoDecoder { public: - VideoDecoder(); - ~VideoDecoder(); - bool open(AVCodecParameters *codecpar, bool hw_decoder); - bool decode(FrameReader *reader, int idx, VisionBuf *buf); + virtual ~VideoDecoder() = default; + virtual bool open(AVCodecParameters *codecpar, bool hw_decoder) = 0; + virtual bool decode(FrameReader *reader, int idx, VisionBuf *buf) = 0; int width = 0, height = 0; +}; + +class FFmpegVideoDecoder : public VideoDecoder { +public: + FFmpegVideoDecoder(); + ~FFmpegVideoDecoder() override; + bool open(AVCodecParameters *codecpar, bool hw_decoder) override; + bool decode(FrameReader *reader, int idx, VisionBuf *buf) override; private: bool initHardwareDecoder(AVHWDeviceType hw_device_type); @@ -56,3 +64,14 @@ private: AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE; AVBufferRef *hw_device_ctx = nullptr; }; + +class QcomVideoDecoder : public VideoDecoder { +public: + QcomVideoDecoder() {}; + ~QcomVideoDecoder() override {}; + bool open(AVCodecParameters *codecpar, bool hw_decoder) override; + bool decode(FrameReader *reader, int idx, VisionBuf *buf) override; + +private: + MsmVidc msm_vidc = MsmVidc(); +}; diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc new file mode 100644 index 000000000..eb5409daa --- /dev/null +++ b/tools/replay/qcom_decoder.cc @@ -0,0 +1,346 @@ +#include "qcom_decoder.h" + +#include +#include "third_party/linux/include/v4l2-controls.h" +#include + + +#include "common/swaglog.h" +#include "common/util.h" + +// echo "0xFFFF" > /sys/kernel/debug/msm_vidc/debug_level + +static void copyBuffer(VisionBuf *src_buf, VisionBuf *dst_buf) { + // Copy Y plane + memcpy(dst_buf->y, src_buf->y, src_buf->height * src_buf->stride); + // Copy UV plane + memcpy(dst_buf->uv, src_buf->uv, src_buf->height / 2 * src_buf->stride); +} + +static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) { + struct v4l2_requestbuffers reqbuf = { + .count = count, + .type = buf_type, + .memory = V4L2_MEMORY_USERPTR + }; + util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed"); +} + +MsmVidc::~MsmVidc() { + if (fd > 0) { + close(fd); + } +} + +bool MsmVidc::init(const char* dev, size_t width, size_t height, uint64_t codec) { + LOG("Initializing msm_vidc device %s", dev); + this->w = width; + this->h = height; + this->fd = open(dev, O_RDWR, 0); + if (fd < 0) { + LOGE("failed to open video device %s", dev); + return false; + } + subscribeEvents(); + v4l2_buf_type out_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; + setPlaneFormat(out_type, V4L2_PIX_FMT_HEVC); // Also allocates the output buffer + setFPS(FPS); + request_buffers(fd, out_type, OUTPUT_BUFFER_COUNT); + util::safe_ioctl(fd, VIDIOC_STREAMON, &out_type, "VIDIOC_STREAMON OUTPUT failed"); + restartCapture(); + setupPolling(); + + this->initialized = true; + return true; +} + +VisionBuf* MsmVidc::decodeFrame(AVPacket *pkt, VisionBuf *buf) { + assert(initialized && (pkt != nullptr) && (buf != nullptr)); + + this->frame_ready = false; + this->current_output_buf = buf; + bool sent_packet = false; + + while (!this->frame_ready) { + if (!sent_packet) { + int buf_index = getBufferUnlocked(); + if (buf_index >= 0) { + assert(buf_index < out_buf_cnt); + sendPacket(buf_index, pkt); + sent_packet = true; + } + } + + if (poll(pfd, nfds, -1) < 0) { + LOGE("poll() error: %d", errno); + return nullptr; + } + + if (VisionBuf* result = processEvents()) { + return result; + } + } + + return buf; +} + +VisionBuf* MsmVidc::processEvents() { + for (int idx = 0; idx < nfds; idx++) { + short revents = pfd[idx].revents; + if (!revents) continue; + + if (idx == ev[EV_VIDEO]) { + if (revents & (POLLIN | POLLRDNORM)) { + VisionBuf *result = handleCapture(); + if (result == this->current_output_buf) { + this->frame_ready = true; + } + } + if (revents & (POLLOUT | POLLWRNORM)) { + handleOutput(); + } + if (revents & POLLPRI) { + handleEvent(); + } + } else { + LOGE("Unexpected event on fd %d", pfd[idx].fd); + } + } + return nullptr; +} + +VisionBuf* MsmVidc::handleCapture() { + struct v4l2_buffer buf = {0}; + struct v4l2_plane planes[1] = {0}; + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; + buf.memory = V4L2_MEMORY_USERPTR; + buf.m.planes = planes; + buf.length = 1; + util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF CAPTURE failed"); + + if (this->reconfigure_pending || buf.m.planes[0].bytesused == 0) { + return nullptr; + } + + copyBuffer(&cap_bufs[buf.index], this->current_output_buf); + queueCaptureBuffer(buf.index); + return this->current_output_buf; +} + +bool MsmVidc::subscribeEvents() { + for (uint32_t event : subscriptions) { + struct v4l2_event_subscription sub = { .type = event}; + util::safe_ioctl(fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "VIDIOC_SUBSCRIBE_EVENT failed"); + } + return true; +} + +bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) { + struct v4l2_format fmt = {.type = type}; + struct v4l2_pix_format_mplane *pix = &fmt.fmt.pix_mp; + *pix = { + .width = (__u32)this->w, + .height = (__u32)this->h, + .pixelformat = fourcc + }; + util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt, "VIDIOC_S_FMT failed"); + if (type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE) { + this->out_buf_size = pix->plane_fmt[0].sizeimage; + int ion_size = this->out_buf_size * OUTPUT_BUFFER_COUNT; // Output (input) buffers are ION buffer. + this->out_buf.allocate(ion_size); // mmap rw + for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) { + this->out_buf_off[i] = i * this->out_buf_size; + this->out_buf_addr[i] = (char *)this->out_buf.addr + this->out_buf_off[i]; + this->out_buf_flag[i] = false; + } + LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_buf.addr); + } else if (type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE) { + request_buffers(this->fd, type, CAPTURE_BUFFER_COUNT); + util::safe_ioctl(fd, VIDIOC_G_FMT, &fmt, "VIDIOC_G_FMT failed"); + const __u32 y_size = pix->plane_fmt[0].sizeimage; + const __u32 y_stride = pix->plane_fmt[0].bytesperline; + for (int i = 0; i < CAPTURE_BUFFER_COUNT; i++) { + size_t uv_offset = (size_t)y_stride * pix->height; + size_t required = uv_offset + (y_stride * pix->height / 2); // enough for Y + UV. For linear NV12, UV plane starts at y_stride * height. + size_t alloc_size = std::max(y_size, required); + this->cap_bufs[i].allocate(alloc_size); + this->cap_bufs[i].init_yuv(pix->width, pix->height, y_stride, uv_offset); + } + LOGD("Set capture buffer size to %d, count %d, addr %p, extradata size %d", + pix->plane_fmt[0].sizeimage, CAPTURE_BUFFER_COUNT, this->cap_bufs[0].addr, pix->plane_fmt[1].sizeimage); + } + return true; +} + +bool MsmVidc::setFPS(uint32_t fps) { + struct v4l2_streamparm streamparam = { + .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, + .parm.output.timeperframe = {1, fps} + }; + util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparam, "VIDIOC_S_PARM failed"); + return true; +} + +bool MsmVidc::restartCapture() { + // stop if already initialized + enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; + if (this->initialized) { + LOGD("Restarting capture, flushing buffers..."); + util::safe_ioctl(this->fd, VIDIOC_STREAMOFF, &type, "VIDIOC_STREAMOFF CAPTURE failed"); + struct v4l2_requestbuffers reqbuf = {.type = type, .memory = V4L2_MEMORY_USERPTR}; + util::safe_ioctl(this->fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed"); + for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) { + this->cap_bufs[i].free(); + this->cap_buf_flag[i] = false; // mark as not queued + cap_bufs[i].~VisionBuf(); + new (&cap_bufs[i]) VisionBuf(); + } + } + // setup, start and queue capture buffers + setDBP(); + setPlaneFormat(type, V4L2_PIX_FMT_NV12); + util::safe_ioctl(this->fd, VIDIOC_STREAMON, &type, "VIDIOC_STREAMON CAPTURE failed"); + for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) { + queueCaptureBuffer(i); + } + + return true; +} + +bool MsmVidc::queueCaptureBuffer(int i) { + struct v4l2_buffer buf = {0}; + struct v4l2_plane planes[1] = {0}; + + buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; + buf.memory = V4L2_MEMORY_USERPTR; + buf.index = i; + buf.m.planes = planes; + buf.length = 1; + // decoded frame plane + planes[0].m.userptr = (unsigned long)this->cap_bufs[i].addr; // no security + planes[0].length = this->cap_bufs[i].len; + planes[0].reserved[0] = this->cap_bufs[i].fd; // ION fd + planes[0].reserved[1] = 0; + planes[0].bytesused = this->cap_bufs[i].len; + planes[0].data_offset = 0; + util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed"); + this->cap_buf_flag[i] = true; // mark as queued + return true; +} + +bool MsmVidc::queueOutputBuffer(int i, size_t size) { + struct v4l2_buffer buf = {0}; + struct v4l2_plane planes[1] = {0}; + + buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; + buf.memory = V4L2_MEMORY_USERPTR; + buf.index = i; + buf.m.planes = planes; + buf.length = 1; + // decoded frame plane + planes[0].m.userptr = (unsigned long)this->out_buf_off[i]; // check this + planes[0].length = this->out_buf_size; + planes[0].reserved[0] = this->out_buf.fd; // ION fd + planes[0].reserved[1] = 0; + planes[0].bytesused = size; + planes[0].data_offset = 0; + assert((this->out_buf_off[i] & 0xfff) == 0); // must be 4 KiB aligned + assert(this->out_buf_size % 4096 == 0); // ditto for size + + util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed"); + this->out_buf_flag[i] = true; // mark as queued + return true; +} + +bool MsmVidc::setDBP() { + struct v4l2_ext_control control[2] = {0}; + struct v4l2_ext_controls controls = {0}; + control[0].id = V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE; + control[0].value = 1; // V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY + control[1].id = V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT; + control[1].value = 0; // V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE + controls.count = 2; + controls.ctrl_class = V4L2_CTRL_CLASS_MPEG; + controls.controls = control; + util::safe_ioctl(fd, VIDIOC_S_EXT_CTRLS, &controls, "VIDIOC_S_EXT_CTRLS failed"); + return true; +} + +bool MsmVidc::setupPolling() { + // Initialize poll array + pfd[EV_VIDEO] = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0}; + ev[EV_VIDEO] = EV_VIDEO; + nfds = 1; + return true; +} + +bool MsmVidc::sendPacket(int buf_index, AVPacket *pkt) { + assert(buf_index >= 0 && buf_index < out_buf_cnt); + assert(pkt != nullptr && pkt->data != nullptr && pkt->size > 0); + // Prepare output buffer + memset(this->out_buf_addr[buf_index], 0, this->out_buf_size); + uint8_t * data = (uint8_t *)this->out_buf_addr[buf_index]; + memcpy(data, pkt->data, pkt->size); + queueOutputBuffer(buf_index, pkt->size); + return true; +} + +int MsmVidc::getBufferUnlocked() { + for (int i = 0; i < this->out_buf_cnt; i++) { + if (!out_buf_flag[i]) { + return i; + } + } + return -1; +} + + +bool MsmVidc::handleOutput() { + struct v4l2_buffer buf = {0}; + struct v4l2_plane planes[1]; + buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; + buf.memory = V4L2_MEMORY_USERPTR; + buf.m.planes = planes; + buf.length = 1; + util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF OUTPUT failed"); + this->out_buf_flag[buf.index] = false; // mark as not queued + return true; +} + +bool MsmVidc::handleEvent() { + // dequeue event + struct v4l2_event event = {0}; + util::safe_ioctl(this->fd, VIDIOC_DQEVENT, &event, "VIDIOC_DQEVENT failed"); + switch (event.type) { + case V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT: { + unsigned int *ptr = (unsigned int *)event.u.data; + unsigned int height = ptr[0]; + unsigned int width = ptr[1]; + this->w = width; + this->h = height; + LOGD("Port Reconfig received insufficient, new size %ux%u, flushing capture bufs...", width, height); // This is normal + struct v4l2_decoder_cmd dec; + dec.flags = V4L2_QCOM_CMD_FLUSH_CAPTURE; + dec.cmd = V4L2_QCOM_CMD_FLUSH; + util::safe_ioctl(this->fd, VIDIOC_DECODER_CMD, &dec, "VIDIOC_DECODER_CMD FLUSH_CAPTURE failed"); + this->reconfigure_pending = true; + LOGD("Waiting for flush done event to reconfigure capture queue"); + break; + } + + case V4L2_EVENT_MSM_VIDC_FLUSH_DONE: { + unsigned int *ptr = (unsigned int *)event.u.data; + unsigned int flags = ptr[0]; + if (flags & V4L2_QCOM_CMD_FLUSH_CAPTURE) { + if (this->reconfigure_pending) { + this->restartCapture(); + this->reconfigure_pending = false; + } + } + break; + } + default: + break; + } + return true; +} \ No newline at end of file diff --git a/tools/replay/qcom_decoder.h b/tools/replay/qcom_decoder.h new file mode 100644 index 000000000..1d7522cc7 --- /dev/null +++ b/tools/replay/qcom_decoder.h @@ -0,0 +1,88 @@ +#pragma once + +#include +#include + +#include "msgq/visionipc/visionbuf.h" + +extern "C" { + #include + #include +} + +#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000) +#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1) +#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3) +#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000 +#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44) +#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22) +#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1) +#define V4L2_QCOM_CMD_FLUSH (4) + +#define VIDEO_DEVICE "/dev/video32" +#define OUTPUT_BUFFER_COUNT 8 +#define CAPTURE_BUFFER_COUNT 8 +#define FPS 20 + + +class MsmVidc { +public: + MsmVidc() = default; + ~MsmVidc(); + + bool init(const char* dev, size_t width, size_t height, uint64_t codec); + VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf); + + AVFormatContext* avctx = nullptr; + int fd = 0; + +private: + bool initialized = false; + bool reconfigure_pending = false; + bool frame_ready = false; + + VisionBuf* current_output_buf = nullptr; + VisionBuf out_buf; // Single input buffer + VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT]; // Capture (output) buffers + + size_t w = 1928, h = 1208; + size_t cap_height = 0, cap_width = 0; + + int cap_buf_size = 0; + int out_buf_size = 0; + + size_t cap_plane_off[CAPTURE_BUFFER_COUNT] = {0}; + size_t cap_plane_stride[CAPTURE_BUFFER_COUNT] = {0}; + bool cap_buf_flag[CAPTURE_BUFFER_COUNT] = {false}; + + size_t out_buf_off[OUTPUT_BUFFER_COUNT] = {0}; + void* out_buf_addr[OUTPUT_BUFFER_COUNT] = {0}; + bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false}; + const int out_buf_cnt = OUTPUT_BUFFER_COUNT; + + const int subscriptions[2] = { + V4L2_EVENT_MSM_VIDC_FLUSH_DONE, + V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT + }; + + enum { EV_VIDEO, EV_COUNT }; + struct pollfd pfd[EV_COUNT] = {0}; + int ev[EV_COUNT] = {-1}; + int nfds = 0; + + VisionBuf* processEvents(); + bool setupOutput(); + bool subscribeEvents(); + bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc); + bool setFPS(uint32_t fps); + bool restartCapture(); + bool queueCaptureBuffer(int i); + bool queueOutputBuffer(int i, size_t size); + bool setDBP(); + bool setupPolling(); + bool sendPacket(int buf_index, AVPacket* pkt); + int getBufferUnlocked(); + VisionBuf* handleCapture(); + bool handleOutput(); + bool handleEvent(); +}; From 1033d3d80e5e804f11e0e379849111249c28828f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Sep 2025 22:34:04 -0700 Subject: [PATCH 46/69] Desire helper: set lane change direction on entering preLaneChange state (#36074) * set immediately to avoid flash on right lane changes * one function * name * comment --- selfdrive/controls/lib/desire_helper.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 730aaeb8f..ee4567f1e 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -40,6 +40,10 @@ class DesireHelper: self.prev_one_blinker = False self.desire = log.Desire.none + @staticmethod + def get_lane_change_direction(CS): + return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right + def update(self, carstate, lateral_active, lane_change_prob): v_ego = carstate.vEgo one_blinker = carstate.leftBlinker != carstate.rightBlinker @@ -53,12 +57,13 @@ class DesireHelper: if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed: self.lane_change_state = LaneChangeState.preLaneChange self.lane_change_ll_prob = 1.0 + # Initialize lane change direction to prevent UI alert flicker + self.lane_change_direction = self.get_lane_change_direction(carstate) # LaneChangeState.preLaneChange elif self.lane_change_state == LaneChangeState.preLaneChange: - # Set lane change direction - self.lane_change_direction = LaneChangeDirection.left if \ - carstate.leftBlinker else LaneChangeDirection.right + # Update lane change direction + self.lane_change_direction = self.get_lane_change_direction(carstate) torque_applied = carstate.steeringPressed and \ ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or From 03e9777c3ff29c9bdaca33facb9eb2bb58df25c6 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 6 Sep 2025 21:05:15 +0200 Subject: [PATCH 47/69] Improve debugging for safety (#36055) * feat: add debugging configurations for replay drive and LLDB attachment * Add readme with video demo * clean * docs: update debugging safety documentation with demo link * no need for mp4 then added on PR * Update SConstruct * bump opendbc * updating readme * updating readme * updating readme * is this better / worth it? * final cleanups * hacky. but does it work? * Yep that worked! --------- Co-authored-by: Adeeb Shihadeh --- .vscode/launch.json | 41 +++++++++++++++++++++++++++++++++++++++- docs/DEBUGGING_SAFETY.md | 30 +++++++++++++++++++++++++++++ 2 files changed, 70 insertions(+), 1 deletion(-) create mode 100644 docs/DEBUGGING_SAFETY.md diff --git a/.vscode/launch.json b/.vscode/launch.json index a6b341d9e..f090061c4 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -23,6 +23,11 @@ "id": "args", "description": "Arguments to pass to the process", "type": "promptString" + }, + { + "id": "replayArg", + "type": "promptString", + "description": "Enter route or segment to replay." } ], "configurations": [ @@ -40,7 +45,41 @@ "type": "cppdbg", "request": "launch", "program": "${workspaceFolder}/${input:cpp_process}", - "cwd": "${workspaceFolder}", + "cwd": "${workspaceFolder}" + }, + { + "name": "Attach LLDB to Replay drive", + "type": "lldb", + "request": "attach", + "pid": "${command:pickMyProcess}", + "initCommands": [ + "script import time; time.sleep(3)" + ] + }, + { + "name": "Replay drive", + "type": "debugpy", + "request": "launch", + "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py", + "args": [ + "${input:replayArg}" + ], + "console": "integratedTerminal", + "justMyCode": false, + "env": { + "PYTHONPATH": "${workspaceFolder}" + }, + "subProcess": true, + "stopOnEntry": false + } + ], + "compounds": [ + { + "name": "Replay drive + Safety LLDB", + "configurations": [ + "Replay drive", + "Attach LLDB to Replay drive" + ] } ] } \ No newline at end of file diff --git a/docs/DEBUGGING_SAFETY.md b/docs/DEBUGGING_SAFETY.md new file mode 100644 index 000000000..cd0a46b44 --- /dev/null +++ b/docs/DEBUGGING_SAFETY.md @@ -0,0 +1,30 @@ +# Debugging Panda Safety with Replay Drive + LLDB + +## 1. Start the debugger in VS Code + +* Select **Replay drive + Safety LLDB**. +* Enter the route or segment when prompted. +[](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604) + +## 2. Attach LLDB + +* When prompted, pick the running **`replay_drive` process**. +* ⚠️ Attach quickly, or `replay_drive` will start consuming messages. + +> [!TIP] +> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB. + +## 3. Set breakpoints in VS Code +Breakpoints can be set directly in `modes/xxx.h` (or any C file). +No extra LLDB commands are required — just place breakpoints in the editor. + +## 4. Resume execution +Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed. + +> [!NOTE] +> * Use short routes for quicker iteration. +> * Pause `replay_drive` early to avoid wasting log messages. + +## Video + +View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578 \ No newline at end of file From ff34b8af76e697e56648e93ec716b865679fa925 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 7 Sep 2025 11:59:48 -0400 Subject: [PATCH 48/69] selfdrived: disable HUD VisualAlert for belowSteerSpeed events (#36109) --- selfdrive/selfdrived/events.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 9da7125dd..d4a00115d 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -243,7 +243,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", "", AlertStatus.userPrompt, AlertSize.small, - Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4) def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: From 275abc1eb5a8bf4f694280c5408bc62bd3994b9a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Sep 2025 11:13:39 -0700 Subject: [PATCH 49/69] Rewrite proclogd in Python (#36110) * Rewrite proclogd in Python * lil more * lil more * Update system/proclogd.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update system/proclogd.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update system/proclogd.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- .gitignore | 1 - SConstruct | 1 - pyproject.toml | 1 - selfdrive/test/test_onroad.py | 4 +- system/manager/process_config.py | 2 +- system/proclogd.py | 227 ++++++++++++++++++++++++ system/proclogd/SConscript | 6 - system/proclogd/main.cc | 25 --- system/proclogd/proclog.cc | 239 -------------------------- system/proclogd/proclog.h | 40 ----- system/proclogd/tests/.gitignore | 1 - system/proclogd/tests/test_proclog.cc | 142 --------------- 12 files changed, 230 insertions(+), 459 deletions(-) create mode 100755 system/proclogd.py delete mode 100644 system/proclogd/SConscript delete mode 100644 system/proclogd/main.cc delete mode 100644 system/proclogd/proclog.cc delete mode 100644 system/proclogd/proclog.h delete mode 100644 system/proclogd/tests/.gitignore delete mode 100644 system/proclogd/tests/test_proclog.cc diff --git a/.gitignore b/.gitignore index 8dc8f41de..c594fb53d 100644 --- a/.gitignore +++ b/.gitignore @@ -50,7 +50,6 @@ cereal/services.h cereal/gen cereal/messaging/bridge selfdrive/mapd/default_speeds_by_region.json -system/proclogd/proclogd selfdrive/ui/translations/tmp selfdrive/test/longitudinal_maneuvers/out selfdrive/car/tests/cars_dump diff --git a/SConstruct b/SConstruct index 56788e584..21657ad55 100644 --- a/SConstruct +++ b/SConstruct @@ -341,7 +341,6 @@ SConscript([ if arch != "Darwin": SConscript([ 'system/logcatd/SConscript', - 'system/proclogd/SConscript', ]) if arch == "larch64": diff --git a/pyproject.toml b/pyproject.toml index 7d6516c0f..3e362556a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -158,7 +158,6 @@ testpaths = [ "system/camerad", "system/hardware", "system/loggerd", - "system/proclogd", "system/tests", "system/ubloxd", "system/webrtc", diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 3cb1af10d..26225ef40 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -32,7 +32,7 @@ CPU usage budget TEST_DURATION = 25 LOG_OFFSET = 8 -MAX_TOTAL_CPU = 287. # total for all 8 cores +MAX_TOTAL_CPU = 300. # total for all 8 cores PROCS = { # Baseline CPU usage by process "selfdrive.controls.controlsd": 16.0, @@ -56,7 +56,7 @@ PROCS = { "selfdrive.ui.soundd": 3.0, "selfdrive.ui.feedback.feedbackd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, - "./proclogd": 2.0, + "system.proclogd": 3.0, "system.logmessaged": 1.0, "system.tombstoned": 0, "./logcatd": 1.0, diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 5758512f2..e25c0e985 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -72,7 +72,7 @@ procs = [ NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM), PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM), NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad, platform.system() != "Darwin"), + PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"), PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), diff --git a/system/proclogd.py b/system/proclogd.py new file mode 100755 index 000000000..3279425b7 --- /dev/null +++ b/system/proclogd.py @@ -0,0 +1,227 @@ +#!/usr/bin/env python3 +import os +from typing import NoReturn, TypedDict + +from cereal import messaging +from openpilot.common.realtime import Ratekeeper +from openpilot.common.swaglog import cloudlog + +JIFFY = os.sysconf(os.sysconf_names['SC_CLK_TCK']) +PAGE_SIZE = os.sysconf(os.sysconf_names['SC_PAGE_SIZE']) + + +def _cpu_times() -> list[dict[str, float]]: + cpu_times: list[dict[str, float]] = [] + try: + with open('/proc/stat') as f: + lines = f.readlines()[1:] + for line in lines: + if not line.startswith('cpu') or len(line) < 4 or not line[3].isdigit(): + break + parts = line.split() + cpu_times.append({ + 'cpuNum': int(parts[0][3:]), + 'user': float(parts[1]) / JIFFY, + 'nice': float(parts[2]) / JIFFY, + 'system': float(parts[3]) / JIFFY, + 'idle': float(parts[4]) / JIFFY, + 'iowait': float(parts[5]) / JIFFY, + 'irq': float(parts[6]) / JIFFY, + 'softirq': float(parts[7]) / JIFFY, + }) + except Exception: + cloudlog.exception("failed to read /proc/stat") + return cpu_times + + +def _mem_info() -> dict[str, int]: + keys = ["MemTotal:", "MemFree:", "MemAvailable:", "Buffers:", "Cached:", "Active:", "Inactive:", "Shmem:"] + info: dict[str, int] = dict.fromkeys(keys, 0) + try: + with open('/proc/meminfo') as f: + for line in f: + parts = line.split() + if parts and parts[0] in info: + info[parts[0]] = int(parts[1]) * 1024 + except Exception: + cloudlog.exception("failed to read /proc/meminfo") + return info + + +_STAT_POS = { + 'pid': 1, + 'state': 3, + 'ppid': 4, + 'utime': 14, + 'stime': 15, + 'cutime': 16, + 'cstime': 17, + 'priority': 18, + 'nice': 19, + 'num_threads': 20, + 'starttime': 22, + 'vsize': 23, + 'rss': 24, + 'processor': 39, +} + +class ProcStat(TypedDict): + name: str + pid: int + state: str + ppid: int + utime: int + stime: int + cutime: int + cstime: int + priority: int + nice: int + num_threads: int + starttime: int + vms: int + rss: int + processor: int + + +def _parse_proc_stat(stat: str) -> ProcStat | None: + open_paren = stat.find('(') + close_paren = stat.rfind(')') + if open_paren == -1 or close_paren == -1 or open_paren > close_paren: + return None + name = stat[open_paren + 1:close_paren] + stat = stat[:open_paren] + stat[open_paren:close_paren].replace(' ', '_') + stat[close_paren:] + parts = stat.split() + if len(parts) < 52: + return None + try: + return { + 'name': name, + 'pid': int(parts[_STAT_POS['pid'] - 1]), + 'state': parts[_STAT_POS['state'] - 1][0], + 'ppid': int(parts[_STAT_POS['ppid'] - 1]), + 'utime': int(parts[_STAT_POS['utime'] - 1]), + 'stime': int(parts[_STAT_POS['stime'] - 1]), + 'cutime': int(parts[_STAT_POS['cutime'] - 1]), + 'cstime': int(parts[_STAT_POS['cstime'] - 1]), + 'priority': int(parts[_STAT_POS['priority'] - 1]), + 'nice': int(parts[_STAT_POS['nice'] - 1]), + 'num_threads': int(parts[_STAT_POS['num_threads'] - 1]), + 'starttime': int(parts[_STAT_POS['starttime'] - 1]), + 'vms': int(parts[_STAT_POS['vsize'] - 1]), + 'rss': int(parts[_STAT_POS['rss'] - 1]), + 'processor': int(parts[_STAT_POS['processor'] - 1]), + } + except Exception: + cloudlog.exception("failed to parse /proc//stat") + return None + +class ProcExtra(TypedDict): + pid: int + name: str + exe: str + cmdline: list[str] + + +_proc_cache: dict[int, ProcExtra] = {} + + +def _get_proc_extra(pid: int, name: str) -> ProcExtra: + cache: ProcExtra | None = _proc_cache.get(pid) + if cache is None or cache.get('name') != name: + exe = '' + cmdline: list[str] = [] + try: + exe = os.readlink(f'/proc/{pid}/exe') + except OSError: + pass + try: + with open(f'/proc/{pid}/cmdline', 'rb') as f: + cmdline = [c.decode('utf-8', errors='replace') for c in f.read().split(b'\0') if c] + except OSError: + pass + cache = {'pid': pid, 'name': name, 'exe': exe, 'cmdline': cmdline} + _proc_cache[pid] = cache + return cache + + +def _procs() -> list[ProcStat]: + stats: list[ProcStat] = [] + for pid_str in os.listdir('/proc'): + if not pid_str.isdigit(): + continue + try: + with open(f'/proc/{pid_str}/stat') as f: + stat = f.read() + parsed = _parse_proc_stat(stat) + if parsed is not None: + stats.append(parsed) + except OSError: + continue + return stats + + +def build_proc_log_message(msg) -> None: + pl = msg.procLog + + procs = _procs() + l = pl.init('procs', len(procs)) + for i, r in enumerate(procs): + proc = l[i] + proc.pid = r['pid'] + proc.state = ord(r['state'][0]) + proc.ppid = r['ppid'] + proc.cpuUser = r['utime'] / JIFFY + proc.cpuSystem = r['stime'] / JIFFY + proc.cpuChildrenUser = r['cutime'] / JIFFY + proc.cpuChildrenSystem = r['cstime'] / JIFFY + proc.priority = r['priority'] + proc.nice = r['nice'] + proc.numThreads = r['num_threads'] + proc.startTime = r['starttime'] / JIFFY + proc.memVms = r['vms'] + proc.memRss = r['rss'] * PAGE_SIZE + proc.processor = r['processor'] + proc.name = r['name'] + + extra = _get_proc_extra(r['pid'], r['name']) + proc.exe = extra['exe'] + cmdline = proc.init('cmdline', len(extra['cmdline'])) + for j, arg in enumerate(extra['cmdline']): + cmdline[j] = arg + + cpu_times = _cpu_times() + cpu_list = pl.init('cpuTimes', len(cpu_times)) + for i, ct in enumerate(cpu_times): + cpu = cpu_list[i] + cpu.cpuNum = ct['cpuNum'] + cpu.user = ct['user'] + cpu.nice = ct['nice'] + cpu.system = ct['system'] + cpu.idle = ct['idle'] + cpu.iowait = ct['iowait'] + cpu.irq = ct['irq'] + cpu.softirq = ct['softirq'] + + mem_info = _mem_info() + pl.mem.total = mem_info["MemTotal:"] + pl.mem.free = mem_info["MemFree:"] + pl.mem.available = mem_info["MemAvailable:"] + pl.mem.buffers = mem_info["Buffers:"] + pl.mem.cached = mem_info["Cached:"] + pl.mem.active = mem_info["Active:"] + pl.mem.inactive = mem_info["Inactive:"] + pl.mem.shared = mem_info["Shmem:"] + + +def main() -> NoReturn: + pm = messaging.PubMaster(['procLog']) + rk = Ratekeeper(0.5) + while True: + msg = messaging.new_message('procLog', valid=True) + build_proc_log_message(msg) + pm.send('procLog', msg) + rk.keep_time() + + +if __name__ == '__main__': + main() diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript deleted file mode 100644 index 08814d5cc..000000000 --- a/system/proclogd/SConscript +++ /dev/null @@ -1,6 +0,0 @@ -Import('env', 'messaging', 'common') -libs = [messaging, 'pthread', common] -env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) - -if GetOption('extras'): - env.Program('tests/test_proclog', ['tests/test_proclog.cc', 'proclog.cc'], LIBS=libs) diff --git a/system/proclogd/main.cc b/system/proclogd/main.cc deleted file mode 100644 index 3f8a889ee..000000000 --- a/system/proclogd/main.cc +++ /dev/null @@ -1,25 +0,0 @@ - -#include - -#include "common/ratekeeper.h" -#include "common/util.h" -#include "system/proclogd/proclog.h" - -ExitHandler do_exit; - -int main(int argc, char **argv) { - setpriority(PRIO_PROCESS, 0, -15); - - RateKeeper rk("proclogd", 0.5); - PubMaster publisher({"procLog"}); - - while (!do_exit) { - MessageBuilder msg; - buildProcLogMessage(msg); - publisher.send("procLog", msg); - - rk.keepTime(); - } - - return 0; -} diff --git a/system/proclogd/proclog.cc b/system/proclogd/proclog.cc deleted file mode 100644 index 09ab4f559..000000000 --- a/system/proclogd/proclog.cc +++ /dev/null @@ -1,239 +0,0 @@ -#include "system/proclogd/proclog.h" - -#include - -#include -#include -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -namespace Parser { - -// parse /proc/stat -std::vector cpuTimes(std::istream &stream) { - std::vector cpu_times; - std::string line; - // skip the first line for cpu total - std::getline(stream, line); - while (std::getline(stream, line)) { - if (line.compare(0, 3, "cpu") != 0) break; - - CPUTime t = {}; - std::istringstream iss(line); - if (iss.ignore(3) >> t.id >> t.utime >> t.ntime >> t.stime >> t.itime >> t.iowtime >> t.irqtime >> t.sirqtime) - cpu_times.push_back(t); - } - return cpu_times; -} - -// parse /proc/meminfo -std::unordered_map memInfo(std::istream &stream) { - std::unordered_map mem_info; - std::string line, key; - while (std::getline(stream, line)) { - uint64_t val = 0; - std::istringstream iss(line); - if (iss >> key >> val) { - mem_info[key] = val * 1024; - } - } - return mem_info; -} - -// field position (https://man7.org/linux/man-pages/man5/proc.5.html) -enum StatPos { - pid = 1, - state = 3, - ppid = 4, - utime = 14, - stime = 15, - cutime = 16, - cstime = 17, - priority = 18, - nice = 19, - num_threads = 20, - starttime = 22, - vsize = 23, - rss = 24, - processor = 39, - MAX_FIELD = 52, -}; - -// parse /proc/pid/stat -std::optional procStat(std::string stat) { - // To avoid being fooled by names containing a closing paren, scan backwards. - auto open_paren = stat.find('('); - auto close_paren = stat.rfind(')'); - if (open_paren == std::string::npos || close_paren == std::string::npos || open_paren > close_paren) { - return std::nullopt; - } - - std::string name = stat.substr(open_paren + 1, close_paren - open_paren - 1); - // replace space in name with _ - std::replace(&stat[open_paren], &stat[close_paren], ' ', '_'); - std::istringstream iss(stat); - std::vector v{std::istream_iterator(iss), - std::istream_iterator()}; - try { - if (v.size() != StatPos::MAX_FIELD) { - throw std::invalid_argument("stat"); - } - ProcStat p = { - .name = name, - .pid = stoi(v[StatPos::pid - 1]), - .state = v[StatPos::state - 1][0], - .ppid = stoi(v[StatPos::ppid - 1]), - .utime = stoul(v[StatPos::utime - 1]), - .stime = stoul(v[StatPos::stime - 1]), - .cutime = stol(v[StatPos::cutime - 1]), - .cstime = stol(v[StatPos::cstime - 1]), - .priority = stol(v[StatPos::priority - 1]), - .nice = stol(v[StatPos::nice - 1]), - .num_threads = stol(v[StatPos::num_threads - 1]), - .starttime = stoull(v[StatPos::starttime - 1]), - .vms = stoul(v[StatPos::vsize - 1]), - .rss = stol(v[StatPos::rss - 1]), - .processor = stoi(v[StatPos::processor - 1]), - }; - return p; - } catch (const std::invalid_argument &e) { - LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str()); - } catch (const std::out_of_range &e) { - LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str()); - } - return std::nullopt; -} - -// return list of PIDs from /proc -std::vector pids() { - std::vector ids; - DIR *d = opendir("/proc"); - assert(d); - char *p_end; - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type == DT_DIR) { - int pid = strtol(de->d_name, &p_end, 10); - if (p_end == (de->d_name + strlen(de->d_name))) { - ids.push_back(pid); - } - } - } - closedir(d); - return ids; -} - -// null-delimited cmdline arguments to vector -std::vector cmdline(std::istream &stream) { - std::vector ret; - std::string line; - while (std::getline(stream, line, '\0')) { - if (!line.empty()) { - ret.push_back(line); - } - } - return ret; -} - -const ProcCache &getProcExtraInfo(int pid, const std::string &name) { - static std::unordered_map proc_cache; - ProcCache &cache = proc_cache[pid]; - if (cache.pid != pid || cache.name != name) { - cache.pid = pid; - cache.name = name; - std::string proc_path = "/proc/" + std::to_string(pid); - cache.exe = util::readlink(proc_path + "/exe"); - std::ifstream stream(proc_path + "/cmdline"); - cache.cmdline = cmdline(stream); - } - return cache; -} - -} // namespace Parser - -const double jiffy = sysconf(_SC_CLK_TCK); -const size_t page_size = sysconf(_SC_PAGE_SIZE); - -void buildCPUTimes(cereal::ProcLog::Builder &builder) { - std::ifstream stream("/proc/stat"); - std::vector stats = Parser::cpuTimes(stream); - - auto log_cpu_times = builder.initCpuTimes(stats.size()); - for (int i = 0; i < stats.size(); ++i) { - auto l = log_cpu_times[i]; - const CPUTime &r = stats[i]; - l.setCpuNum(r.id); - l.setUser(r.utime / jiffy); - l.setNice(r.ntime / jiffy); - l.setSystem(r.stime / jiffy); - l.setIdle(r.itime / jiffy); - l.setIowait(r.iowtime / jiffy); - l.setIrq(r.irqtime / jiffy); - l.setSoftirq(r.sirqtime / jiffy); - } -} - -void buildMemInfo(cereal::ProcLog::Builder &builder) { - std::ifstream stream("/proc/meminfo"); - auto mem_info = Parser::memInfo(stream); - - auto mem = builder.initMem(); - mem.setTotal(mem_info["MemTotal:"]); - mem.setFree(mem_info["MemFree:"]); - mem.setAvailable(mem_info["MemAvailable:"]); - mem.setBuffers(mem_info["Buffers:"]); - mem.setCached(mem_info["Cached:"]); - mem.setActive(mem_info["Active:"]); - mem.setInactive(mem_info["Inactive:"]); - mem.setShared(mem_info["Shmem:"]); -} - -void buildProcs(cereal::ProcLog::Builder &builder) { - auto pids = Parser::pids(); - std::vector proc_stats; - proc_stats.reserve(pids.size()); - for (int pid : pids) { - std::string path = "/proc/" + std::to_string(pid) + "/stat"; - if (auto stat = Parser::procStat(util::read_file(path))) { - proc_stats.push_back(*stat); - } - } - - auto procs = builder.initProcs(proc_stats.size()); - for (size_t i = 0; i < proc_stats.size(); i++) { - auto l = procs[i]; - const ProcStat &r = proc_stats[i]; - l.setPid(r.pid); - l.setState(r.state); - l.setPpid(r.ppid); - l.setCpuUser(r.utime / jiffy); - l.setCpuSystem(r.stime / jiffy); - l.setCpuChildrenUser(r.cutime / jiffy); - l.setCpuChildrenSystem(r.cstime / jiffy); - l.setPriority(r.priority); - l.setNice(r.nice); - l.setNumThreads(r.num_threads); - l.setStartTime(r.starttime / jiffy); - l.setMemVms(r.vms); - l.setMemRss((uint64_t)r.rss * page_size); - l.setProcessor(r.processor); - l.setName(r.name); - - const ProcCache &extra_info = Parser::getProcExtraInfo(r.pid, r.name); - l.setExe(extra_info.exe); - auto lcmdline = l.initCmdline(extra_info.cmdline.size()); - for (size_t j = 0; j < lcmdline.size(); j++) { - lcmdline.set(j, extra_info.cmdline[j]); - } - } -} - -void buildProcLogMessage(MessageBuilder &msg) { - auto procLog = msg.initEvent().initProcLog(); - buildProcs(procLog); - buildCPUTimes(procLog); - buildMemInfo(procLog); -} diff --git a/system/proclogd/proclog.h b/system/proclogd/proclog.h deleted file mode 100644 index 49f97cdd3..000000000 --- a/system/proclogd/proclog.h +++ /dev/null @@ -1,40 +0,0 @@ -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" - -struct CPUTime { - int id; - unsigned long utime, ntime, stime, itime; - unsigned long iowtime, irqtime, sirqtime; -}; - -struct ProcCache { - int pid; - std::string name, exe; - std::vector cmdline; -}; - -struct ProcStat { - int pid, ppid, processor; - char state; - long cutime, cstime, priority, nice, num_threads, rss; - unsigned long utime, stime, vms; - unsigned long long starttime; - std::string name; -}; - -namespace Parser { - -std::vector pids(); -std::optional procStat(std::string stat); -std::vector cmdline(std::istream &stream); -std::vector cpuTimes(std::istream &stream); -std::unordered_map memInfo(std::istream &stream); -const ProcCache &getProcExtraInfo(int pid, const std::string &name); - -}; // namespace Parser - -void buildProcLogMessage(MessageBuilder &msg); diff --git a/system/proclogd/tests/.gitignore b/system/proclogd/tests/.gitignore deleted file mode 100644 index 5230b1598..000000000 --- a/system/proclogd/tests/.gitignore +++ /dev/null @@ -1 +0,0 @@ -test_proclog diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc deleted file mode 100644 index b86229a49..000000000 --- a/system/proclogd/tests/test_proclog.cc +++ /dev/null @@ -1,142 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" -#include "common/util.h" -#include "system/proclogd/proclog.h" - -const std::string allowed_states = "RSDTZtWXxKWPI"; - -TEST_CASE("Parser::procStat") { - SECTION("from string") { - const std::string stat_str = - "33012 (code )) S 32978 6620 6620 0 -1 4194368 2042377 0 144 0 24510 11627 0 " - "0 20 0 39 0 53077 830029824 62214 18446744073709551615 94257242783744 94257366235808 " - "140735738643248 0 0 0 0 4098 1073808632 0 0 0 17 2 0 0 2 0 0 94257370858656 94257371248232 " - "94257404952576 140735738648768 140735738648823 140735738648823 140735738650595 0"; - auto stat = Parser::procStat(stat_str); - REQUIRE(stat); - REQUIRE(stat->pid == 33012); - REQUIRE(stat->name == "code )"); - REQUIRE(stat->state == 'S'); - REQUIRE(stat->ppid == 32978); - REQUIRE(stat->utime == 24510); - REQUIRE(stat->stime == 11627); - REQUIRE(stat->cutime == 0); - REQUIRE(stat->cstime == 0); - REQUIRE(stat->priority == 20); - REQUIRE(stat->nice == 0); - REQUIRE(stat->num_threads == 39); - REQUIRE(stat->starttime == 53077); - REQUIRE(stat->vms == 830029824); - REQUIRE(stat->rss == 62214); - REQUIRE(stat->processor == 2); - } - SECTION("all processes") { - std::vector pids = Parser::pids(); - REQUIRE(pids.size() > 1); - for (int pid : pids) { - std::string stat_path = "/proc/" + std::to_string(pid) + "/stat"; - INFO(stat_path); - if (auto stat = Parser::procStat(util::read_file(stat_path))) { - REQUIRE(stat->pid == pid); - REQUIRE(allowed_states.find(stat->state) != std::string::npos); - } else { - REQUIRE(util::file_exists(stat_path) == false); - } - } - } -} - -TEST_CASE("Parser::cpuTimes") { - SECTION("from string") { - std::string stat = - "cpu 0 0 0 0 0 0 0 0 0 0\n" - "cpu0 1 2 3 4 5 6 7 8 9 10\n" - "cpu1 1 2 3 4 5 6 7 8 9 10\n"; - std::istringstream stream(stat); - auto stats = Parser::cpuTimes(stream); - REQUIRE(stats.size() == 2); - for (int i = 0; i < stats.size(); ++i) { - REQUIRE(stats[i].id == i); - REQUIRE(stats[i].utime == 1); - REQUIRE(stats[i].ntime ==2); - REQUIRE(stats[i].stime == 3); - REQUIRE(stats[i].itime == 4); - REQUIRE(stats[i].iowtime == 5); - REQUIRE(stats[i].irqtime == 6); - REQUIRE(stats[i].sirqtime == 7); - } - } - SECTION("all cpus") { - std::istringstream stream(util::read_file("/proc/stat")); - auto stats = Parser::cpuTimes(stream); - REQUIRE(stats.size() == sysconf(_SC_NPROCESSORS_ONLN)); - for (int i = 0; i < stats.size(); ++i) { - REQUIRE(stats[i].id == i); - } - } -} - -TEST_CASE("Parser::memInfo") { - SECTION("from string") { - std::istringstream stream("MemTotal: 1024 kb\nMemFree: 2048 kb\n"); - auto meminfo = Parser::memInfo(stream); - REQUIRE(meminfo["MemTotal:"] == 1024 * 1024); - REQUIRE(meminfo["MemFree:"] == 2048 * 1024); - } - SECTION("from /proc/meminfo") { - std::string require_keys[] = {"MemTotal:", "MemFree:", "MemAvailable:", "Buffers:", "Cached:", "Active:", "Inactive:", "Shmem:"}; - std::istringstream stream(util::read_file("/proc/meminfo")); - auto meminfo = Parser::memInfo(stream); - for (auto &key : require_keys) { - REQUIRE(meminfo.find(key) != meminfo.end()); - REQUIRE(meminfo[key] > 0); - } - } -} - -void test_cmdline(std::string cmdline, const std::vector requires) { - std::stringstream ss; - ss.write(&cmdline[0], cmdline.size()); - auto cmds = Parser::cmdline(ss); - REQUIRE(cmds.size() == requires.size()); - for (int i = 0; i < requires.size(); ++i) { - REQUIRE(cmds[i] == requires[i]); - } -} -TEST_CASE("Parser::cmdline") { - test_cmdline(std::string("a\0b\0c\0", 7), {"a", "b", "c"}); - test_cmdline(std::string("a\0\0c\0", 6), {"a", "c"}); - test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"}); -} - -TEST_CASE("buildProcLoggerMessage") { - MessageBuilder msg; - buildProcLogMessage(msg); - - kj::Array buf = capnp::messageToFlatArray(msg); - capnp::FlatArrayMessageReader reader(buf); - auto log = reader.getRoot().getProcLog(); - REQUIRE(log.totalSize().wordCount > 0); - - // test cereal::ProcLog::CPUTimes - auto cpu_times = log.getCpuTimes(); - REQUIRE(cpu_times.size() == sysconf(_SC_NPROCESSORS_ONLN)); - REQUIRE(cpu_times[cpu_times.size() - 1].getCpuNum() == cpu_times.size() - 1); - - // test cereal::ProcLog::Mem - auto mem = log.getMem(); - REQUIRE(mem.getTotal() > 0); - REQUIRE(mem.getShared() > 0); - - // test cereal::ProcLog::Process - auto procs = log.getProcs(); - for (auto p : procs) { - REQUIRE(allowed_states.find(p.getState()) != std::string::npos); - if (p.getPid() == ::getpid()) { - REQUIRE(p.getName() == "test_proclog"); - REQUIRE(p.getState() == 'R'); - REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); - REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); - } - } -} From 608c16007e6580fe746f9a7b18a4e790eae62b12 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Sep 2025 11:32:44 -0700 Subject: [PATCH 50/69] Rewrite logcatd in Python (#36111) * Add Python logcatd implementation * lil more --- SConstruct | 4 -- selfdrive/test/test_onroad.py | 2 +- system/journald.py | 43 ++++++++++++++++++ system/logcatd/.gitignore | 1 - system/logcatd/SConscript | 3 -- system/logcatd/logcatd_systemd.cc | 75 ------------------------------- system/manager/process_config.py | 2 +- 7 files changed, 45 insertions(+), 85 deletions(-) create mode 100755 system/journald.py delete mode 100644 system/logcatd/.gitignore delete mode 100644 system/logcatd/SConscript delete mode 100644 system/logcatd/logcatd_systemd.cc diff --git a/SConstruct b/SConstruct index 21657ad55..5b13bd635 100644 --- a/SConstruct +++ b/SConstruct @@ -338,10 +338,6 @@ SConscript([ 'system/ubloxd/SConscript', 'system/loggerd/SConscript', ]) -if arch != "Darwin": - SConscript([ - 'system/logcatd/SConscript', - ]) if arch == "larch64": SConscript(['system/camerad/SConscript']) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 26225ef40..b4b9b9dbb 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -59,7 +59,7 @@ PROCS = { "system.proclogd": 3.0, "system.logmessaged": 1.0, "system.tombstoned": 0, - "./logcatd": 1.0, + "system.journald": 1.0, "system.micd": 5.0, "system.timed": 0, "selfdrive.pandad.pandad": 0, diff --git a/system/journald.py b/system/journald.py new file mode 100755 index 000000000..37158b925 --- /dev/null +++ b/system/journald.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 +import json +import subprocess + +import cereal.messaging as messaging +from openpilot.common.swaglog import cloudlog + + +def main(): + pm = messaging.PubMaster(['androidLog']) + cmd = ['journalctl', '-f', '-o', 'json'] + proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, text=True) + assert proc.stdout is not None + try: + for line in proc.stdout: + line = line.strip() + if not line: + continue + try: + kv = json.loads(line) + except json.JSONDecodeError: + cloudlog.exception("failed to parse journalctl output") + continue + + msg = messaging.new_message('androidLog') + entry = msg.androidLog + entry.ts = int(kv.get('__REALTIME_TIMESTAMP', 0)) + entry.message = json.dumps(kv) + if '_PID' in kv: + entry.pid = int(kv['_PID']) + if 'PRIORITY' in kv: + entry.priority = int(kv['PRIORITY']) + if 'SYSLOG_IDENTIFIER' in kv: + entry.tag = kv['SYSLOG_IDENTIFIER'] + + pm.send('androidLog', msg) + finally: + proc.terminate() + proc.wait() + + +if __name__ == '__main__': + main() diff --git a/system/logcatd/.gitignore b/system/logcatd/.gitignore deleted file mode 100644 index c66f7622d..000000000 --- a/system/logcatd/.gitignore +++ /dev/null @@ -1 +0,0 @@ -logcatd diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript deleted file mode 100644 index 39c45d109..000000000 --- a/system/logcatd/SConscript +++ /dev/null @@ -1,3 +0,0 @@ -Import('env', 'messaging', 'common') - -env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd']) diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc deleted file mode 100644 index 54b378213..000000000 --- a/system/logcatd/logcatd_systemd.cc +++ /dev/null @@ -1,75 +0,0 @@ -#include - -#include -#include -#include -#include - -#include "third_party/json11/json11.hpp" - -#include "cereal/messaging/messaging.h" -#include "common/timing.h" -#include "common/util.h" - -ExitHandler do_exit; -int main(int argc, char *argv[]) { - - PubMaster pm({"androidLog"}); - - sd_journal *journal; - int err = sd_journal_open(&journal, 0); - assert(err >= 0); - err = sd_journal_get_fd(journal); // needed so sd_journal_wait() works properly if files rotate - assert(err >= 0); - err = sd_journal_seek_tail(journal); - assert(err >= 0); - - // workaround for bug https://github.com/systemd/systemd/issues/9934 - // call sd_journal_previous_skip after sd_journal_seek_tail (like journalctl -f does) to makes things work. - sd_journal_previous_skip(journal, 1); - - while (!do_exit) { - err = sd_journal_next(journal); - assert(err >= 0); - - // Wait for new message if we didn't receive anything - if (err == 0) { - err = sd_journal_wait(journal, 1000 * 1000); - assert(err >= 0); - continue; // Try again - } - - uint64_t timestamp = 0; - err = sd_journal_get_realtime_usec(journal, ×tamp); - assert(err >= 0); - - const void *data; - size_t length; - std::map kv; - - SD_JOURNAL_FOREACH_DATA(journal, data, length) { - std::string str((char*)data, length); - - // Split "KEY=VALUE"" on "=" and put in map - std::size_t found = str.find("="); - if (found != std::string::npos) { - kv[str.substr(0, found)] = str.substr(found + 1, std::string::npos); - } - } - - MessageBuilder msg; - - // Build message - auto androidEntry = msg.initEvent().initAndroidLog(); - androidEntry.setTs(timestamp); - androidEntry.setMessage(json11::Json(kv).dump()); - if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str())); - if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str())); - if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]); - - pm.send("androidLog", msg); - } - - sd_journal_close(journal); - return 0; -} diff --git a/system/manager/process_config.py b/system/manager/process_config.py index e25c0e985..9ed99d956 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -71,8 +71,8 @@ procs = [ NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM), PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"), PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"), + PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"), PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), From bd73664f4c9dae102daa16ffe1efb6d051f46bd1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Sep 2025 12:21:13 -0700 Subject: [PATCH 51/69] add kaitai python package --- pyproject.toml | 4 +++ uv.lock | 77 ++++++++++++++++++++++++++++---------------------- 2 files changed, 48 insertions(+), 33 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 3e362556a..9ed1d8a4c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -36,6 +36,9 @@ dependencies = [ "pyopenssl < 24.3.0", "pyaudio", + # ubloxd (TODO: just use struct) + "kaitaistruct", + # panda "libusb1", "spidev; platform_system == 'Linux'", @@ -246,6 +249,7 @@ exclude = [ "teleoprtc_repo", "third_party", "*.ipynb", + "generated", ] lint.flake8-implicit-str-concat.allow-multiline = false diff --git a/uv.lock b/uv.lock index e1678029c..9977ff1bf 100644 --- a/uv.lock +++ b/uv.lock @@ -622,10 +622,10 @@ name = "gymnasium" version = "1.2.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cloudpickle" }, - { name = "farama-notifications" }, - { name = "numpy" }, - { name = "typing-extensions" }, + { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/fd/17/c2a0e15c2cd5a8e788389b280996db927b923410de676ec5c7b2695e9261/gymnasium-1.2.0.tar.gz", hash = "sha256:344e87561012558f603880baf264ebc97f8a5c997a957b0c9f910281145534b0", size = 821142, upload-time = "2025-06-27T08:21:20.262Z" } wheels = [ @@ -720,6 +720,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" }, ] +[[package]] +name = "kaitaistruct" +version = "0.10" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/54/04/dd60b9cb65d580ef6cb6eaee975ad1bdd22d46a3f51b07a1e0606710ea88/kaitaistruct-0.10.tar.gz", hash = "sha256:a044dee29173d6afbacf27bcac39daf89b654dd418cfa009ab82d9178a9ae52a", size = 7061, upload-time = "2022-07-09T00:34:06.729Z" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/4e/bf/88ad23efc08708bda9a2647169828e3553bb2093a473801db61f75356395/kaitaistruct-0.10-py2.py3-none-any.whl", hash = "sha256:a97350919adbf37fda881f75e9365e2fb88d04832b7a4e57106ec70119efb235", size = 7013, upload-time = "2022-07-09T00:34:03.905Z" }, +] + [[package]] name = "kiwisolver" version = "1.4.9" @@ -903,22 +912,22 @@ name = "metadrive-simulator" version = "0.4.2.4" source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" } dependencies = [ - { name = "filelock" }, - { name = "gymnasium" }, - { name = "lxml" }, - { name = "matplotlib" }, - { name = "numpy" }, - { name = "opencv-python-headless" }, - { name = "panda3d" }, - { name = "panda3d-gltf" }, - { name = "pillow" }, - { name = "progressbar" }, - { name = "psutil" }, - { name = "pygments" }, - { name = "requests" }, - { name = "shapely" }, - { name = "tqdm" }, - { name = "yapf" }, + { name = "filelock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "gymnasium", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "progressbar", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "psutil", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pygments", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "requests", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "shapely", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] wheels = [ { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" }, @@ -1240,6 +1249,7 @@ dependencies = [ { name = "future-fstrings" }, { name = "inputs" }, { name = "json-rpc" }, + { name = "kaitaistruct" }, { name = "libusb1" }, { name = "numpy" }, { name = "onnx" }, @@ -1334,6 +1344,7 @@ requires-dist = [ { name = "jeepney", marker = "extra == 'dev'" }, { name = "jinja2", marker = "extra == 'docs'" }, { name = "json-rpc" }, + { name = "kaitaistruct" }, { name = "libusb1" }, { name = "matplotlib", marker = "extra == 'dev'" }, { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }, @@ -1422,8 +1433,8 @@ name = "panda3d-gltf" version = "0.13" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "panda3d" }, - { name = "panda3d-simplepbr" }, + { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573, upload-time = "2021-05-21T05:46:32.738Z" } wheels = [ @@ -1435,8 +1446,8 @@ name = "panda3d-simplepbr" version = "0.13.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "panda3d" }, - { name = "typing-extensions" }, + { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/0d/be/c4d1ded04c22b357277cf6e6a44c1ab4abb285a700bd1991460460e05b99/panda3d_simplepbr-0.13.1.tar.gz", hash = "sha256:c83766d7c8f47499f365a07fe1dff078fc8b3054c2689bdc8dceabddfe7f1a35", size = 6216055, upload-time = "2025-03-30T16:57:41.087Z" } wheels = [ @@ -4173,9 +4184,9 @@ name = "pyopencl" version = "2025.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, - { name = "platformdirs" }, - { name = "pytools" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pytools", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/28/88/0ac460d3e2def08b2ad6345db6a13613815f616bbbd60c6f4bdf774f4c41/pyopencl-2025.1.tar.gz", hash = "sha256:0116736d7f7920f87b8db4b66a03f27b1d930d2e37ddd14518407cc22dd24779", size = 422510, upload-time = "2025-01-22T00:16:58.421Z" } wheels = [ @@ -4351,7 +4362,7 @@ wheels = [ [[package]] name = "pytest-xdist" -version = "3.7.1.dev24+g2b4372bd6" +version = "3.7.1.dev24+g2b4372b" source = { git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da#2b4372bd62699fb412c4fe2f95bf9f01bd2018da" } dependencies = [ { name = "execnet" }, @@ -4393,9 +4404,9 @@ name = "pytools" version = "2024.1.10" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs" }, - { name = "siphash24" }, - { name = "typing-extensions" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "siphash24", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741, upload-time = "2024-07-17T18:47:38.287Z" } wheels = [ @@ -4719,7 +4730,7 @@ name = "shapely" version = "2.1.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ca/3c/2da625233f4e605155926566c0e7ea8dda361877f48e8b1655e53456f252/shapely-2.1.1.tar.gz", hash = "sha256:500621967f2ffe9642454808009044c21e5b35db89ce69f8a2042c2ffd0e2772", size = 315422, upload-time = "2025-05-19T11:04:41.265Z" } wheels = [ @@ -4948,7 +4959,7 @@ name = "yapf" version = "0.43.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907, upload-time = "2024-11-14T00:11:41.584Z" } wheels = [ From a885111c0ccb466ea75e2d808ac84786287035bf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Sep 2025 14:21:14 -0700 Subject: [PATCH 52/69] agnos 13.1 (#36113) --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 26 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ 3 files changed, 39 insertions(+), 39 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 7124b360f..67dd5ee79 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - 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system/ubloxd/SConscript | 25 +- system/ubloxd/generated/glonass.cpp | 353 ----------- system/ubloxd/generated/glonass.h | 375 ----------- system/ubloxd/generated/glonass.py | 247 ++++++++ system/ubloxd/generated/gps.cpp | 325 ---------- system/ubloxd/generated/gps.h | 359 ----------- system/ubloxd/generated/gps.py | 193 ++++++ system/ubloxd/generated/ubx.cpp | 424 ------------- system/ubloxd/generated/ubx.h | 484 --------------- system/ubloxd/generated/ubx.py | 273 ++++++++ system/ubloxd/tests/print_gps_stats.py | 20 - system/ubloxd/tests/test_glonass_kaitai.cc | 360 ----------- system/ubloxd/tests/test_glonass_runner.cc | 2 - system/ubloxd/ublox_msg.cc | 530 ---------------- system/ubloxd/ublox_msg.h | 131 ---- system/ubloxd/ubloxd.cc | 62 -- system/ubloxd/ubloxd.py | 519 ++++++++++++++++ third_party/SConscript | 1 - third_party/kaitai/custom_decoder.h | 16 - third_party/kaitai/exceptions.h | 189 ------ third_party/kaitai/kaitaistream.cpp | 689 --------------------- third_party/kaitai/kaitaistream.h | 268 -------- third_party/kaitai/kaitaistruct.h | 20 - 25 files changed, 1241 insertions(+), 4628 deletions(-) delete mode 100644 system/ubloxd/.gitignore delete mode 100644 system/ubloxd/generated/glonass.cpp delete mode 100644 system/ubloxd/generated/glonass.h create mode 100644 system/ubloxd/generated/glonass.py delete mode 100644 system/ubloxd/generated/gps.cpp delete mode 100644 system/ubloxd/generated/gps.h create mode 100644 system/ubloxd/generated/gps.py delete mode 100644 system/ubloxd/generated/ubx.cpp delete mode 100644 system/ubloxd/generated/ubx.h create mode 100644 system/ubloxd/generated/ubx.py delete mode 100755 system/ubloxd/tests/print_gps_stats.py delete mode 100644 system/ubloxd/tests/test_glonass_kaitai.cc delete mode 100644 system/ubloxd/tests/test_glonass_runner.cc delete mode 100644 system/ubloxd/ublox_msg.cc delete mode 100644 system/ubloxd/ublox_msg.h delete mode 100644 system/ubloxd/ubloxd.cc create mode 100755 system/ubloxd/ubloxd.py delete mode 100644 third_party/kaitai/custom_decoder.h delete mode 100644 third_party/kaitai/exceptions.h delete mode 100644 third_party/kaitai/kaitaistream.cpp delete mode 100644 third_party/kaitai/kaitaistream.h delete mode 100644 third_party/kaitai/kaitaistruct.h diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 9ed99d956..22f159e89 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -97,7 +97,7 @@ procs = [ PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad), - NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), + PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver), PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver), diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore deleted file mode 100644 index 05263ff67..000000000 --- a/system/ubloxd/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -ubloxd -tests/test_glonass_runner diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript index ce09e235e..9eb50760b 100644 --- a/system/ubloxd/SConscript +++ b/system/ubloxd/SConscript @@ -1,20 +1,11 @@ -Import('env', 'common', 'messaging') - -loc_libs = [messaging, common, 'kaitai', 'pthread'] +Import('env') if GetOption('kaitai'): - generated = Dir('generated').srcnode().abspath - cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" - env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) - env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) - glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) - + current_dir = Dir('./generated/').srcnode().abspath + python_cmd = f"kaitai-struct-compiler --target python --outdir {current_dir} $SOURCES" + env.Command(File('./generated/ubx.py'), 'ubx.ksy', python_cmd) + env.Command(File('./generated/gps.py'), 'gps.ksy', python_cmd) + env.Command(File('./generated/glonass.py'), 'glonass.ksy', python_cmd) # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 - patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') - env.Depends(patch, glonass) - -glonass_obj = env.Object('generated/glonass.cpp') -env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) - -if GetOption('extras'): - env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file + py_glonass_fix = env.Command(None, File('./generated/glonass.py'), "sed -i 's/self._io.align_to_byte()/# self._io.align_to_byte()/' $SOURCES") + env.Depends(py_glonass_fix, File('./generated/glonass.py')) diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp deleted file mode 100644 index cd0f96ab6..000000000 --- a/system/ubloxd/generated/glonass.cpp +++ /dev/null @@ -1,353 +0,0 @@ -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "glonass.h" - -glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = this; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::_read() { - m_idle_chip = m__io->read_bits_int_be(1); - m_string_number = m__io->read_bits_int_be(4); - //m__io->align_to_byte(); - switch (string_number()) { - case 4: { - m_data = new string_4_t(m__io, this, m__root); - break; - } - case 1: { - m_data = new string_1_t(m__io, this, m__root); - break; - } - case 3: { - m_data = new string_3_t(m__io, this, m__root); - break; - } - case 5: { - m_data = new string_5_t(m__io, this, m__root); - break; - } - case 2: { - m_data = new string_2_t(m__io, this, m__root); - break; - } - default: { - m_data = new string_non_immediate_t(m__io, this, m__root); - break; - } - } - m_hamming_code = m__io->read_bits_int_be(8); - m_pad_1 = m__io->read_bits_int_be(11); - m_superframe_number = m__io->read_bits_int_be(16); - m_pad_2 = m__io->read_bits_int_be(8); - m_frame_number = m__io->read_bits_int_be(8); -} - -glonass_t::~glonass_t() { - _clean_up(); -} - -void glonass_t::_clean_up() { - if (m_data) { - delete m_data; m_data = 0; - } -} - -glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - f_tau_n = false; - f_delta_tau_n = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::string_4_t::_read() { - m_tau_n_sign = m__io->read_bits_int_be(1); - m_tau_n_value = m__io->read_bits_int_be(21); - m_delta_tau_n_sign = m__io->read_bits_int_be(1); - m_delta_tau_n_value = m__io->read_bits_int_be(4); - m_e_n = m__io->read_bits_int_be(5); - m_not_used_1 = m__io->read_bits_int_be(14); - m_p4 = m__io->read_bits_int_be(1); - m_f_t = m__io->read_bits_int_be(4); - m_not_used_2 = m__io->read_bits_int_be(3); - m_n_t = m__io->read_bits_int_be(11); - m_n = m__io->read_bits_int_be(5); - m_m = m__io->read_bits_int_be(2); -} - -glonass_t::string_4_t::~string_4_t() { - _clean_up(); -} - -void glonass_t::string_4_t::_clean_up() { -} - -int32_t glonass_t::string_4_t::tau_n() { - if (f_tau_n) - return m_tau_n; - m_tau_n = ((tau_n_sign()) ? ((tau_n_value() * -1)) : (tau_n_value())); - f_tau_n = true; - return m_tau_n; -} - -int32_t glonass_t::string_4_t::delta_tau_n() { - if (f_delta_tau_n) - return m_delta_tau_n; - m_delta_tau_n = ((delta_tau_n_sign()) ? ((delta_tau_n_value() * -1)) : (delta_tau_n_value())); - f_delta_tau_n = true; - return m_delta_tau_n; -} - -glonass_t::string_non_immediate_t::string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::string_non_immediate_t::_read() { - m_data_1 = m__io->read_bits_int_be(64); - m_data_2 = m__io->read_bits_int_be(8); -} - -glonass_t::string_non_immediate_t::~string_non_immediate_t() { - _clean_up(); -} - -void glonass_t::string_non_immediate_t::_clean_up() { -} - -glonass_t::string_5_t::string_5_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::string_5_t::_read() { - m_n_a = m__io->read_bits_int_be(11); - m_tau_c = m__io->read_bits_int_be(32); - m_not_used = m__io->read_bits_int_be(1); - m_n_4 = m__io->read_bits_int_be(5); - m_tau_gps = m__io->read_bits_int_be(22); - m_l_n = m__io->read_bits_int_be(1); -} - -glonass_t::string_5_t::~string_5_t() { - _clean_up(); -} - -void glonass_t::string_5_t::_clean_up() { -} - -glonass_t::string_1_t::string_1_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - f_x_vel = false; - f_x_accel = false; - f_x = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::string_1_t::_read() { - m_not_used = m__io->read_bits_int_be(2); - m_p1 = m__io->read_bits_int_be(2); - m_t_k = m__io->read_bits_int_be(12); - m_x_vel_sign = m__io->read_bits_int_be(1); - m_x_vel_value = m__io->read_bits_int_be(23); - m_x_accel_sign = m__io->read_bits_int_be(1); - m_x_accel_value = m__io->read_bits_int_be(4); - m_x_sign = m__io->read_bits_int_be(1); - m_x_value = m__io->read_bits_int_be(26); -} - -glonass_t::string_1_t::~string_1_t() { - _clean_up(); -} - -void glonass_t::string_1_t::_clean_up() { -} - -int32_t glonass_t::string_1_t::x_vel() { - if (f_x_vel) - return m_x_vel; - m_x_vel = ((x_vel_sign()) ? ((x_vel_value() * -1)) : (x_vel_value())); - f_x_vel = true; - return m_x_vel; -} - -int32_t glonass_t::string_1_t::x_accel() { - if (f_x_accel) - return m_x_accel; - m_x_accel = ((x_accel_sign()) ? ((x_accel_value() * -1)) : (x_accel_value())); - f_x_accel = true; - return m_x_accel; -} - -int32_t glonass_t::string_1_t::x() { - if (f_x) - return m_x; - m_x = ((x_sign()) ? ((x_value() * -1)) : (x_value())); - f_x = true; - return m_x; -} - -glonass_t::string_2_t::string_2_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - f_y_vel = false; - f_y_accel = false; - f_y = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::string_2_t::_read() { - m_b_n = m__io->read_bits_int_be(3); - m_p2 = m__io->read_bits_int_be(1); - m_t_b = m__io->read_bits_int_be(7); - m_not_used = m__io->read_bits_int_be(5); - m_y_vel_sign = m__io->read_bits_int_be(1); - m_y_vel_value = m__io->read_bits_int_be(23); - m_y_accel_sign = m__io->read_bits_int_be(1); - m_y_accel_value = m__io->read_bits_int_be(4); - m_y_sign = m__io->read_bits_int_be(1); - m_y_value = m__io->read_bits_int_be(26); -} - -glonass_t::string_2_t::~string_2_t() { - _clean_up(); -} - -void glonass_t::string_2_t::_clean_up() { -} - -int32_t glonass_t::string_2_t::y_vel() { - if (f_y_vel) - return m_y_vel; - m_y_vel = ((y_vel_sign()) ? ((y_vel_value() * -1)) : (y_vel_value())); - f_y_vel = true; - return m_y_vel; -} - -int32_t glonass_t::string_2_t::y_accel() { - if (f_y_accel) - return m_y_accel; - m_y_accel = ((y_accel_sign()) ? ((y_accel_value() * -1)) : (y_accel_value())); - f_y_accel = true; - return m_y_accel; -} - -int32_t glonass_t::string_2_t::y() { - if (f_y) - return m_y; - m_y = ((y_sign()) ? ((y_value() * -1)) : (y_value())); - f_y = true; - return m_y; -} - -glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - f_gamma_n = false; - f_z_vel = false; - f_z_accel = false; - f_z = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void glonass_t::string_3_t::_read() { - m_p3 = m__io->read_bits_int_be(1); - m_gamma_n_sign = m__io->read_bits_int_be(1); - m_gamma_n_value = m__io->read_bits_int_be(10); - m_not_used = m__io->read_bits_int_be(1); - m_p = m__io->read_bits_int_be(2); - m_l_n = m__io->read_bits_int_be(1); - m_z_vel_sign = m__io->read_bits_int_be(1); - m_z_vel_value = m__io->read_bits_int_be(23); - m_z_accel_sign = m__io->read_bits_int_be(1); - m_z_accel_value = m__io->read_bits_int_be(4); - m_z_sign = m__io->read_bits_int_be(1); - m_z_value = m__io->read_bits_int_be(26); -} - -glonass_t::string_3_t::~string_3_t() { - _clean_up(); -} - -void glonass_t::string_3_t::_clean_up() { -} - -int32_t glonass_t::string_3_t::gamma_n() { - if (f_gamma_n) - return m_gamma_n; - m_gamma_n = ((gamma_n_sign()) ? ((gamma_n_value() * -1)) : (gamma_n_value())); - f_gamma_n = true; - return m_gamma_n; -} - -int32_t glonass_t::string_3_t::z_vel() { - if (f_z_vel) - return m_z_vel; - m_z_vel = ((z_vel_sign()) ? ((z_vel_value() * -1)) : (z_vel_value())); - f_z_vel = true; - return m_z_vel; -} - -int32_t glonass_t::string_3_t::z_accel() { - if (f_z_accel) - return m_z_accel; - m_z_accel = ((z_accel_sign()) ? ((z_accel_value() * -1)) : (z_accel_value())); - f_z_accel = true; - return m_z_accel; -} - -int32_t glonass_t::string_3_t::z() { - if (f_z) - return m_z; - m_z = ((z_sign()) ? ((z_value() * -1)) : (z_value())); - f_z = true; - return m_z; -} diff --git a/system/ubloxd/generated/glonass.h b/system/ubloxd/generated/glonass.h deleted file mode 100644 index 19867ba22..000000000 --- a/system/ubloxd/generated/glonass.h +++ /dev/null @@ -1,375 +0,0 @@ -#ifndef GLONASS_H_ -#define GLONASS_H_ - -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "kaitai/kaitaistruct.h" -#include - -#if KAITAI_STRUCT_VERSION < 9000L -#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" -#endif - -class glonass_t : public kaitai::kstruct { - -public: - class string_4_t; - class string_non_immediate_t; - class string_5_t; - class string_1_t; - class string_2_t; - class string_3_t; - - glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, glonass_t* p__root = 0); - -private: - void _read(); - void _clean_up(); - -public: - ~glonass_t(); - - class string_4_t : public kaitai::kstruct { - - public: - - string_4_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_4_t(); - - private: - bool f_tau_n; - int32_t m_tau_n; - - public: - int32_t tau_n(); - - private: - bool f_delta_tau_n; - int32_t m_delta_tau_n; - - public: - int32_t delta_tau_n(); - - private: - bool m_tau_n_sign; - uint64_t m_tau_n_value; - bool m_delta_tau_n_sign; - uint64_t m_delta_tau_n_value; - uint64_t m_e_n; - uint64_t m_not_used_1; - bool m_p4; - uint64_t m_f_t; - uint64_t m_not_used_2; - uint64_t m_n_t; - uint64_t m_n; - uint64_t m_m; - glonass_t* m__root; - glonass_t* m__parent; - - public: - bool tau_n_sign() const { return m_tau_n_sign; } - uint64_t tau_n_value() const { return m_tau_n_value; } - bool delta_tau_n_sign() const { return m_delta_tau_n_sign; } - uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; } - uint64_t e_n() const { return m_e_n; } - uint64_t not_used_1() const { return m_not_used_1; } - bool p4() const { return m_p4; } - uint64_t f_t() const { return m_f_t; } - uint64_t not_used_2() const { return m_not_used_2; } - uint64_t n_t() const { return m_n_t; } - uint64_t n() const { return m_n; } - uint64_t m() const { return m_m; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_non_immediate_t : public kaitai::kstruct { - - public: - - string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_non_immediate_t(); - - private: - uint64_t m_data_1; - uint64_t m_data_2; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t data_1() const { return m_data_1; } - uint64_t data_2() const { return m_data_2; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_5_t : public kaitai::kstruct { - - public: - - string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_5_t(); - - private: - uint64_t m_n_a; - uint64_t m_tau_c; - bool m_not_used; - uint64_t m_n_4; - uint64_t m_tau_gps; - bool m_l_n; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t n_a() const { return m_n_a; } - uint64_t tau_c() const { return m_tau_c; } - bool not_used() const { return m_not_used; } - uint64_t n_4() const { return m_n_4; } - uint64_t tau_gps() const { return m_tau_gps; } - bool l_n() const { return m_l_n; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_1_t : public kaitai::kstruct { - - public: - - string_1_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_1_t(); - - private: - bool f_x_vel; - int32_t m_x_vel; - - public: - int32_t x_vel(); - - private: - bool f_x_accel; - int32_t m_x_accel; - - public: - int32_t x_accel(); - - private: - bool f_x; - int32_t m_x; - - public: - int32_t x(); - - private: - uint64_t m_not_used; - uint64_t m_p1; - uint64_t m_t_k; - bool m_x_vel_sign; - uint64_t m_x_vel_value; - bool m_x_accel_sign; - uint64_t m_x_accel_value; - bool m_x_sign; - uint64_t m_x_value; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t not_used() const { return m_not_used; } - uint64_t p1() const { return m_p1; } - uint64_t t_k() const { return m_t_k; } - bool x_vel_sign() const { return m_x_vel_sign; } - uint64_t x_vel_value() const { return m_x_vel_value; } - bool x_accel_sign() const { return m_x_accel_sign; } - uint64_t x_accel_value() const { return m_x_accel_value; } - bool x_sign() const { return m_x_sign; } - uint64_t x_value() const { return m_x_value; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_2_t : public kaitai::kstruct { - - public: - - string_2_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_2_t(); - - private: - bool f_y_vel; - int32_t m_y_vel; - - public: - int32_t y_vel(); - - private: - bool f_y_accel; - int32_t m_y_accel; - - public: - int32_t y_accel(); - - private: - bool f_y; - int32_t m_y; - - public: - int32_t y(); - - private: - uint64_t m_b_n; - bool m_p2; - uint64_t m_t_b; - uint64_t m_not_used; - bool m_y_vel_sign; - uint64_t m_y_vel_value; - bool m_y_accel_sign; - uint64_t m_y_accel_value; - bool m_y_sign; - uint64_t m_y_value; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t b_n() const { return m_b_n; } - bool p2() const { return m_p2; } - uint64_t t_b() const { return m_t_b; } - uint64_t not_used() const { return m_not_used; } - bool y_vel_sign() const { return m_y_vel_sign; } - uint64_t y_vel_value() const { return m_y_vel_value; } - bool y_accel_sign() const { return m_y_accel_sign; } - uint64_t y_accel_value() const { return m_y_accel_value; } - bool y_sign() const { return m_y_sign; } - uint64_t y_value() const { return m_y_value; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_3_t : public kaitai::kstruct { - - public: - - string_3_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_3_t(); - - private: - bool f_gamma_n; - int32_t m_gamma_n; - - public: - int32_t gamma_n(); - - private: - bool f_z_vel; - int32_t m_z_vel; - - public: - int32_t z_vel(); - - private: - bool f_z_accel; - int32_t m_z_accel; - - public: - int32_t z_accel(); - - private: - bool f_z; - int32_t m_z; - - public: - int32_t z(); - - private: - bool m_p3; - bool m_gamma_n_sign; - uint64_t m_gamma_n_value; - bool m_not_used; - uint64_t m_p; - bool m_l_n; - bool m_z_vel_sign; - uint64_t m_z_vel_value; - bool m_z_accel_sign; - uint64_t m_z_accel_value; - bool m_z_sign; - uint64_t m_z_value; - glonass_t* m__root; - glonass_t* m__parent; - - public: - bool p3() const { return m_p3; } - bool gamma_n_sign() const { return m_gamma_n_sign; } - uint64_t gamma_n_value() const { return m_gamma_n_value; } - bool not_used() const { return m_not_used; } - uint64_t p() const { return m_p; } - bool l_n() const { return m_l_n; } - bool z_vel_sign() const { return m_z_vel_sign; } - uint64_t z_vel_value() const { return m_z_vel_value; } - bool z_accel_sign() const { return m_z_accel_sign; } - uint64_t z_accel_value() const { return m_z_accel_value; } - bool z_sign() const { return m_z_sign; } - uint64_t z_value() const { return m_z_value; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - -private: - bool m_idle_chip; - uint64_t m_string_number; - kaitai::kstruct* m_data; - uint64_t m_hamming_code; - uint64_t m_pad_1; - uint64_t m_superframe_number; - uint64_t m_pad_2; - uint64_t m_frame_number; - glonass_t* m__root; - kaitai::kstruct* m__parent; - -public: - bool idle_chip() const { return m_idle_chip; } - uint64_t string_number() const { return m_string_number; } - kaitai::kstruct* data() const { return m_data; } - uint64_t hamming_code() const { return m_hamming_code; } - uint64_t pad_1() const { return m_pad_1; } - uint64_t superframe_number() const { return m_superframe_number; } - uint64_t pad_2() const { return m_pad_2; } - uint64_t frame_number() const { return m_frame_number; } - glonass_t* _root() const { return m__root; } - kaitai::kstruct* _parent() const { return m__parent; } -}; - -#endif // GLONASS_H_ diff --git a/system/ubloxd/generated/glonass.py b/system/ubloxd/generated/glonass.py new file mode 100644 index 000000000..40aa16bb6 --- /dev/null +++ b/system/ubloxd/generated/glonass.py @@ -0,0 +1,247 @@ +# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +import kaitaistruct +from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO + + +if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): + raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) + +class Glonass(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.idle_chip = self._io.read_bits_int_be(1) != 0 + self.string_number = self._io.read_bits_int_be(4) + # workaround for kaitai bit alignment issue (see glonass_fix.patch for C++) + # self._io.align_to_byte() + _on = self.string_number + if _on == 4: + self.data = Glonass.String4(self._io, self, self._root) + elif _on == 1: + self.data = Glonass.String1(self._io, self, self._root) + elif _on == 3: + self.data = Glonass.String3(self._io, self, self._root) + elif _on == 5: + self.data = Glonass.String5(self._io, self, self._root) + elif _on == 2: + self.data = Glonass.String2(self._io, self, self._root) + else: + self.data = Glonass.StringNonImmediate(self._io, self, self._root) + self.hamming_code = self._io.read_bits_int_be(8) + self.pad_1 = self._io.read_bits_int_be(11) + self.superframe_number = self._io.read_bits_int_be(16) + self.pad_2 = self._io.read_bits_int_be(8) + self.frame_number = self._io.read_bits_int_be(8) + + class String4(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.tau_n_sign = self._io.read_bits_int_be(1) != 0 + self.tau_n_value = self._io.read_bits_int_be(21) + self.delta_tau_n_sign = self._io.read_bits_int_be(1) != 0 + self.delta_tau_n_value = self._io.read_bits_int_be(4) + self.e_n = self._io.read_bits_int_be(5) + self.not_used_1 = self._io.read_bits_int_be(14) + self.p4 = self._io.read_bits_int_be(1) != 0 + self.f_t = self._io.read_bits_int_be(4) + self.not_used_2 = self._io.read_bits_int_be(3) + self.n_t = self._io.read_bits_int_be(11) + self.n = self._io.read_bits_int_be(5) + self.m = self._io.read_bits_int_be(2) + + @property + def tau_n(self): + if hasattr(self, '_m_tau_n'): + return self._m_tau_n + + self._m_tau_n = ((self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value) + return getattr(self, '_m_tau_n', None) + + @property + def delta_tau_n(self): + if hasattr(self, '_m_delta_tau_n'): + return self._m_delta_tau_n + + self._m_delta_tau_n = ((self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value) + return getattr(self, '_m_delta_tau_n', None) + + + class StringNonImmediate(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.data_1 = self._io.read_bits_int_be(64) + self.data_2 = self._io.read_bits_int_be(8) + + + class String5(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.n_a = self._io.read_bits_int_be(11) + self.tau_c = self._io.read_bits_int_be(32) + self.not_used = self._io.read_bits_int_be(1) != 0 + self.n_4 = self._io.read_bits_int_be(5) + self.tau_gps = self._io.read_bits_int_be(22) + self.l_n = self._io.read_bits_int_be(1) != 0 + + + class String1(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.not_used = self._io.read_bits_int_be(2) + self.p1 = self._io.read_bits_int_be(2) + self.t_k = self._io.read_bits_int_be(12) + self.x_vel_sign = self._io.read_bits_int_be(1) != 0 + self.x_vel_value = self._io.read_bits_int_be(23) + self.x_accel_sign = self._io.read_bits_int_be(1) != 0 + self.x_accel_value = self._io.read_bits_int_be(4) + self.x_sign = self._io.read_bits_int_be(1) != 0 + self.x_value = self._io.read_bits_int_be(26) + + @property + def x_vel(self): + if hasattr(self, '_m_x_vel'): + return self._m_x_vel + + self._m_x_vel = ((self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value) + return getattr(self, '_m_x_vel', None) + + @property + def x_accel(self): + if hasattr(self, '_m_x_accel'): + return self._m_x_accel + + self._m_x_accel = ((self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value) + return getattr(self, '_m_x_accel', None) + + @property + def x(self): + if hasattr(self, '_m_x'): + return self._m_x + + self._m_x = ((self.x_value * -1) if self.x_sign else self.x_value) + return getattr(self, '_m_x', None) + + + class String2(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.b_n = self._io.read_bits_int_be(3) + self.p2 = self._io.read_bits_int_be(1) != 0 + self.t_b = self._io.read_bits_int_be(7) + self.not_used = self._io.read_bits_int_be(5) + self.y_vel_sign = self._io.read_bits_int_be(1) != 0 + self.y_vel_value = self._io.read_bits_int_be(23) + self.y_accel_sign = self._io.read_bits_int_be(1) != 0 + self.y_accel_value = self._io.read_bits_int_be(4) + self.y_sign = self._io.read_bits_int_be(1) != 0 + self.y_value = self._io.read_bits_int_be(26) + + @property + def y_vel(self): + if hasattr(self, '_m_y_vel'): + return self._m_y_vel + + self._m_y_vel = ((self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value) + return getattr(self, '_m_y_vel', None) + + @property + def y_accel(self): + if hasattr(self, '_m_y_accel'): + return self._m_y_accel + + self._m_y_accel = ((self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value) + return getattr(self, '_m_y_accel', None) + + @property + def y(self): + if hasattr(self, '_m_y'): + return self._m_y + + self._m_y = ((self.y_value * -1) if self.y_sign else self.y_value) + return getattr(self, '_m_y', None) + + + class String3(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.p3 = self._io.read_bits_int_be(1) != 0 + self.gamma_n_sign = self._io.read_bits_int_be(1) != 0 + self.gamma_n_value = self._io.read_bits_int_be(10) + self.not_used = self._io.read_bits_int_be(1) != 0 + self.p = self._io.read_bits_int_be(2) + self.l_n = self._io.read_bits_int_be(1) != 0 + self.z_vel_sign = self._io.read_bits_int_be(1) != 0 + self.z_vel_value = self._io.read_bits_int_be(23) + self.z_accel_sign = self._io.read_bits_int_be(1) != 0 + self.z_accel_value = self._io.read_bits_int_be(4) + self.z_sign = self._io.read_bits_int_be(1) != 0 + self.z_value = self._io.read_bits_int_be(26) + + @property + def gamma_n(self): + if hasattr(self, '_m_gamma_n'): + return self._m_gamma_n + + self._m_gamma_n = ((self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value) + return getattr(self, '_m_gamma_n', None) + + @property + def z_vel(self): + if hasattr(self, '_m_z_vel'): + return self._m_z_vel + + self._m_z_vel = ((self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value) + return getattr(self, '_m_z_vel', None) + + @property + def z_accel(self): + if hasattr(self, '_m_z_accel'): + return self._m_z_accel + + self._m_z_accel = ((self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value) + return getattr(self, '_m_z_accel', None) + + @property + def z(self): + if hasattr(self, '_m_z'): + return self._m_z + + self._m_z = ((self.z_value * -1) if self.z_sign else self.z_value) + return getattr(self, '_m_z', None) + + diff --git a/system/ubloxd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp deleted file mode 100644 index 8e1cb85b9..000000000 --- a/system/ubloxd/generated/gps.cpp +++ /dev/null @@ -1,325 +0,0 @@ -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "gps.h" -#include "kaitai/exceptions.h" - -gps_t::gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = this; - m_tlm = 0; - m_how = 0; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::_read() { - m_tlm = new tlm_t(m__io, this, m__root); - m_how = new how_t(m__io, this, m__root); - n_body = true; - switch (how()->subframe_id()) { - case 1: { - n_body = false; - m_body = new subframe_1_t(m__io, this, m__root); - break; - } - case 2: { - n_body = false; - m_body = new subframe_2_t(m__io, this, m__root); - break; - } - case 3: { - n_body = false; - m_body = new subframe_3_t(m__io, this, m__root); - break; - } - case 4: { - n_body = false; - m_body = new subframe_4_t(m__io, this, m__root); - break; - } - } -} - -gps_t::~gps_t() { - _clean_up(); -} - -void gps_t::_clean_up() { - if (m_tlm) { - delete m_tlm; m_tlm = 0; - } - if (m_how) { - delete m_how; m_how = 0; - } - if (!n_body) { - if (m_body) { - delete m_body; m_body = 0; - } - } -} - -gps_t::subframe_1_t::subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - f_af_0 = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::subframe_1_t::_read() { - m_week_no = m__io->read_bits_int_be(10); - m_code = m__io->read_bits_int_be(2); - m_sv_accuracy = m__io->read_bits_int_be(4); - m_sv_health = m__io->read_bits_int_be(6); - m_iodc_msb = m__io->read_bits_int_be(2); - m_l2_p_data_flag = m__io->read_bits_int_be(1); - m_reserved1 = m__io->read_bits_int_be(23); - m_reserved2 = m__io->read_bits_int_be(24); - m_reserved3 = m__io->read_bits_int_be(24); - m_reserved4 = m__io->read_bits_int_be(16); - m__io->align_to_byte(); - m_t_gd = m__io->read_s1(); - m_iodc_lsb = m__io->read_u1(); - m_t_oc = m__io->read_u2be(); - m_af_2 = m__io->read_s1(); - m_af_1 = m__io->read_s2be(); - m_af_0_sign = m__io->read_bits_int_be(1); - m_af_0_value = m__io->read_bits_int_be(21); - m_reserved5 = m__io->read_bits_int_be(2); -} - -gps_t::subframe_1_t::~subframe_1_t() { - _clean_up(); -} - -void gps_t::subframe_1_t::_clean_up() { -} - -int32_t gps_t::subframe_1_t::af_0() { - if (f_af_0) - return m_af_0; - m_af_0 = ((af_0_sign()) ? ((af_0_value() - (1 << 21))) : (af_0_value())); - f_af_0 = true; - return m_af_0; -} - -gps_t::subframe_3_t::subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - f_omega_dot = false; - f_idot = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::subframe_3_t::_read() { - m_c_ic = m__io->read_s2be(); - m_omega_0 = m__io->read_s4be(); - m_c_is = m__io->read_s2be(); - m_i_0 = m__io->read_s4be(); - m_c_rc = m__io->read_s2be(); - m_omega = m__io->read_s4be(); - m_omega_dot_sign = m__io->read_bits_int_be(1); - m_omega_dot_value = m__io->read_bits_int_be(23); - m__io->align_to_byte(); - m_iode = m__io->read_u1(); - m_idot_sign = m__io->read_bits_int_be(1); - m_idot_value = m__io->read_bits_int_be(13); - m_reserved = m__io->read_bits_int_be(2); -} - -gps_t::subframe_3_t::~subframe_3_t() { - _clean_up(); -} - -void gps_t::subframe_3_t::_clean_up() { -} - -int32_t gps_t::subframe_3_t::omega_dot() { - if (f_omega_dot) - return m_omega_dot; - m_omega_dot = ((omega_dot_sign()) ? ((omega_dot_value() - (1 << 23))) : (omega_dot_value())); - f_omega_dot = true; - return m_omega_dot; -} - -int32_t gps_t::subframe_3_t::idot() { - if (f_idot) - return m_idot; - m_idot = ((idot_sign()) ? ((idot_value() - (1 << 13))) : (idot_value())); - f_idot = true; - return m_idot; -} - -gps_t::subframe_4_t::subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::subframe_4_t::_read() { - m_data_id = m__io->read_bits_int_be(2); - m_page_id = m__io->read_bits_int_be(6); - m__io->align_to_byte(); - n_body = true; - switch (page_id()) { - case 56: { - n_body = false; - m_body = new ionosphere_data_t(m__io, this, m__root); - break; - } - } -} - -gps_t::subframe_4_t::~subframe_4_t() { - _clean_up(); -} - -void gps_t::subframe_4_t::_clean_up() { - if (!n_body) { - if (m_body) { - delete m_body; m_body = 0; - } - } -} - -gps_t::subframe_4_t::ionosphere_data_t::ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::subframe_4_t::ionosphere_data_t::_read() { - m_a0 = m__io->read_s1(); - m_a1 = m__io->read_s1(); - m_a2 = m__io->read_s1(); - m_a3 = m__io->read_s1(); - m_b0 = m__io->read_s1(); - m_b1 = m__io->read_s1(); - m_b2 = m__io->read_s1(); - m_b3 = m__io->read_s1(); -} - -gps_t::subframe_4_t::ionosphere_data_t::~ionosphere_data_t() { - _clean_up(); -} - -void gps_t::subframe_4_t::ionosphere_data_t::_clean_up() { -} - -gps_t::how_t::how_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::how_t::_read() { - m_tow_count = m__io->read_bits_int_be(17); - m_alert = m__io->read_bits_int_be(1); - m_anti_spoof = m__io->read_bits_int_be(1); - m_subframe_id = m__io->read_bits_int_be(3); - m_reserved = m__io->read_bits_int_be(2); -} - -gps_t::how_t::~how_t() { - _clean_up(); -} - -void gps_t::how_t::_clean_up() { -} - -gps_t::tlm_t::tlm_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::tlm_t::_read() { - m_preamble = m__io->read_bytes(1); - if (!(preamble() == std::string("\x8B", 1))) { - throw kaitai::validation_not_equal_error(std::string("\x8B", 1), preamble(), _io(), std::string("/types/tlm/seq/0")); - } - m_tlm = m__io->read_bits_int_be(14); - m_integrity_status = m__io->read_bits_int_be(1); - m_reserved = m__io->read_bits_int_be(1); -} - -gps_t::tlm_t::~tlm_t() { - _clean_up(); -} - -void gps_t::tlm_t::_clean_up() { -} - -gps_t::subframe_2_t::subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void gps_t::subframe_2_t::_read() { - m_iode = m__io->read_u1(); - m_c_rs = m__io->read_s2be(); - m_delta_n = m__io->read_s2be(); - m_m_0 = m__io->read_s4be(); - m_c_uc = m__io->read_s2be(); - m_e = m__io->read_s4be(); - m_c_us = m__io->read_s2be(); - m_sqrt_a = m__io->read_u4be(); - m_t_oe = m__io->read_u2be(); - m_fit_interval_flag = m__io->read_bits_int_be(1); - m_aoda = m__io->read_bits_int_be(5); - m_reserved = m__io->read_bits_int_be(2); -} - -gps_t::subframe_2_t::~subframe_2_t() { - _clean_up(); -} - -void gps_t::subframe_2_t::_clean_up() { -} diff --git a/system/ubloxd/generated/gps.h b/system/ubloxd/generated/gps.h deleted file mode 100644 index 9dfc5031f..000000000 --- a/system/ubloxd/generated/gps.h +++ /dev/null @@ -1,359 +0,0 @@ -#ifndef GPS_H_ -#define GPS_H_ - -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "kaitai/kaitaistruct.h" -#include - -#if KAITAI_STRUCT_VERSION < 9000L -#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" -#endif - -class gps_t : public kaitai::kstruct { - -public: - class subframe_1_t; - class subframe_3_t; - class subframe_4_t; - class how_t; - class tlm_t; - class subframe_2_t; - - gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, gps_t* p__root = 0); - -private: - void _read(); - void _clean_up(); - -public: - ~gps_t(); - - class subframe_1_t : public kaitai::kstruct { - - public: - - subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_1_t(); - - private: - bool f_af_0; - int32_t m_af_0; - - public: - int32_t af_0(); - - private: - uint64_t m_week_no; - uint64_t m_code; - uint64_t m_sv_accuracy; - uint64_t m_sv_health; - uint64_t m_iodc_msb; - bool m_l2_p_data_flag; - uint64_t m_reserved1; - uint64_t m_reserved2; - uint64_t m_reserved3; - uint64_t m_reserved4; - int8_t m_t_gd; - uint8_t m_iodc_lsb; - uint16_t m_t_oc; - int8_t m_af_2; - int16_t m_af_1; - bool m_af_0_sign; - uint64_t m_af_0_value; - uint64_t m_reserved5; - gps_t* m__root; - gps_t* m__parent; - - public: - uint64_t week_no() const { return m_week_no; } - uint64_t code() const { return m_code; } - uint64_t sv_accuracy() const { return m_sv_accuracy; } - uint64_t sv_health() const { return m_sv_health; } - uint64_t iodc_msb() const { return m_iodc_msb; } - bool l2_p_data_flag() const { return m_l2_p_data_flag; } - uint64_t reserved1() const { return m_reserved1; } - uint64_t reserved2() const { return m_reserved2; } - uint64_t reserved3() const { return m_reserved3; } - uint64_t reserved4() const { return m_reserved4; } - int8_t t_gd() const { return m_t_gd; } - uint8_t iodc_lsb() const { return m_iodc_lsb; } - uint16_t t_oc() const { return m_t_oc; } - int8_t af_2() const { return m_af_2; } - int16_t af_1() const { return m_af_1; } - bool af_0_sign() const { return m_af_0_sign; } - uint64_t af_0_value() const { return m_af_0_value; } - uint64_t reserved5() const { return m_reserved5; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class subframe_3_t : public kaitai::kstruct { - - public: - - subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_3_t(); - - private: - bool f_omega_dot; - int32_t m_omega_dot; - - public: - int32_t omega_dot(); - - private: - bool f_idot; - int32_t m_idot; - - public: - int32_t idot(); - - private: - int16_t m_c_ic; - int32_t m_omega_0; - int16_t m_c_is; - int32_t m_i_0; - int16_t m_c_rc; - int32_t m_omega; - bool m_omega_dot_sign; - uint64_t m_omega_dot_value; - uint8_t m_iode; - bool m_idot_sign; - uint64_t m_idot_value; - uint64_t m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - int16_t c_ic() const { return m_c_ic; } - int32_t omega_0() const { return m_omega_0; } - int16_t c_is() const { return m_c_is; } - int32_t i_0() const { return m_i_0; } - int16_t c_rc() const { return m_c_rc; } - int32_t omega() const { return m_omega; } - bool omega_dot_sign() const { return m_omega_dot_sign; } - uint64_t omega_dot_value() const { return m_omega_dot_value; } - uint8_t iode() const { return m_iode; } - bool idot_sign() const { return m_idot_sign; } - uint64_t idot_value() const { return m_idot_value; } - uint64_t reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class subframe_4_t : public kaitai::kstruct { - - public: - class ionosphere_data_t; - - subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_4_t(); - - class ionosphere_data_t : public kaitai::kstruct { - - public: - - ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~ionosphere_data_t(); - - private: - int8_t m_a0; - int8_t m_a1; - int8_t m_a2; - int8_t m_a3; - int8_t m_b0; - int8_t m_b1; - int8_t m_b2; - int8_t m_b3; - gps_t* m__root; - gps_t::subframe_4_t* m__parent; - - public: - int8_t a0() const { return m_a0; } - int8_t a1() const { return m_a1; } - int8_t a2() const { return m_a2; } - int8_t a3() const { return m_a3; } - int8_t b0() const { return m_b0; } - int8_t b1() const { return m_b1; } - int8_t b2() const { return m_b2; } - int8_t b3() const { return m_b3; } - gps_t* _root() const { return m__root; } - gps_t::subframe_4_t* _parent() const { return m__parent; } - }; - - private: - uint64_t m_data_id; - uint64_t m_page_id; - ionosphere_data_t* m_body; - bool n_body; - - public: - bool _is_null_body() { body(); return n_body; }; - - private: - gps_t* m__root; - gps_t* m__parent; - - public: - uint64_t data_id() const { return m_data_id; } - uint64_t page_id() const { return m_page_id; } - ionosphere_data_t* body() const { return m_body; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class how_t : public kaitai::kstruct { - - public: - - how_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~how_t(); - - private: - uint64_t m_tow_count; - bool m_alert; - bool m_anti_spoof; - uint64_t m_subframe_id; - uint64_t m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - uint64_t tow_count() const { return m_tow_count; } - bool alert() const { return m_alert; } - bool anti_spoof() const { return m_anti_spoof; } - uint64_t subframe_id() const { return m_subframe_id; } - uint64_t reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class tlm_t : public kaitai::kstruct { - - public: - - tlm_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~tlm_t(); - - private: - std::string m_preamble; - uint64_t m_tlm; - bool m_integrity_status; - bool m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - std::string preamble() const { return m_preamble; } - uint64_t tlm() const { return m_tlm; } - bool integrity_status() const { return m_integrity_status; } - bool reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class subframe_2_t : public kaitai::kstruct { - - public: - - subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_2_t(); - - private: - uint8_t m_iode; - int16_t m_c_rs; - int16_t m_delta_n; - int32_t m_m_0; - int16_t m_c_uc; - int32_t m_e; - int16_t m_c_us; - uint32_t m_sqrt_a; - uint16_t m_t_oe; - bool m_fit_interval_flag; - uint64_t m_aoda; - uint64_t m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - uint8_t iode() const { return m_iode; } - int16_t c_rs() const { return m_c_rs; } - int16_t delta_n() const { return m_delta_n; } - int32_t m_0() const { return m_m_0; } - int16_t c_uc() const { return m_c_uc; } - int32_t e() const { return m_e; } - int16_t c_us() const { return m_c_us; } - uint32_t sqrt_a() const { return m_sqrt_a; } - uint16_t t_oe() const { return m_t_oe; } - bool fit_interval_flag() const { return m_fit_interval_flag; } - uint64_t aoda() const { return m_aoda; } - uint64_t reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - -private: - tlm_t* m_tlm; - how_t* m_how; - kaitai::kstruct* m_body; - bool n_body; - -public: - bool _is_null_body() { body(); return n_body; }; - -private: - gps_t* m__root; - kaitai::kstruct* m__parent; - -public: - tlm_t* tlm() const { return m_tlm; } - how_t* how() const { return m_how; } - kaitai::kstruct* body() const { return m_body; } - gps_t* _root() const { return m__root; } - kaitai::kstruct* _parent() const { return m__parent; } -}; - -#endif // GPS_H_ diff --git a/system/ubloxd/generated/gps.py b/system/ubloxd/generated/gps.py new file mode 100644 index 000000000..a999016f3 --- /dev/null +++ b/system/ubloxd/generated/gps.py @@ -0,0 +1,193 @@ +# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +import kaitaistruct +from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO + + +if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): + raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) + +class Gps(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.tlm = Gps.Tlm(self._io, self, self._root) + self.how = Gps.How(self._io, self, self._root) + _on = self.how.subframe_id + if _on == 1: + self.body = Gps.Subframe1(self._io, self, self._root) + elif _on == 2: + self.body = Gps.Subframe2(self._io, self, self._root) + elif _on == 3: + self.body = Gps.Subframe3(self._io, self, self._root) + elif _on == 4: + self.body = Gps.Subframe4(self._io, self, self._root) + + class Subframe1(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.week_no = self._io.read_bits_int_be(10) + self.code = self._io.read_bits_int_be(2) + self.sv_accuracy = self._io.read_bits_int_be(4) + self.sv_health = self._io.read_bits_int_be(6) + self.iodc_msb = self._io.read_bits_int_be(2) + self.l2_p_data_flag = self._io.read_bits_int_be(1) != 0 + self.reserved1 = self._io.read_bits_int_be(23) + self.reserved2 = self._io.read_bits_int_be(24) + self.reserved3 = self._io.read_bits_int_be(24) + self.reserved4 = self._io.read_bits_int_be(16) + self._io.align_to_byte() + self.t_gd = self._io.read_s1() + self.iodc_lsb = self._io.read_u1() + self.t_oc = self._io.read_u2be() + self.af_2 = self._io.read_s1() + self.af_1 = self._io.read_s2be() + self.af_0_sign = self._io.read_bits_int_be(1) != 0 + self.af_0_value = self._io.read_bits_int_be(21) + self.reserved5 = self._io.read_bits_int_be(2) + + @property + def af_0(self): + if hasattr(self, '_m_af_0'): + return self._m_af_0 + + self._m_af_0 = ((self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value) + return getattr(self, '_m_af_0', None) + + + class Subframe3(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.c_ic = self._io.read_s2be() + self.omega_0 = self._io.read_s4be() + self.c_is = self._io.read_s2be() + self.i_0 = self._io.read_s4be() + self.c_rc = self._io.read_s2be() + self.omega = self._io.read_s4be() + self.omega_dot_sign = self._io.read_bits_int_be(1) != 0 + self.omega_dot_value = self._io.read_bits_int_be(23) + self._io.align_to_byte() + self.iode = self._io.read_u1() + self.idot_sign = self._io.read_bits_int_be(1) != 0 + self.idot_value = self._io.read_bits_int_be(13) + self.reserved = self._io.read_bits_int_be(2) + + @property + def omega_dot(self): + if hasattr(self, '_m_omega_dot'): + return self._m_omega_dot + + self._m_omega_dot = ((self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value) + return getattr(self, '_m_omega_dot', None) + + @property + def idot(self): + if hasattr(self, '_m_idot'): + return self._m_idot + + self._m_idot = ((self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value) + return getattr(self, '_m_idot', None) + + + class Subframe4(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.data_id = self._io.read_bits_int_be(2) + self.page_id = self._io.read_bits_int_be(6) + self._io.align_to_byte() + _on = self.page_id + if _on == 56: + self.body = Gps.Subframe4.IonosphereData(self._io, self, self._root) + + class IonosphereData(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.a0 = self._io.read_s1() + self.a1 = self._io.read_s1() + self.a2 = self._io.read_s1() + self.a3 = self._io.read_s1() + self.b0 = self._io.read_s1() + self.b1 = self._io.read_s1() + self.b2 = self._io.read_s1() + self.b3 = self._io.read_s1() + + + + class How(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.tow_count = self._io.read_bits_int_be(17) + self.alert = self._io.read_bits_int_be(1) != 0 + self.anti_spoof = self._io.read_bits_int_be(1) != 0 + self.subframe_id = self._io.read_bits_int_be(3) + self.reserved = self._io.read_bits_int_be(2) + + + class Tlm(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.preamble = self._io.read_bytes(1) + if not self.preamble == b"\x8B": + raise kaitaistruct.ValidationNotEqualError(b"\x8B", self.preamble, self._io, u"/types/tlm/seq/0") + self.tlm = self._io.read_bits_int_be(14) + self.integrity_status = self._io.read_bits_int_be(1) != 0 + self.reserved = self._io.read_bits_int_be(1) != 0 + + + class Subframe2(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.iode = self._io.read_u1() + self.c_rs = self._io.read_s2be() + self.delta_n = self._io.read_s2be() + self.m_0 = self._io.read_s4be() + self.c_uc = self._io.read_s2be() + self.e = self._io.read_s4be() + self.c_us = self._io.read_s2be() + self.sqrt_a = self._io.read_u4be() + self.t_oe = self._io.read_u2be() + self.fit_interval_flag = self._io.read_bits_int_be(1) != 0 + self.aoda = self._io.read_bits_int_be(5) + self.reserved = self._io.read_bits_int_be(2) + + + diff --git a/system/ubloxd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp deleted file mode 100644 index 81b82ccaf..000000000 --- a/system/ubloxd/generated/ubx.cpp +++ /dev/null @@ -1,424 +0,0 @@ -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "ubx.h" -#include "kaitai/exceptions.h" - -ubx_t::ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = this; - f_checksum = false; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::_read() { - m_magic = m__io->read_bytes(2); - if (!(magic() == std::string("\xB5\x62", 2))) { - throw kaitai::validation_not_equal_error(std::string("\xB5\x62", 2), magic(), _io(), std::string("/seq/0")); - } - m_msg_type = m__io->read_u2be(); - m_length = m__io->read_u2le(); - n_body = true; - switch (msg_type()) { - case 2569: { - n_body = false; - m_body = new mon_hw_t(m__io, this, m__root); - break; - } - case 533: { - n_body = false; - m_body = new rxm_rawx_t(m__io, this, m__root); - break; - } - case 531: { - n_body = false; - m_body = new rxm_sfrbx_t(m__io, this, m__root); - break; - } - case 309: { - n_body = false; - m_body = new nav_sat_t(m__io, this, m__root); - break; - } - case 2571: { - n_body = false; - m_body = new mon_hw2_t(m__io, this, m__root); - break; - } - case 263: { - n_body = false; - m_body = new nav_pvt_t(m__io, this, m__root); - break; - } - } -} - -ubx_t::~ubx_t() { - _clean_up(); -} - -void ubx_t::_clean_up() { - if (!n_body) { - if (m_body) { - delete m_body; m_body = 0; - } - } - if (f_checksum) { - } -} - -ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - m_meas = 0; - m__raw_meas = 0; - m__io__raw_meas = 0; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::rxm_rawx_t::_read() { - m_rcv_tow = m__io->read_f8le(); - m_week = m__io->read_u2le(); - m_leap_s = m__io->read_s1(); - m_num_meas = m__io->read_u1(); - m_rec_stat = m__io->read_u1(); - m_reserved1 = m__io->read_bytes(3); - m__raw_meas = new std::vector(); - m__io__raw_meas = new std::vector(); - m_meas = new std::vector(); - const int l_meas = num_meas(); - for (int i = 0; i < l_meas; i++) { - m__raw_meas->push_back(m__io->read_bytes(32)); - kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1)); - m__io__raw_meas->push_back(io__raw_meas); - m_meas->push_back(new measurement_t(io__raw_meas, this, m__root)); - } -} - -ubx_t::rxm_rawx_t::~rxm_rawx_t() { - _clean_up(); -} - -void ubx_t::rxm_rawx_t::_clean_up() { - if (m__raw_meas) { - delete m__raw_meas; m__raw_meas = 0; - } - if (m__io__raw_meas) { - for (std::vector::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) { - delete *it; - } - delete m__io__raw_meas; m__io__raw_meas = 0; - } - if (m_meas) { - for (std::vector::iterator it = m_meas->begin(); it != m_meas->end(); ++it) { - delete *it; - } - delete m_meas; m_meas = 0; - } -} - -ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::rxm_rawx_t::measurement_t::_read() { - m_pr_mes = m__io->read_f8le(); - m_cp_mes = m__io->read_f8le(); - m_do_mes = m__io->read_f4le(); - m_gnss_id = static_cast(m__io->read_u1()); - m_sv_id = m__io->read_u1(); - m_reserved2 = m__io->read_bytes(1); - m_freq_id = m__io->read_u1(); - m_lock_time = m__io->read_u2le(); - m_cno = m__io->read_u1(); - m_pr_stdev = m__io->read_u1(); - m_cp_stdev = m__io->read_u1(); - m_do_stdev = m__io->read_u1(); - m_trk_stat = m__io->read_u1(); - m_reserved3 = m__io->read_bytes(1); -} - -ubx_t::rxm_rawx_t::measurement_t::~measurement_t() { - _clean_up(); -} - -void ubx_t::rxm_rawx_t::measurement_t::_clean_up() { -} - -ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - m_body = 0; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::rxm_sfrbx_t::_read() { - m_gnss_id = static_cast(m__io->read_u1()); - m_sv_id = m__io->read_u1(); - m_reserved1 = m__io->read_bytes(1); - m_freq_id = m__io->read_u1(); - m_num_words = m__io->read_u1(); - m_reserved2 = m__io->read_bytes(1); - m_version = m__io->read_u1(); - m_reserved3 = m__io->read_bytes(1); - m_body = new std::vector(); - const int l_body = num_words(); - for (int i = 0; i < l_body; i++) { - m_body->push_back(m__io->read_u4le()); - } -} - -ubx_t::rxm_sfrbx_t::~rxm_sfrbx_t() { - _clean_up(); -} - -void ubx_t::rxm_sfrbx_t::_clean_up() { - if (m_body) { - delete m_body; m_body = 0; - } -} - -ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - m_svs = 0; - m__raw_svs = 0; - m__io__raw_svs = 0; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::nav_sat_t::_read() { - m_itow = m__io->read_u4le(); - m_version = m__io->read_u1(); - m_num_svs = m__io->read_u1(); - m_reserved = m__io->read_bytes(2); - m__raw_svs = new std::vector(); - m__io__raw_svs = new std::vector(); - m_svs = new std::vector(); - const int l_svs = num_svs(); - for (int i = 0; i < l_svs; i++) { - m__raw_svs->push_back(m__io->read_bytes(12)); - kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1)); - m__io__raw_svs->push_back(io__raw_svs); - m_svs->push_back(new nav_t(io__raw_svs, this, m__root)); - } -} - -ubx_t::nav_sat_t::~nav_sat_t() { - _clean_up(); -} - -void ubx_t::nav_sat_t::_clean_up() { - if (m__raw_svs) { - delete m__raw_svs; m__raw_svs = 0; - } - if (m__io__raw_svs) { - for (std::vector::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) { - delete *it; - } - delete m__io__raw_svs; m__io__raw_svs = 0; - } - if (m_svs) { - for (std::vector::iterator it = m_svs->begin(); it != m_svs->end(); ++it) { - delete *it; - } - delete m_svs; m_svs = 0; - } -} - -ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::nav_sat_t::nav_t::_read() { - m_gnss_id = static_cast(m__io->read_u1()); - m_sv_id = m__io->read_u1(); - m_cno = m__io->read_u1(); - m_elev = m__io->read_s1(); - m_azim = m__io->read_s2le(); - m_pr_res = m__io->read_s2le(); - m_flags = m__io->read_u4le(); -} - -ubx_t::nav_sat_t::nav_t::~nav_t() { - _clean_up(); -} - -void ubx_t::nav_sat_t::nav_t::_clean_up() { -} - -ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::nav_pvt_t::_read() { - m_i_tow = m__io->read_u4le(); - m_year = m__io->read_u2le(); - m_month = m__io->read_u1(); - m_day = m__io->read_u1(); - m_hour = m__io->read_u1(); - m_min = m__io->read_u1(); - m_sec = m__io->read_u1(); - m_valid = m__io->read_u1(); - m_t_acc = m__io->read_u4le(); - m_nano = m__io->read_s4le(); - m_fix_type = m__io->read_u1(); - m_flags = m__io->read_u1(); - m_flags2 = m__io->read_u1(); - m_num_sv = m__io->read_u1(); - m_lon = m__io->read_s4le(); - m_lat = m__io->read_s4le(); - m_height = m__io->read_s4le(); - m_h_msl = m__io->read_s4le(); - m_h_acc = m__io->read_u4le(); - m_v_acc = m__io->read_u4le(); - m_vel_n = m__io->read_s4le(); - m_vel_e = m__io->read_s4le(); - m_vel_d = m__io->read_s4le(); - m_g_speed = m__io->read_s4le(); - m_head_mot = m__io->read_s4le(); - m_s_acc = m__io->read_s4le(); - m_head_acc = m__io->read_u4le(); - m_p_dop = m__io->read_u2le(); - m_flags3 = m__io->read_u1(); - m_reserved1 = m__io->read_bytes(5); - m_head_veh = m__io->read_s4le(); - m_mag_dec = m__io->read_s2le(); - m_mag_acc = m__io->read_u2le(); -} - -ubx_t::nav_pvt_t::~nav_pvt_t() { - _clean_up(); -} - -void ubx_t::nav_pvt_t::_clean_up() { -} - -ubx_t::mon_hw2_t::mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::mon_hw2_t::_read() { - m_ofs_i = m__io->read_s1(); - m_mag_i = m__io->read_u1(); - m_ofs_q = m__io->read_s1(); - m_mag_q = m__io->read_u1(); - m_cfg_source = static_cast(m__io->read_u1()); - m_reserved1 = m__io->read_bytes(3); - m_low_lev_cfg = m__io->read_u4le(); - m_reserved2 = m__io->read_bytes(8); - m_post_status = m__io->read_u4le(); - m_reserved3 = m__io->read_bytes(4); -} - -ubx_t::mon_hw2_t::~mon_hw2_t() { - _clean_up(); -} - -void ubx_t::mon_hw2_t::_clean_up() { -} - -ubx_t::mon_hw_t::mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { - m__parent = p__parent; - m__root = p__root; - - try { - _read(); - } catch(...) { - _clean_up(); - throw; - } -} - -void ubx_t::mon_hw_t::_read() { - m_pin_sel = m__io->read_u4le(); - m_pin_bank = m__io->read_u4le(); - m_pin_dir = m__io->read_u4le(); - m_pin_val = m__io->read_u4le(); - m_noise_per_ms = m__io->read_u2le(); - m_agc_cnt = m__io->read_u2le(); - m_a_status = static_cast(m__io->read_u1()); - m_a_power = static_cast(m__io->read_u1()); - m_flags = m__io->read_u1(); - m_reserved1 = m__io->read_bytes(1); - m_used_mask = m__io->read_u4le(); - m_vp = m__io->read_bytes(17); - m_jam_ind = m__io->read_u1(); - m_reserved2 = m__io->read_bytes(2); - m_pin_irq = m__io->read_u4le(); - m_pull_h = m__io->read_u4le(); - m_pull_l = m__io->read_u4le(); -} - -ubx_t::mon_hw_t::~mon_hw_t() { - _clean_up(); -} - -void ubx_t::mon_hw_t::_clean_up() { -} - -uint16_t ubx_t::checksum() { - if (f_checksum) - return m_checksum; - std::streampos _pos = m__io->pos(); - m__io->seek((length() + 6)); - m_checksum = m__io->read_u2le(); - m__io->seek(_pos); - f_checksum = true; - return m_checksum; -} diff --git a/system/ubloxd/generated/ubx.h b/system/ubloxd/generated/ubx.h deleted file mode 100644 index 022108489..000000000 --- a/system/ubloxd/generated/ubx.h +++ /dev/null @@ -1,484 +0,0 @@ -#ifndef UBX_H_ -#define UBX_H_ - -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "kaitai/kaitaistruct.h" -#include -#include - -#if KAITAI_STRUCT_VERSION < 9000L -#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" -#endif - -class ubx_t : public kaitai::kstruct { - -public: - class rxm_rawx_t; - class rxm_sfrbx_t; - class nav_sat_t; - class nav_pvt_t; - class mon_hw2_t; - class mon_hw_t; - - enum gnss_type_t { - GNSS_TYPE_GPS = 0, - GNSS_TYPE_SBAS = 1, - GNSS_TYPE_GALILEO = 2, - GNSS_TYPE_BEIDOU = 3, - GNSS_TYPE_IMES = 4, - GNSS_TYPE_QZSS = 5, - GNSS_TYPE_GLONASS = 6 - }; - - ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, ubx_t* p__root = 0); - -private: - void _read(); - void _clean_up(); - -public: - ~ubx_t(); - - class rxm_rawx_t : public kaitai::kstruct { - - public: - class measurement_t; - - rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~rxm_rawx_t(); - - class measurement_t : public kaitai::kstruct { - - public: - - measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~measurement_t(); - - private: - double m_pr_mes; - double m_cp_mes; - float m_do_mes; - gnss_type_t m_gnss_id; - uint8_t m_sv_id; - std::string m_reserved2; - uint8_t m_freq_id; - uint16_t m_lock_time; - uint8_t m_cno; - uint8_t m_pr_stdev; - uint8_t m_cp_stdev; - uint8_t m_do_stdev; - uint8_t m_trk_stat; - std::string m_reserved3; - ubx_t* m__root; - ubx_t::rxm_rawx_t* m__parent; - - public: - double pr_mes() const { return m_pr_mes; } - double cp_mes() const { return m_cp_mes; } - float do_mes() const { return m_do_mes; } - gnss_type_t gnss_id() const { return m_gnss_id; } - uint8_t sv_id() const { return m_sv_id; } - std::string reserved2() const { return m_reserved2; } - uint8_t freq_id() const { return m_freq_id; } - uint16_t lock_time() const { return m_lock_time; } - uint8_t cno() const { return m_cno; } - uint8_t pr_stdev() const { return m_pr_stdev; } - uint8_t cp_stdev() const { return m_cp_stdev; } - uint8_t do_stdev() const { return m_do_stdev; } - uint8_t trk_stat() const { return m_trk_stat; } - std::string reserved3() const { return m_reserved3; } - ubx_t* _root() const { return m__root; } - ubx_t::rxm_rawx_t* _parent() const { return m__parent; } - }; - - private: - double m_rcv_tow; - uint16_t m_week; - int8_t m_leap_s; - uint8_t m_num_meas; - uint8_t m_rec_stat; - std::string m_reserved1; - std::vector* m_meas; - ubx_t* m__root; - ubx_t* m__parent; - std::vector* m__raw_meas; - std::vector* m__io__raw_meas; - - public: - double rcv_tow() const { return m_rcv_tow; } - uint16_t week() const { return m_week; } - int8_t leap_s() const { return m_leap_s; } - uint8_t num_meas() const { return m_num_meas; } - uint8_t rec_stat() const { return m_rec_stat; } - std::string reserved1() const { return m_reserved1; } - std::vector* meas() const { return m_meas; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - std::vector* _raw_meas() const { return m__raw_meas; } - std::vector* _io__raw_meas() const { return m__io__raw_meas; } - }; - - class rxm_sfrbx_t : public kaitai::kstruct { - - public: - - rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~rxm_sfrbx_t(); - - private: - gnss_type_t m_gnss_id; - uint8_t m_sv_id; - std::string m_reserved1; - uint8_t m_freq_id; - uint8_t m_num_words; - std::string m_reserved2; - uint8_t m_version; - std::string m_reserved3; - std::vector* m_body; - ubx_t* m__root; - ubx_t* m__parent; - - public: - gnss_type_t gnss_id() const { return m_gnss_id; } - uint8_t sv_id() const { return m_sv_id; } - std::string reserved1() const { return m_reserved1; } - uint8_t freq_id() const { return m_freq_id; } - uint8_t num_words() const { return m_num_words; } - std::string reserved2() const { return m_reserved2; } - uint8_t version() const { return m_version; } - std::string reserved3() const { return m_reserved3; } - std::vector* body() const { return m_body; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - - class nav_sat_t : public kaitai::kstruct { - - public: - class nav_t; - - nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~nav_sat_t(); - - class nav_t : public kaitai::kstruct { - - public: - - nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~nav_t(); - - private: - gnss_type_t m_gnss_id; - uint8_t m_sv_id; - uint8_t m_cno; - int8_t m_elev; - int16_t m_azim; - int16_t m_pr_res; - uint32_t m_flags; - ubx_t* m__root; - ubx_t::nav_sat_t* m__parent; - - public: - gnss_type_t gnss_id() const { return m_gnss_id; } - uint8_t sv_id() const { return m_sv_id; } - uint8_t cno() const { return m_cno; } - int8_t elev() const { return m_elev; } - int16_t azim() const { return m_azim; } - int16_t pr_res() const { return m_pr_res; } - uint32_t flags() const { return m_flags; } - ubx_t* _root() const { return m__root; } - ubx_t::nav_sat_t* _parent() const { return m__parent; } - }; - - private: - uint32_t m_itow; - uint8_t m_version; - uint8_t m_num_svs; - std::string m_reserved; - std::vector* m_svs; - ubx_t* m__root; - ubx_t* m__parent; - std::vector* m__raw_svs; - std::vector* m__io__raw_svs; - - public: - uint32_t itow() const { return m_itow; } - uint8_t version() const { return m_version; } - uint8_t num_svs() const { return m_num_svs; } - std::string reserved() const { return m_reserved; } - std::vector* svs() const { return m_svs; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - std::vector* _raw_svs() const { return m__raw_svs; } - std::vector* _io__raw_svs() const { return m__io__raw_svs; } - }; - - class nav_pvt_t : public kaitai::kstruct { - - public: - - nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~nav_pvt_t(); - - private: - uint32_t m_i_tow; - uint16_t m_year; - uint8_t m_month; - uint8_t m_day; - uint8_t m_hour; - uint8_t m_min; - uint8_t m_sec; - uint8_t m_valid; - uint32_t m_t_acc; - int32_t m_nano; - uint8_t m_fix_type; - uint8_t m_flags; - uint8_t m_flags2; - uint8_t m_num_sv; - int32_t m_lon; - int32_t m_lat; - int32_t m_height; - int32_t m_h_msl; - uint32_t m_h_acc; - uint32_t m_v_acc; - int32_t m_vel_n; - int32_t m_vel_e; - int32_t m_vel_d; - int32_t m_g_speed; - int32_t m_head_mot; - int32_t m_s_acc; - uint32_t m_head_acc; - uint16_t m_p_dop; - uint8_t m_flags3; - std::string m_reserved1; - int32_t m_head_veh; - int16_t m_mag_dec; - uint16_t m_mag_acc; - ubx_t* m__root; - ubx_t* m__parent; - - public: - uint32_t i_tow() const { return m_i_tow; } - uint16_t year() const { return m_year; } - uint8_t month() const { return m_month; } - uint8_t day() const { return m_day; } - uint8_t hour() const { return m_hour; } - uint8_t min() const { return m_min; } - uint8_t sec() const { return m_sec; } - uint8_t valid() const { return m_valid; } - uint32_t t_acc() const { return m_t_acc; } - int32_t nano() const { return m_nano; } - uint8_t fix_type() const { return m_fix_type; } - uint8_t flags() const { return m_flags; } - uint8_t flags2() const { return m_flags2; } - uint8_t num_sv() const { return m_num_sv; } - int32_t lon() const { return m_lon; } - int32_t lat() const { return m_lat; } - int32_t height() const { return m_height; } - int32_t h_msl() const { return m_h_msl; } - uint32_t h_acc() const { return m_h_acc; } - uint32_t v_acc() const { return m_v_acc; } - int32_t vel_n() const { return m_vel_n; } - int32_t vel_e() const { return m_vel_e; } - int32_t vel_d() const { return m_vel_d; } - int32_t g_speed() const { return m_g_speed; } - int32_t head_mot() const { return m_head_mot; } - int32_t s_acc() const { return m_s_acc; } - uint32_t head_acc() const { return m_head_acc; } - uint16_t p_dop() const { return m_p_dop; } - uint8_t flags3() const { return m_flags3; } - std::string reserved1() const { return m_reserved1; } - int32_t head_veh() const { return m_head_veh; } - int16_t mag_dec() const { return m_mag_dec; } - uint16_t mag_acc() const { return m_mag_acc; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - - class mon_hw2_t : public kaitai::kstruct { - - public: - - enum config_source_t { - CONFIG_SOURCE_FLASH = 102, - CONFIG_SOURCE_OTP = 111, - CONFIG_SOURCE_CONFIG_PINS = 112, - CONFIG_SOURCE_ROM = 113 - }; - - mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~mon_hw2_t(); - - private: - int8_t m_ofs_i; - uint8_t m_mag_i; - int8_t m_ofs_q; - uint8_t m_mag_q; - config_source_t m_cfg_source; - std::string m_reserved1; - uint32_t m_low_lev_cfg; - std::string m_reserved2; - uint32_t m_post_status; - std::string m_reserved3; - ubx_t* m__root; - ubx_t* m__parent; - - public: - int8_t ofs_i() const { return m_ofs_i; } - uint8_t mag_i() const { return m_mag_i; } - int8_t ofs_q() const { return m_ofs_q; } - uint8_t mag_q() const { return m_mag_q; } - config_source_t cfg_source() const { return m_cfg_source; } - std::string reserved1() const { return m_reserved1; } - uint32_t low_lev_cfg() const { return m_low_lev_cfg; } - std::string reserved2() const { return m_reserved2; } - uint32_t post_status() const { return m_post_status; } - std::string reserved3() const { return m_reserved3; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - - class mon_hw_t : public kaitai::kstruct { - - public: - - enum antenna_status_t { - ANTENNA_STATUS_INIT = 0, - ANTENNA_STATUS_DONTKNOW = 1, - ANTENNA_STATUS_OK = 2, - ANTENNA_STATUS_SHORT = 3, - ANTENNA_STATUS_OPEN = 4 - }; - - enum antenna_power_t { - ANTENNA_POWER_FALSE = 0, - ANTENNA_POWER_TRUE = 1, - ANTENNA_POWER_DONTKNOW = 2 - }; - - mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~mon_hw_t(); - - private: - uint32_t m_pin_sel; - uint32_t m_pin_bank; - uint32_t m_pin_dir; - uint32_t m_pin_val; - uint16_t m_noise_per_ms; - uint16_t m_agc_cnt; - antenna_status_t m_a_status; - antenna_power_t m_a_power; - uint8_t m_flags; - std::string m_reserved1; - uint32_t m_used_mask; - std::string m_vp; - uint8_t m_jam_ind; - std::string m_reserved2; - uint32_t m_pin_irq; - uint32_t m_pull_h; - uint32_t m_pull_l; - ubx_t* m__root; - ubx_t* m__parent; - - public: - uint32_t pin_sel() const { return m_pin_sel; } - uint32_t pin_bank() const { return m_pin_bank; } - uint32_t pin_dir() const { return m_pin_dir; } - uint32_t pin_val() const { return m_pin_val; } - uint16_t noise_per_ms() const { return m_noise_per_ms; } - uint16_t agc_cnt() const { return m_agc_cnt; } - antenna_status_t a_status() const { return m_a_status; } - antenna_power_t a_power() const { return m_a_power; } - uint8_t flags() const { return m_flags; } - std::string reserved1() const { return m_reserved1; } - uint32_t used_mask() const { return m_used_mask; } - std::string vp() const { return m_vp; } - uint8_t jam_ind() const { return m_jam_ind; } - std::string reserved2() const { return m_reserved2; } - uint32_t pin_irq() const { return m_pin_irq; } - uint32_t pull_h() const { return m_pull_h; } - uint32_t pull_l() const { return m_pull_l; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - -private: - bool f_checksum; - uint16_t m_checksum; - -public: - uint16_t checksum(); - -private: - std::string m_magic; - uint16_t m_msg_type; - uint16_t m_length; - kaitai::kstruct* m_body; - bool n_body; - -public: - bool _is_null_body() { body(); return n_body; }; - -private: - ubx_t* m__root; - kaitai::kstruct* m__parent; - -public: - std::string magic() const { return m_magic; } - uint16_t msg_type() const { return m_msg_type; } - uint16_t length() const { return m_length; } - kaitai::kstruct* body() const { return m_body; } - ubx_t* _root() const { return m__root; } - kaitai::kstruct* _parent() const { return m__parent; } -}; - -#endif // UBX_H_ diff --git a/system/ubloxd/generated/ubx.py b/system/ubloxd/generated/ubx.py new file mode 100644 index 000000000..994658438 --- /dev/null +++ b/system/ubloxd/generated/ubx.py @@ -0,0 +1,273 @@ +# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +import kaitaistruct +from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO +from enum import Enum + + +if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): + raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) + +class Ubx(KaitaiStruct): + + class GnssType(Enum): + gps = 0 + sbas = 1 + galileo = 2 + beidou = 3 + imes = 4 + qzss = 5 + glonass = 6 + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.magic = self._io.read_bytes(2) + if not self.magic == b"\xB5\x62": + raise kaitaistruct.ValidationNotEqualError(b"\xB5\x62", self.magic, self._io, u"/seq/0") + self.msg_type = self._io.read_u2be() + self.length = self._io.read_u2le() + _on = self.msg_type + if _on == 2569: + self.body = Ubx.MonHw(self._io, self, self._root) + elif _on == 533: + self.body = Ubx.RxmRawx(self._io, self, self._root) + elif _on == 531: + self.body = Ubx.RxmSfrbx(self._io, self, self._root) + elif _on == 309: + self.body = Ubx.NavSat(self._io, self, self._root) + elif _on == 2571: + self.body = Ubx.MonHw2(self._io, self, self._root) + elif _on == 263: + self.body = Ubx.NavPvt(self._io, self, self._root) + + class RxmRawx(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.rcv_tow = self._io.read_f8le() + self.week = self._io.read_u2le() + self.leap_s = self._io.read_s1() + self.num_meas = self._io.read_u1() + self.rec_stat = self._io.read_u1() + self.reserved1 = self._io.read_bytes(3) + self._raw_meas = [] + self.meas = [] + for i in range(self.num_meas): + self._raw_meas.append(self._io.read_bytes(32)) + _io__raw_meas = KaitaiStream(BytesIO(self._raw_meas[i])) + self.meas.append(Ubx.RxmRawx.Measurement(_io__raw_meas, self, self._root)) + + + class Measurement(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.pr_mes = self._io.read_f8le() + self.cp_mes = self._io.read_f8le() + self.do_mes = self._io.read_f4le() + self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1()) + self.sv_id = self._io.read_u1() + self.reserved2 = self._io.read_bytes(1) + self.freq_id = self._io.read_u1() + self.lock_time = self._io.read_u2le() + self.cno = self._io.read_u1() + self.pr_stdev = self._io.read_u1() + self.cp_stdev = self._io.read_u1() + self.do_stdev = self._io.read_u1() + self.trk_stat = self._io.read_u1() + self.reserved3 = self._io.read_bytes(1) + + + + class RxmSfrbx(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1()) + self.sv_id = self._io.read_u1() + self.reserved1 = self._io.read_bytes(1) + self.freq_id = self._io.read_u1() + self.num_words = self._io.read_u1() + self.reserved2 = self._io.read_bytes(1) + self.version = self._io.read_u1() + self.reserved3 = self._io.read_bytes(1) + self.body = [] + for i in range(self.num_words): + self.body.append(self._io.read_u4le()) + + + + class NavSat(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.itow = self._io.read_u4le() + self.version = self._io.read_u1() + self.num_svs = self._io.read_u1() + self.reserved = self._io.read_bytes(2) + self._raw_svs = [] + self.svs = [] + for i in range(self.num_svs): + self._raw_svs.append(self._io.read_bytes(12)) + _io__raw_svs = KaitaiStream(BytesIO(self._raw_svs[i])) + self.svs.append(Ubx.NavSat.Nav(_io__raw_svs, self, self._root)) + + + class Nav(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.gnss_id = KaitaiStream.resolve_enum(Ubx.GnssType, self._io.read_u1()) + self.sv_id = self._io.read_u1() + self.cno = self._io.read_u1() + self.elev = self._io.read_s1() + self.azim = self._io.read_s2le() + self.pr_res = self._io.read_s2le() + self.flags = self._io.read_u4le() + + + + class NavPvt(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.i_tow = self._io.read_u4le() + self.year = self._io.read_u2le() + self.month = self._io.read_u1() + self.day = self._io.read_u1() + self.hour = self._io.read_u1() + self.min = self._io.read_u1() + self.sec = self._io.read_u1() + self.valid = self._io.read_u1() + self.t_acc = self._io.read_u4le() + self.nano = self._io.read_s4le() + self.fix_type = self._io.read_u1() + self.flags = self._io.read_u1() + self.flags2 = self._io.read_u1() + self.num_sv = self._io.read_u1() + self.lon = self._io.read_s4le() + self.lat = self._io.read_s4le() + self.height = self._io.read_s4le() + self.h_msl = self._io.read_s4le() + self.h_acc = self._io.read_u4le() + self.v_acc = self._io.read_u4le() + self.vel_n = self._io.read_s4le() + self.vel_e = self._io.read_s4le() + self.vel_d = self._io.read_s4le() + self.g_speed = self._io.read_s4le() + self.head_mot = self._io.read_s4le() + self.s_acc = self._io.read_s4le() + self.head_acc = self._io.read_u4le() + self.p_dop = self._io.read_u2le() + self.flags3 = self._io.read_u1() + self.reserved1 = self._io.read_bytes(5) + self.head_veh = self._io.read_s4le() + self.mag_dec = self._io.read_s2le() + self.mag_acc = self._io.read_u2le() + + + class MonHw2(KaitaiStruct): + + class ConfigSource(Enum): + flash = 102 + otp = 111 + config_pins = 112 + rom = 113 + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.ofs_i = self._io.read_s1() + self.mag_i = self._io.read_u1() + self.ofs_q = self._io.read_s1() + self.mag_q = self._io.read_u1() + self.cfg_source = KaitaiStream.resolve_enum(Ubx.MonHw2.ConfigSource, self._io.read_u1()) + self.reserved1 = self._io.read_bytes(3) + self.low_lev_cfg = self._io.read_u4le() + self.reserved2 = self._io.read_bytes(8) + self.post_status = self._io.read_u4le() + self.reserved3 = self._io.read_bytes(4) + + + class MonHw(KaitaiStruct): + + class AntennaStatus(Enum): + init = 0 + dontknow = 1 + ok = 2 + short = 3 + open = 4 + + class AntennaPower(Enum): + false = 0 + true = 1 + dontknow = 2 + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.pin_sel = self._io.read_u4le() + self.pin_bank = self._io.read_u4le() + self.pin_dir = self._io.read_u4le() + self.pin_val = self._io.read_u4le() + self.noise_per_ms = self._io.read_u2le() + self.agc_cnt = self._io.read_u2le() + self.a_status = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaStatus, self._io.read_u1()) + self.a_power = KaitaiStream.resolve_enum(Ubx.MonHw.AntennaPower, self._io.read_u1()) + self.flags = self._io.read_u1() + self.reserved1 = self._io.read_bytes(1) + self.used_mask = self._io.read_u4le() + self.vp = self._io.read_bytes(17) + self.jam_ind = self._io.read_u1() + self.reserved2 = self._io.read_bytes(2) + self.pin_irq = self._io.read_u4le() + self.pull_h = self._io.read_u4le() + self.pull_l = self._io.read_u4le() + + + @property + def checksum(self): + if hasattr(self, '_m_checksum'): + return self._m_checksum + + _pos = self._io.pos() + self._io.seek((self.length + 6)) + self._m_checksum = self._io.read_u2le() + self._io.seek(_pos) + return getattr(self, '_m_checksum', None) + + diff --git a/system/ubloxd/tests/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py deleted file mode 100755 index 8d190f9ec..000000000 --- a/system/ubloxd/tests/print_gps_stats.py +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env python3 -import time -import cereal.messaging as messaging - -if __name__ == "__main__": - sm = messaging.SubMaster(['ubloxGnss', 'gpsLocationExternal']) - - while 1: - ug = sm['ubloxGnss'] - gle = sm['gpsLocationExternal'] - - try: - cnos = [] - for m in ug.measurementReport.measurements: - cnos.append(m.cno) - print(f"Sats: {ug.measurementReport.numMeas} Accuracy: {gle.horizontalAccuracy:.2f} m cnos", sorted(cnos)) - except Exception: - pass - sm.update() - time.sleep(0.1) diff --git a/system/ubloxd/tests/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc deleted file mode 100644 index 96f43742b..000000000 --- a/system/ubloxd/tests/test_glonass_kaitai.cc +++ /dev/null @@ -1,360 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "catch2/catch.hpp" -#include "system/ubloxd/generated/glonass.h" - -typedef std::vector> string_data; - -#define IDLE_CHIP_IDX 0 -#define STRING_NUMBER_IDX 1 -// string data 1-5 -#define HC_IDX 0 -#define PAD1_IDX 1 -#define SUPERFRAME_IDX 2 -#define PAD2_IDX 3 -#define FRAME_IDX 4 - -// Indexes for string number 1 -#define ST1_NU_IDX 2 -#define ST1_P1_IDX 3 -#define ST1_T_K_IDX 4 -#define ST1_X_VEL_S_IDX 5 -#define ST1_X_VEL_V_IDX 6 -#define ST1_X_ACCEL_S_IDX 7 -#define ST1_X_ACCEL_V_IDX 8 -#define ST1_X_S_IDX 9 -#define ST1_X_V_IDX 10 -#define ST1_HC_OFF 11 - -// Indexes for string number 2 -#define ST2_BN_IDX 2 -#define ST2_P2_IDX 3 -#define ST2_TB_IDX 4 -#define ST2_NU_IDX 5 -#define ST2_Y_VEL_S_IDX 6 -#define ST2_Y_VEL_V_IDX 7 -#define ST2_Y_ACCEL_S_IDX 8 -#define ST2_Y_ACCEL_V_IDX 9 -#define ST2_Y_S_IDX 10 -#define ST2_Y_V_IDX 11 -#define ST2_HC_OFF 12 - -// Indexes for string number 3 -#define ST3_P3_IDX 2 -#define ST3_GAMMA_N_S_IDX 3 -#define ST3_GAMMA_N_V_IDX 4 -#define ST3_NU_1_IDX 5 -#define ST3_P_IDX 6 -#define ST3_L_N_IDX 7 -#define ST3_Z_VEL_S_IDX 8 -#define ST3_Z_VEL_V_IDX 9 -#define ST3_Z_ACCEL_S_IDX 10 -#define ST3_Z_ACCEL_V_IDX 11 -#define ST3_Z_S_IDX 12 -#define ST3_Z_V_IDX 13 -#define ST3_HC_OFF 14 - -// Indexes for string number 4 -#define ST4_TAU_N_S_IDX 2 -#define ST4_TAU_N_V_IDX 3 -#define ST4_DELTA_TAU_N_S_IDX 4 -#define ST4_DELTA_TAU_N_V_IDX 5 -#define ST4_E_N_IDX 6 -#define ST4_NU_1_IDX 7 -#define ST4_P4_IDX 8 -#define ST4_F_T_IDX 9 -#define ST4_NU_2_IDX 10 -#define ST4_N_T_IDX 11 -#define ST4_N_IDX 12 -#define ST4_M_IDX 13 -#define ST4_HC_OFF 14 - -// Indexes for string number 5 -#define ST5_N_A_IDX 2 -#define ST5_TAU_C_IDX 3 -#define ST5_NU_IDX 4 -#define ST5_N_4_IDX 5 -#define ST5_TAU_GPS_IDX 6 -#define ST5_L_N_IDX 7 -#define ST5_HC_OFF 8 - -// Indexes for non immediate -#define ST6_DATA_1_IDX 2 -#define ST6_DATA_2_IDX 3 -#define ST6_HC_OFF 4 - - -std::string generate_inp_data(string_data& data) { - std::string inp_data = ""; - for (auto& [b, v] : data) { - std::string tmp = std::bitset<64>(v).to_string(); - inp_data += tmp.substr(64-b, b); - } - assert(inp_data.size() == 128); - - std::string string_data; - string_data.reserve(16); - for (int i = 0; i < 128; i+=8) { - std::string substr = inp_data.substr(i, 8); - string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2)); - } - - return string_data; -} - -string_data generate_string_data(uint8_t string_number) { - - srand((unsigned)time(0)); - string_data data; // - data.push_back({1, 0}); // idle chip - data.push_back({4, string_number}); // string number - - if (string_number == 1) { - data.push_back({2, 3}); // not_used - data.push_back({2, 1}); // p1 - data.push_back({12, 113}); // t_k - data.push_back({1, rand() & 1}); // x_vel_sign - data.push_back({23, 7122}); // x_vel_value - data.push_back({1, rand() & 1}); // x_accel_sign - data.push_back({4, 3}); // x_accel_value - data.push_back({1, rand() & 1}); // x_sign - data.push_back({26, 33554431}); // x_value - } else if (string_number == 2) { - data.push_back({3, 3}); // b_n - data.push_back({1, 1}); // p2 - data.push_back({7, 123}); // t_b - data.push_back({5, 31}); // not_used - data.push_back({1, rand() & 1}); // y_vel_sign - data.push_back({23, 7422}); // y_vel_value - data.push_back({1, rand() & 1}); // y_accel_sign - data.push_back({4, 3}); // y_accel_value - data.push_back({1, rand() & 1}); // y_sign - data.push_back({26, 67108863}); // y_value - } else if (string_number == 3) { - data.push_back({1, 0}); // p3 - data.push_back({1, 1}); // gamma_n_sign - data.push_back({10, 123}); // gamma_n_value - data.push_back({1, 0}); // not_used - data.push_back({2, 2}); // p - data.push_back({1, 1}); // l_n - data.push_back({1, rand() & 1}); // z_vel_sign - data.push_back({23, 1337}); // z_vel_value - data.push_back({1, rand() & 1}); // z_accel_sign - data.push_back({4, 9}); // z_accel_value - data.push_back({1, rand() & 1}); // z_sign - data.push_back({26, 100023}); // z_value - } else if (string_number == 4) { - data.push_back({1, rand() & 1}); // tau_n_sign - data.push_back({21, 197152}); // tau_n_value - data.push_back({1, rand() & 1}); // delta_tau_n_sign - data.push_back({4, 4}); // delta_tau_n_value - data.push_back({5, 0}); // e_n - data.push_back({14, 2}); // not_used_1 - data.push_back({1, 1}); // p4 - data.push_back({4, 9}); // f_t - data.push_back({3, 3}); // not_used_2 - data.push_back({11, 2047}); // n_t - data.push_back({5, 2}); // n - data.push_back({2, 1}); // m - } else if (string_number == 5) { - data.push_back({11, 2047}); // n_a - data.push_back({32, 4294767295}); // tau_c - data.push_back({1, 0}); // not_used_1 - data.push_back({5, 2}); // n_4 - data.push_back({22, 4114304}); // tau_gps - data.push_back({1, 0}); // l_n - } else { // non-immediate data is not parsed - data.push_back({64, rand()}); // data_1 - data.push_back({8, 6}); // data_2 - } - - data.push_back({8, rand() & 0xFF}); // hamming code - data.push_back({11, rand() & 0x7FF}); // pad - data.push_back({16, rand() & 0xFFFF}); // superframe - data.push_back({8, rand() & 0xFF}); // pad - data.push_back({8, rand() & 0xFF}); // frame - return data; -} - -TEST_CASE("parse_string_number_1"){ - string_data data = generate_string_data(1); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST1_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST1_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST1_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST1_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST1_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str1(inp_data); - glonass_t str1_data(&str1); - glonass_t::string_1_t* s1 = static_cast(str1_data.data()); - - REQUIRE(s1->not_used() == data[ST1_NU_IDX].second); - REQUIRE(s1->p1() == data[ST1_P1_IDX].second); - REQUIRE(s1->t_k() == data[ST1_T_K_IDX].second); - - int mul = s1->x_vel_sign() ? (-1) : 1; - REQUIRE(s1->x_vel() == (data[ST1_X_VEL_V_IDX].second * mul)); - mul = s1->x_accel_sign() ? (-1) : 1; - REQUIRE(s1->x_accel() == (data[ST1_X_ACCEL_V_IDX].second * mul)); - mul = s1->x_sign() ? (-1) : 1; - REQUIRE(s1->x() == (data[ST1_X_V_IDX].second * mul)); -} - -TEST_CASE("parse_string_number_2"){ - string_data data = generate_string_data(2); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST2_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST2_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST2_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST2_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST2_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str2(inp_data); - glonass_t str2_data(&str2); - glonass_t::string_2_t* s2 = static_cast(str2_data.data()); - - REQUIRE(s2->b_n() == data[ST2_BN_IDX].second); - REQUIRE(s2->not_used() == data[ST2_NU_IDX].second); - REQUIRE(s2->p2() == data[ST2_P2_IDX].second); - REQUIRE(s2->t_b() == data[ST2_TB_IDX].second); - int mul = s2->y_vel_sign() ? (-1) : 1; - REQUIRE(s2->y_vel() == (data[ST2_Y_VEL_V_IDX].second * mul)); - mul = s2->y_accel_sign() ? (-1) : 1; - REQUIRE(s2->y_accel() == (data[ST2_Y_ACCEL_V_IDX].second * mul)); - mul = s2->y_sign() ? (-1) : 1; - REQUIRE(s2->y() == (data[ST2_Y_V_IDX].second * mul)); -} - -TEST_CASE("parse_string_number_3"){ - string_data data = generate_string_data(3); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST3_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST3_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST3_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST3_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST3_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str3(inp_data); - glonass_t str3_data(&str3); - glonass_t::string_3_t* s3 = static_cast(str3_data.data()); - - REQUIRE(s3->p3() == data[ST3_P3_IDX].second); - int mul = s3->gamma_n_sign() ? (-1) : 1; - REQUIRE(s3->gamma_n() == (data[ST3_GAMMA_N_V_IDX].second * mul)); - REQUIRE(s3->not_used() == data[ST3_NU_1_IDX].second); - REQUIRE(s3->p() == data[ST3_P_IDX].second); - REQUIRE(s3->l_n() == data[ST3_L_N_IDX].second); - mul = s3->z_vel_sign() ? (-1) : 1; - REQUIRE(s3->z_vel() == (data[ST3_Z_VEL_V_IDX].second * mul)); - mul = s3->z_accel_sign() ? (-1) : 1; - REQUIRE(s3->z_accel() == (data[ST3_Z_ACCEL_V_IDX].second * mul)); - mul = s3->z_sign() ? (-1) : 1; - REQUIRE(s3->z() == (data[ST3_Z_V_IDX].second * mul)); -} - -TEST_CASE("parse_string_number_4"){ - string_data data = generate_string_data(4); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST4_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST4_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST4_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST4_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST4_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str4(inp_data); - glonass_t str4_data(&str4); - glonass_t::string_4_t* s4 = static_cast(str4_data.data()); - - int mul = s4->tau_n_sign() ? (-1) : 1; - REQUIRE(s4->tau_n() == (data[ST4_TAU_N_V_IDX].second * mul)); - mul = s4->delta_tau_n_sign() ? (-1) : 1; - REQUIRE(s4->delta_tau_n() == (data[ST4_DELTA_TAU_N_V_IDX].second * mul)); - REQUIRE(s4->e_n() == data[ST4_E_N_IDX].second); - REQUIRE(s4->not_used_1() == data[ST4_NU_1_IDX].second); - REQUIRE(s4->p4() == data[ST4_P4_IDX].second); - REQUIRE(s4->f_t() == data[ST4_F_T_IDX].second); - REQUIRE(s4->not_used_2() == data[ST4_NU_2_IDX].second); - REQUIRE(s4->n_t() == data[ST4_N_T_IDX].second); - REQUIRE(s4->n() == data[ST4_N_IDX].second); - REQUIRE(s4->m() == data[ST4_M_IDX].second); -} - -TEST_CASE("parse_string_number_5"){ - string_data data = generate_string_data(5); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST5_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST5_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST5_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST5_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST5_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str5(inp_data); - glonass_t str5_data(&str5); - glonass_t::string_5_t* s5 = static_cast(str5_data.data()); - - REQUIRE(s5->n_a() == data[ST5_N_A_IDX].second); - REQUIRE(s5->tau_c() == data[ST5_TAU_C_IDX].second); - REQUIRE(s5->not_used() == data[ST5_NU_IDX].second); - REQUIRE(s5->n_4() == data[ST5_N_4_IDX].second); - REQUIRE(s5->tau_gps() == data[ST5_TAU_GPS_IDX].second); - REQUIRE(s5->l_n() == data[ST5_L_N_IDX].second); -} - -TEST_CASE("parse_string_number_NI"){ - string_data data = generate_string_data((rand() % 10) + 6); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST6_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST6_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST6_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST6_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST6_HC_OFF + FRAME_IDX].second); - - kaitai::kstream strni(inp_data); - glonass_t strni_data(&strni); - glonass_t::string_non_immediate_t* sni = static_cast(strni_data.data()); - - REQUIRE(sni->data_1() == data[ST6_DATA_1_IDX].second); - REQUIRE(sni->data_2() == data[ST6_DATA_2_IDX].second); -} diff --git a/system/ubloxd/tests/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc deleted file mode 100644 index 62bf7476a..000000000 --- a/system/ubloxd/tests/test_glonass_runner.cc +++ /dev/null @@ -1,2 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc deleted file mode 100644 index 728f3b15f..000000000 --- a/system/ubloxd/ublox_msg.cc +++ /dev/null @@ -1,530 +0,0 @@ -#include "system/ubloxd/ublox_msg.h" - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "common/swaglog.h" - -const double gpsPi = 3.1415926535898; -#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4]) - -inline static bool bit_to_bool(uint8_t val, int shifts) { - return (bool)(val & (1 << shifts)); -} - -inline int UbloxMsgParser::needed_bytes() { - // Msg header incomplete? - if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE) - return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf; - uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE; - // too much data - if (needed < (uint16_t)bytes_in_parse_buf) - return -1; - return needed - (uint16_t)bytes_in_parse_buf; -} - -inline bool UbloxMsgParser::valid_cheksum() { - uint8_t ck_a = 0, ck_b = 0; - for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE; i++) { - ck_a = (ck_a + msg_parse_buf[i]) & 0xFF; - ck_b = (ck_b + ck_a) & 0xFF; - } - if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) { - LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]); - return false; - } - if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) { - LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]); - return false; - } - return true; -} - -inline bool UbloxMsgParser::valid() { - return bytes_in_parse_buf >= ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE && - needed_bytes() == 0 && valid_cheksum(); -} - -inline bool UbloxMsgParser::valid_so_far() { - if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) { - return false; - } - if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) { - return false; - } - if (needed_bytes() == 0 && !valid()) { - return false; - } - return true; -} - -bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { - last_log_time = log_time; - int needed = needed_bytes(); - if (needed > 0) { - bytes_consumed = std::min((uint32_t)needed, incoming_data_len); - // Add data to buffer - memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed); - bytes_in_parse_buf += bytes_consumed; - } else { - bytes_consumed = incoming_data_len; - } - - // Validate msg format, detect invalid header and invalid checksum. - while (!valid_so_far() && bytes_in_parse_buf != 0) { - // Corrupted msg, drop a byte. - bytes_in_parse_buf -= 1; - if (bytes_in_parse_buf > 0) - memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf); - } - - // There is redundant data at the end of buffer, reset the buffer. - if (needed_bytes() == -1) { - bytes_in_parse_buf = 0; - } - return valid(); -} - - -std::pair> UbloxMsgParser::gen_msg() { - std::string dat = data(); - kaitai::kstream stream(dat); - - ubx_t ubx_message(&stream); - auto body = ubx_message.body(); - - switch (ubx_message.msg_type()) { - case 0x0107: - return {"gpsLocationExternal", gen_nav_pvt(static_cast(body))}; - case 0x0213: // UBX-RXM-SFRB (Broadcast Navigation Data Subframe) - return {"ubloxGnss", gen_rxm_sfrbx(static_cast(body))}; - case 0x0215: // UBX-RXM-RAW (Multi-GNSS Raw Measurement Data) - return {"ubloxGnss", gen_rxm_rawx(static_cast(body))}; - case 0x0a09: - return {"ubloxGnss", gen_mon_hw(static_cast(body))}; - case 0x0a0b: - return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; - case 0x0135: - return {"ubloxGnss", gen_nav_sat(static_cast(body))}; - default: - LOGE("Unknown message type %x", ubx_message.msg_type()); - return {"ubloxGnss", kj::Array()}; - } -} - - -kj::Array UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) { - MessageBuilder msg_builder; - auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal(); - gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX); - gpsLoc.setFlags(msg->flags()); - gpsLoc.setHasFix((msg->flags() % 2) == 1); - gpsLoc.setLatitude(msg->lat() * 1e-07); - gpsLoc.setLongitude(msg->lon() * 1e-07); - gpsLoc.setAltitude(msg->height() * 1e-03); - gpsLoc.setSpeed(msg->g_speed() * 1e-03); - gpsLoc.setBearingDeg(msg->head_mot() * 1e-5); - gpsLoc.setHorizontalAccuracy(msg->h_acc() * 1e-03); - gpsLoc.setSatelliteCount(msg->num_sv()); - std::tm timeinfo = std::tm(); - timeinfo.tm_year = msg->year() - 1900; - timeinfo.tm_mon = msg->month() - 1; - timeinfo.tm_mday = msg->day(); - timeinfo.tm_hour = msg->hour(); - timeinfo.tm_min = msg->min(); - timeinfo.tm_sec = msg->sec(); - - std::time_t utc_tt = timegm(&timeinfo); - gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06); - float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f }; - gpsLoc.setVNED(f); - gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03); - gpsLoc.setSpeedAccuracy(msg->s_acc() * 1e-03); - gpsLoc.setBearingAccuracyDeg(msg->head_acc() * 1e-05); - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes - // We will first need to separate the data from the padding and parity - auto body = *msg->body(); - assert(body.size() == 10); - - std::string subframe_data; - subframe_data.reserve(30); - for (uint32_t word : body) { - word = word >> 6; // TODO: Verify parity - subframe_data.push_back(word >> 16); - subframe_data.push_back(word >> 8); - subframe_data.push_back(word >> 0); - } - - // Collect subframes in map and parse when we have all the parts - { - kaitai::kstream stream(subframe_data); - gps_t subframe(&stream); - - int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3 || subframe_id < 1) { - // don't parse almanac subframes - return kj::Array(); - } - gps_subframes[msg->sv_id()][subframe_id] = subframe_data; - } - - // publish if subframes 1-3 have been collected - if (gps_subframes[msg->sv_id()].size() == 3) { - MessageBuilder msg_builder; - auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris(); - eph.setSvId(msg->sv_id()); - - int iode_s2 = 0; - int iode_s3 = 0; - int iodc_lsb = 0; - int week; - - // Subframe 1 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][1]); - gps_t subframe(&stream); - gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - - // Each message is incremented to be greater or equal than week 1877 (2015-12-27). - // To skip this use the current_time argument - week = subframe_1->week_no(); - week += 1024; - if (week < 1877) { - week += 1024; - } - //eph.setGpsWeek(subframe_1->week_no()); - eph.setTgd(subframe_1->t_gd() * pow(2, -31)); - eph.setToc(subframe_1->t_oc() * pow(2, 4)); - eph.setAf2(subframe_1->af_2() * pow(2, -55)); - eph.setAf1(subframe_1->af_1() * pow(2, -43)); - eph.setAf0(subframe_1->af_0() * pow(2, -31)); - eph.setSvHealth(subframe_1->sv_health()); - eph.setTowCount(subframe.how()->tow_count()); - iodc_lsb = subframe_1->iodc_lsb(); - } - - // Subframe 2 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][2]); - gps_t subframe(&stream); - gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); - - // GPS week refers to current week, the ephemeris can be valid for the next - // if toe equals 0, this can be verified by the TOW count if it is within the - // last 2 hours of the week (gps ephemeris valid for 4hours) - if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){ - week += 1; - } - eph.setCrs(subframe_2->c_rs() * pow(2, -5)); - eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); - eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); - eph.setCuc(subframe_2->c_uc() * pow(2, -29)); - eph.setEcc(subframe_2->e() * pow(2, -33)); - eph.setCus(subframe_2->c_us() * pow(2, -29)); - eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0)); - eph.setToe(subframe_2->t_oe() * pow(2, 4)); - iode_s2 = subframe_2->iode(); - } - - // Subframe 3 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][3]); - gps_t subframe(&stream); - gps_t::subframe_3_t* subframe_3 = static_cast(subframe.body()); - - eph.setCic(subframe_3->c_ic() * pow(2, -29)); - eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi); - eph.setCis(subframe_3->c_is() * pow(2, -29)); - eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi); - eph.setCrc(subframe_3->c_rc() * pow(2, -5)); - eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi); - eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi); - eph.setIode(subframe_3->iode()); - eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi); - iode_s3 = subframe_3->iode(); - } - - eph.setToeWeek(week); - eph.setTocWeek(week); - - gps_subframes[msg->sv_id()].clear(); - if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) { - // data set cutover, reject ephemeris - return kj::Array(); - } - return capnp::messageToFlatArray(msg_builder); - } - return kj::Array(); -} - -kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - // This parser assumes that no 2 satellites of the same frequency - // can be in view at the same time - auto body = *msg->body(); - assert(body.size() == 4); - { - std::string string_data; - string_data.reserve(16); - for (uint32_t word : body) { - for (int i = 3; i >= 0; i--) - string_data.push_back(word >> 8*i); - } - - kaitai::kstream stream(string_data); - glonass_t gl_string(&stream); - int string_number = gl_string.string_number(); - if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { - // don't parse non immediate data, idle_chip == 0 - return kj::Array(); - } - - // Check if new string either has same superframe_id or log transmission times make sense - bool superframe_unknown = false; - bool needs_clear = false; - for (int i = 1; i <= 5; i++) { - if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end()) - continue; - if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { - superframe_unknown = true; - } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { - needs_clear = true; - } - // Check if string times add up to being from the same frame - // If superframe is known this is redundant - // Strings are sent 2s apart and frames are 30s apart - if (superframe_unknown && - std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10) - needs_clear = true; - } - if (needs_clear) { - glonass_strings[msg->freq_id()].clear(); - glonass_string_superframes[msg->freq_id()].clear(); - glonass_string_times[msg->freq_id()].clear(); - } - glonass_strings[msg->freq_id()][string_number] = string_data; - glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number(); - glonass_string_times[msg->freq_id()][string_number] = last_log_time; - } - if (msg->sv_id() == 255) { - // data can be decoded before identifying the SV number, in this case 255 - // is returned, which means "unknown" (ublox p32) - return kj::Array(); - } - - // publish if strings 1-5 have been collected - if (glonass_strings[msg->freq_id()].size() != 5) { - return kj::Array(); - } - - MessageBuilder msg_builder; - auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris(); - eph.setSvId(msg->sv_id()); - eph.setFreqNum(msg->freq_id() - 7); - - uint16_t current_day = 0; - uint16_t tk = 0; - - // string number 1 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][1]); - glonass_t gl_stream(&stream); - glonass_t::string_1_t* data = static_cast(gl_stream.data()); - - eph.setP1(data->p1()); - tk = data->t_k(); - eph.setTkDEPRECATED(tk); - eph.setXVel(data->x_vel() * pow(2, -20)); - eph.setXAccel(data->x_accel() * pow(2, -30)); - eph.setX(data->x() * pow(2, -11)); - } - - // string number 2 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][2]); - glonass_t gl_stream(&stream); - glonass_t::string_2_t* data = static_cast(gl_stream.data()); - - eph.setSvHealth(data->b_n()>>2); // MSB indicates health - eph.setP2(data->p2()); - eph.setTb(data->t_b()); - eph.setYVel(data->y_vel() * pow(2, -20)); - eph.setYAccel(data->y_accel() * pow(2, -30)); - eph.setY(data->y() * pow(2, -11)); - } - - // string number 3 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][3]); - glonass_t gl_stream(&stream); - glonass_t::string_3_t* data = static_cast(gl_stream.data()); - - eph.setP3(data->p3()); - eph.setGammaN(data->gamma_n() * pow(2, -40)); - eph.setSvHealth(eph.getSvHealth() | data->l_n()); - eph.setZVel(data->z_vel() * pow(2, -20)); - eph.setZAccel(data->z_accel() * pow(2, -30)); - eph.setZ(data->z() * pow(2, -11)); - } - - // string number 4 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][4]); - glonass_t gl_stream(&stream); - glonass_t::string_4_t* data = static_cast(gl_stream.data()); - - current_day = data->n_t(); - eph.setNt(current_day); - eph.setTauN(data->tau_n() * pow(2, -30)); - eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30)); - eph.setAge(data->e_n()); - eph.setP4(data->p4()); - eph.setSvURA(glonass_URA_lookup.at(data->f_t())); - if (msg->sv_id() != data->n()) { - LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n()); - } - eph.setSvType(data->m()); - } - - // string number 5 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][5]); - glonass_t gl_stream(&stream); - glonass_t::string_5_t* data = static_cast(gl_stream.data()); - - // string5 parsing is only needed to get the year, this can be removed and - // the year can be fetched later in laika (note rollovers and leap year) - eph.setN4(data->n_4()); - int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30; - eph.setTkSeconds(tk_seconds); - } - - glonass_strings[msg->freq_id()].clear(); - return capnp::messageToFlatArray(msg_builder); -} - - -kj::Array UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) { - switch (msg->gnss_id()) { - case ubx_t::gnss_type_t::GNSS_TYPE_GPS: - return parse_gps_ephemeris(msg); - case ubx_t::gnss_type_t::GNSS_TYPE_GLONASS: - return parse_glonass_ephemeris(msg); - default: - return kj::Array(); - } -} - -kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { - MessageBuilder msg_builder; - auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport(); - mr.setRcvTow(msg->rcv_tow()); - mr.setGpsWeek(msg->week()); - mr.setLeapSeconds(msg->leap_s()); - mr.setGpsWeek(msg->week()); - - auto mb = mr.initMeasurements(msg->num_meas()); - auto measurements = *msg->meas(); - for (int8_t i = 0; i < msg->num_meas(); i++) { - mb[i].setSvId(measurements[i]->sv_id()); - mb[i].setPseudorange(measurements[i]->pr_mes()); - mb[i].setCarrierCycles(measurements[i]->cp_mes()); - mb[i].setDoppler(measurements[i]->do_mes()); - mb[i].setGnssId(measurements[i]->gnss_id()); - mb[i].setGlonassFrequencyIndex(measurements[i]->freq_id()); - mb[i].setLocktime(measurements[i]->lock_time()); - mb[i].setCno(measurements[i]->cno()); - mb[i].setPseudorangeStdev(0.01 * (pow(2, (measurements[i]->pr_stdev() & 15)))); // weird scaling, might be wrong - mb[i].setCarrierPhaseStdev(0.004 * (measurements[i]->cp_stdev() & 15)); - mb[i].setDopplerStdev(0.002 * (pow(2, (measurements[i]->do_stdev() & 15)))); // weird scaling, might be wrong - - auto ts = mb[i].initTrackingStatus(); - auto trk_stat = measurements[i]->trk_stat(); - ts.setPseudorangeValid(bit_to_bool(trk_stat, 0)); - ts.setCarrierPhaseValid(bit_to_bool(trk_stat, 1)); - ts.setHalfCycleValid(bit_to_bool(trk_stat, 2)); - ts.setHalfCycleSubtracted(bit_to_bool(trk_stat, 3)); - } - - mr.setNumMeas(msg->num_meas()); - auto rs = mr.initReceiverStatus(); - rs.setLeapSecValid(bit_to_bool(msg->rec_stat(), 0)); - rs.setClkReset(bit_to_bool(msg->rec_stat(), 2)); - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { - MessageBuilder msg_builder; - auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport(); - sr.setITow(msg->itow()); - - auto svs = sr.initSvs(msg->num_svs()); - auto svs_data = *msg->svs(); - for (int8_t i = 0; i < msg->num_svs(); i++) { - svs[i].setSvId(svs_data[i]->sv_id()); - svs[i].setGnssId(svs_data[i]->gnss_id()); - svs[i].setFlagsBitfield(svs_data[i]->flags()); - svs[i].setCno(svs_data[i]->cno()); - svs[i].setElevationDeg(svs_data[i]->elev()); - svs[i].setAzimuthDeg(svs_data[i]->azim()); - svs[i].setPseudorangeResidual(svs_data[i]->pr_res() * 0.1); - } - - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) { - MessageBuilder msg_builder; - auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus(); - hwStatus.setNoisePerMS(msg->noise_per_ms()); - hwStatus.setFlags(msg->flags()); - hwStatus.setAgcCnt(msg->agc_cnt()); - hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->a_status()); - hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->a_power()); - hwStatus.setJamInd(msg->jam_ind()); - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::gen_mon_hw2(ubx_t::mon_hw2_t *msg) { - MessageBuilder msg_builder; - auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus2(); - hwStatus.setOfsI(msg->ofs_i()); - hwStatus.setMagI(msg->mag_i()); - hwStatus.setOfsQ(msg->ofs_q()); - hwStatus.setMagQ(msg->mag_q()); - - switch (msg->cfg_source()) { - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_ROM: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::ROM); - break; - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_OTP: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::OTP); - break; - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_CONFIG_PINS: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::CONFIGPINS); - break; - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_FLASH: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::FLASH); - break; - default: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::UNDEFINED); - break; - } - - hwStatus.setLowLevCfg(msg->low_lev_cfg()); - hwStatus.setPostStatus(msg->post_status()); - - return capnp::messageToFlatArray(msg_builder); -} diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h deleted file mode 100644 index d21760edc..000000000 --- a/system/ubloxd/ublox_msg.h +++ /dev/null @@ -1,131 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/util.h" -#include "system/ubloxd/generated/gps.h" -#include "system/ubloxd/generated/glonass.h" -#include "system/ubloxd/generated/ubx.h" - -using namespace std::string_literals; - -const int SECS_IN_MIN = 60; -const int SECS_IN_HR = 60 * SECS_IN_MIN; -const int SECS_IN_DAY = 24 * SECS_IN_HR; -const int SECS_IN_WEEK = 7 * SECS_IN_DAY; - -// protocol constants -namespace ublox { - const uint8_t PREAMBLE1 = 0xb5; - const uint8_t PREAMBLE2 = 0x62; - - const int UBLOX_HEADER_SIZE = 6; - const int UBLOX_CHECKSUM_SIZE = 2; - const int UBLOX_MAX_MSG_SIZE = 65536; - - struct ubx_mga_ini_time_utc_t { - uint8_t type; - uint8_t version; - uint8_t ref; - int8_t leapSecs; - uint16_t year; - uint8_t month; - uint8_t day; - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t reserved1; - uint32_t ns; - uint16_t tAccS; - uint16_t reserved2; - uint32_t tAccNs; - } __attribute__((packed)); - - inline std::string ubx_add_checksum(const std::string &msg) { - assert(msg.size() > 2); - - uint8_t ck_a = 0, ck_b = 0; - for (int i = 2; i < msg.size(); i++) { - ck_a = (ck_a + msg[i]) & 0xFF; - ck_b = (ck_b + ck_a) & 0xFF; - } - - std::string r = msg; - r.push_back(ck_a); - r.push_back(ck_b); - return r; - } - - inline std::string build_ubx_mga_ini_time_utc(struct tm time) { - ublox::ubx_mga_ini_time_utc_t payload = { - .type = 0x10, - .version = 0x0, - .ref = 0x0, - .leapSecs = -128, // Unknown - .year = (uint16_t)(1900 + time.tm_year), - .month = (uint8_t)(1 + time.tm_mon), - .day = (uint8_t)time.tm_mday, - .hour = (uint8_t)time.tm_hour, - .minute = (uint8_t)time.tm_min, - .second = (uint8_t)time.tm_sec, - .reserved1 = 0x0, - .ns = 0, - .tAccS = 30, - .reserved2 = 0x0, - .tAccNs = 0, - }; - assert(sizeof(payload) == 24); - - std::string msg = "\xb5\x62\x13\x40\x18\x00"s; - msg += std::string((char*)&payload, sizeof(payload)); - - return ubx_add_checksum(msg); - } -} - -class UbloxMsgParser { - public: - bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); - inline void reset() {bytes_in_parse_buf = 0;} - inline int needed_bytes(); - inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} - - std::pair> gen_msg(); - kj::Array gen_nav_pvt(ubx_t::nav_pvt_t *msg); - kj::Array gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg); - kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); - kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); - kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); - kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); - - private: - inline bool valid_cheksum(); - inline bool valid(); - inline bool valid_so_far(); - - kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); - kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); - - std::unordered_map> gps_subframes; - - float last_log_time = 0.0; - size_t bytes_in_parse_buf = 0; - uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; - - // user range accuracy in meters - const std::unordered_map glonass_URA_lookup = - {{ 0, 1}, { 1, 2}, { 2, 2.5}, { 3, 4}, { 4, 5}, {5, 7}, - { 6, 10}, { 7, 12}, { 8, 14}, { 9, 16}, {10, 32}, - {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; - - std::unordered_map> glonass_strings; - std::unordered_map> glonass_string_times; - std::unordered_map> glonass_string_superframes; -}; diff --git a/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc deleted file mode 100644 index 4e7e91f83..000000000 --- a/system/ubloxd/ubloxd.cc +++ /dev/null @@ -1,62 +0,0 @@ -#include - -#include - -#include "cereal/messaging/messaging.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "system/ubloxd/ublox_msg.h" - -ExitHandler do_exit; -using namespace ublox; - -int main() { - LOGW("starting ubloxd"); - AlignedBuffer aligned_buf; - UbloxMsgParser parser; - - PubMaster pm({"ubloxGnss", "gpsLocationExternal"}); - - std::unique_ptr context(Context::create()); - std::unique_ptr subscriber(SubSocket::create(context.get(), "ubloxRaw")); - assert(subscriber != NULL); - subscriber->setTimeout(100); - - - while (!do_exit) { - std::unique_ptr msg(subscriber->receive()); - if (!msg) { - continue; - } - - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); - cereal::Event::Reader event = cmsg.getRoot(); - auto ubloxRaw = event.getUbloxRaw(); - float log_time = 1e-9 * event.getLogMonoTime(); - - const uint8_t *data = ubloxRaw.begin(); - size_t len = ubloxRaw.size(); - size_t bytes_consumed = 0; - - while (bytes_consumed < len && !do_exit) { - size_t bytes_consumed_this_time = 0U; - if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { - - try { - auto ublox_msg = parser.gen_msg(); - if (ublox_msg.second.size() > 0) { - auto bytes = ublox_msg.second.asBytes(); - pm.send(ublox_msg.first.c_str(), bytes.begin(), bytes.size()); - } - } catch (const std::exception& e) { - LOGE("Error parsing ublox message %s", e.what()); - } - - parser.reset(); - } - bytes_consumed += bytes_consumed_this_time; - } - } - - return 0; -} diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py new file mode 100755 index 000000000..84a926dd7 --- /dev/null +++ b/system/ubloxd/ubloxd.py @@ -0,0 +1,519 @@ +#!/usr/bin/env python3 +import math +import capnp +import calendar +import numpy as np +from collections import defaultdict +from dataclasses import dataclass + +from cereal import log +from cereal import messaging +from openpilot.system.ubloxd.generated.ubx import Ubx +from openpilot.system.ubloxd.generated.gps import Gps +from openpilot.system.ubloxd.generated.glonass import Glonass + + +SECS_IN_MIN = 60 +SECS_IN_HR = 60 * SECS_IN_MIN +SECS_IN_DAY = 24 * SECS_IN_HR +SECS_IN_WEEK = 7 * SECS_IN_DAY + + +class UbxFramer: + PREAMBLE1 = 0xB5 + PREAMBLE2 = 0x62 + HEADER_SIZE = 6 + CHECKSUM_SIZE = 2 + + def __init__(self) -> None: + self.buf = bytearray() + self.last_log_time = 0.0 + + def reset(self) -> None: + self.buf.clear() + + @staticmethod + def _checksum_ok(frame: bytes) -> bool: + ck_a = 0 + ck_b = 0 + for b in frame[2:-2]: + ck_a = (ck_a + b) & 0xFF + ck_b = (ck_b + ck_a) & 0xFF + return ck_a == frame[-2] and ck_b == frame[-1] + + def add_data(self, log_time: float, incoming: bytes) -> list[bytes]: + self.last_log_time = log_time + out: list[bytes] = [] + if not incoming: + return out + self.buf += incoming + + while True: + # find preamble + if len(self.buf) < 2: + break + start = self.buf.find(b"\xB5\x62") + if start < 0: + # no preamble in buffer + self.buf.clear() + break + if start > 0: + # drop garbage before preamble + self.buf = self.buf[start:] + + if len(self.buf) < self.HEADER_SIZE: + break + + length_le = int.from_bytes(self.buf[4:6], 'little', signed=False) + total_len = self.HEADER_SIZE + length_le + self.CHECKSUM_SIZE + if len(self.buf) < total_len: + break + + candidate = bytes(self.buf[:total_len]) + if self._checksum_ok(candidate): + out.append(candidate) + # consume this frame + self.buf = self.buf[total_len:] + else: + # drop first byte and retry + self.buf = self.buf[1:] + + return out + + +def _bit(b: int, shift: int) -> bool: + return (b & (1 << shift)) != 0 + + +@dataclass +class EphemerisCaches: + gps_subframes: defaultdict[int, dict[int, bytes]] + glonass_strings: defaultdict[int, dict[int, bytes]] + glonass_string_times: defaultdict[int, dict[int, float]] + glonass_string_superframes: defaultdict[int, dict[int, int]] + + +class UbloxMsgParser: + gpsPi = 3.1415926535898 + + # user range accuracy in meters + glonass_URA_lookup: dict[int, float] = { + 0: 1, 1: 2, 2: 2.5, 3: 4, 4: 5, 5: 7, + 6: 10, 7: 12, 8: 14, 9: 16, 10: 32, + 11: 64, 12: 128, 13: 256, 14: 512, 15: 1024, + } + + def __init__(self) -> None: + self.framer = UbxFramer() + self.caches = EphemerisCaches( + gps_subframes=defaultdict(dict), + glonass_strings=defaultdict(dict), + glonass_string_times=defaultdict(dict), + glonass_string_superframes=defaultdict(dict), + ) + + # Message generation entry point + def parse_frame(self, frame: bytes) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None: + # Quick header parse + msg_type = int.from_bytes(frame[2:4], 'big') + payload = frame[6:-2] + if msg_type == 0x0107: + body = Ubx.NavPvt.from_bytes(payload) + return self._gen_nav_pvt(body) + if msg_type == 0x0213: + # Manually parse RXM-SFRBX to avoid Kaitai EOF on some frames + if len(payload) < 8: + return None + gnss_id = payload[0] + sv_id = payload[1] + freq_id = payload[3] + num_words = payload[4] + exp = 8 + 4 * num_words + if exp != len(payload): + return None + words: list[int] = [] + off = 8 + for _ in range(num_words): + words.append(int.from_bytes(payload[off:off+4], 'little')) + off += 4 + + class _SfrbxView: + def __init__(self, gid: int, sid: int, fid: int, body: list[int]): + self.gnss_id = Ubx.GnssType(gid) + self.sv_id = sid + self.freq_id = fid + self.body = body + view = _SfrbxView(gnss_id, sv_id, freq_id, words) + return self._gen_rxm_sfrbx(view) + if msg_type == 0x0215: + body = Ubx.RxmRawx.from_bytes(payload) + return self._gen_rxm_rawx(body) + if msg_type == 0x0A09: + body = Ubx.MonHw.from_bytes(payload) + return self._gen_mon_hw(body) + if msg_type == 0x0A0B: + body = Ubx.MonHw2.from_bytes(payload) + return self._gen_mon_hw2(body) + if msg_type == 0x0135: + body = Ubx.NavSat.from_bytes(payload) + return self._gen_nav_sat(body) + return None + + # NAV-PVT -> gpsLocationExternal + def _gen_nav_pvt(self, msg: Ubx.NavPvt) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]: + dat = messaging.new_message('gpsLocationExternal', valid=True) + gps = dat.gpsLocationExternal + gps.source = log.GpsLocationData.SensorSource.ublox + gps.flags = msg.flags + gps.hasFix = (msg.flags % 2) == 1 + gps.latitude = msg.lat * 1e-07 + gps.longitude = msg.lon * 1e-07 + gps.altitude = msg.height * 1e-03 + gps.speed = msg.g_speed * 1e-03 + gps.bearingDeg = msg.head_mot * 1e-5 + gps.horizontalAccuracy = msg.h_acc * 1e-03 + gps.satelliteCount = msg.num_sv + + # build UTC timestamp millis (NAV-PVT is in UTC) + # tolerate invalid or unset date values like C++ timegm + try: + utc_tt = calendar.timegm((msg.year, msg.month, msg.day, msg.hour, msg.min, msg.sec, 0, 0, 0)) + except Exception: + utc_tt = 0 + gps.unixTimestampMillis = int(utc_tt * 1e3 + (msg.nano * 1e-6)) + + # match C++ float32 rounding semantics exactly + gps.vNED = [ + float(np.float32(msg.vel_n) * np.float32(1e-03)), + float(np.float32(msg.vel_e) * np.float32(1e-03)), + float(np.float32(msg.vel_d) * np.float32(1e-03)), + ] + gps.verticalAccuracy = msg.v_acc * 1e-03 + gps.speedAccuracy = msg.s_acc * 1e-03 + gps.bearingAccuracyDeg = msg.head_acc * 1e-05 + return ('gpsLocationExternal', dat) + + # RXM-SFRBX dispatch to GPS or GLONASS ephemeris + def _gen_rxm_sfrbx(self, msg) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None: + if msg.gnss_id == Ubx.GnssType.gps: + return self._parse_gps_ephemeris(msg) + if msg.gnss_id == Ubx.GnssType.glonass: + return self._parse_glonass_ephemeris(msg) + return None + + def _parse_gps_ephemeris(self, msg: Ubx.RxmSfrbx) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None: + # body is list of 10 words; convert to 30-byte subframe (strip parity/padding) + body = msg.body + if len(body) != 10: + return None + subframe_data = bytearray() + for word in body: + word >>= 6 + subframe_data.append((word >> 16) & 0xFF) + subframe_data.append((word >> 8) & 0xFF) + subframe_data.append(word & 0xFF) + + sf = Gps.from_bytes(bytes(subframe_data)) + subframe_id = sf.how.subframe_id + if subframe_id < 1 or subframe_id > 3: + return None + self.caches.gps_subframes[msg.sv_id][subframe_id] = bytes(subframe_data) + + if len(self.caches.gps_subframes[msg.sv_id]) != 3: + return None + + dat = messaging.new_message('ubloxGnss', valid=True) + eph = dat.ubloxGnss.init('ephemeris') + eph.svId = msg.sv_id + + iode_s2 = 0 + iode_s3 = 0 + iodc_lsb = 0 + week = 0 + + # Subframe 1 + sf1 = Gps.from_bytes(self.caches.gps_subframes[msg.sv_id][1]) + s1 = sf1.body + assert isinstance(s1, Gps.Subframe1) + week = s1.week_no + week += 1024 + if week < 1877: + week += 1024 + eph.tgd = s1.t_gd * math.pow(2, -31) + eph.toc = s1.t_oc * math.pow(2, 4) + eph.af2 = s1.af_2 * math.pow(2, -55) + eph.af1 = s1.af_1 * math.pow(2, -43) + eph.af0 = s1.af_0 * math.pow(2, -31) + eph.svHealth = s1.sv_health + eph.towCount = sf1.how.tow_count + iodc_lsb = s1.iodc_lsb + + # Subframe 2 + sf2 = Gps.from_bytes(self.caches.gps_subframes[msg.sv_id][2]) + s2 = sf2.body + assert isinstance(s2, Gps.Subframe2) + if s2.t_oe == 0 and sf2.how.tow_count * 6 >= (SECS_IN_WEEK - 2 * SECS_IN_HR): + week += 1 + eph.crs = s2.c_rs * math.pow(2, -5) + eph.deltaN = s2.delta_n * math.pow(2, -43) * self.gpsPi + eph.m0 = s2.m_0 * math.pow(2, -31) * self.gpsPi + eph.cuc = s2.c_uc * math.pow(2, -29) + eph.ecc = s2.e * math.pow(2, -33) + eph.cus = s2.c_us * math.pow(2, -29) + eph.a = math.pow(s2.sqrt_a * math.pow(2, -19), 2.0) + eph.toe = s2.t_oe * math.pow(2, 4) + iode_s2 = s2.iode + + # Subframe 3 + sf3 = Gps.from_bytes(self.caches.gps_subframes[msg.sv_id][3]) + s3 = sf3.body + assert isinstance(s3, Gps.Subframe3) + eph.cic = s3.c_ic * math.pow(2, -29) + eph.omega0 = s3.omega_0 * math.pow(2, -31) * self.gpsPi + eph.cis = s3.c_is * math.pow(2, -29) + eph.i0 = s3.i_0 * math.pow(2, -31) * self.gpsPi + eph.crc = s3.c_rc * math.pow(2, -5) + eph.omega = s3.omega * math.pow(2, -31) * self.gpsPi + eph.omegaDot = s3.omega_dot * math.pow(2, -43) * self.gpsPi + eph.iode = s3.iode + eph.iDot = s3.idot * math.pow(2, -43) * self.gpsPi + iode_s3 = s3.iode + + eph.toeWeek = week + eph.tocWeek = week + + # clear cache for this SV + self.caches.gps_subframes[msg.sv_id].clear() + if not (iodc_lsb == iode_s2 == iode_s3): + return None + return ('ubloxGnss', dat) + + def _parse_glonass_ephemeris(self, msg: Ubx.RxmSfrbx) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None: + # words are 4 bytes each; Glonass parser expects 16 bytes (string) + body = msg.body + if len(body) != 4: + return None + string_bytes = bytearray() + for word in body: + for i in (3, 2, 1, 0): + string_bytes.append((word >> (8 * i)) & 0xFF) + + gl = Glonass.from_bytes(bytes(string_bytes)) + string_number = gl.string_number + if string_number < 1 or string_number > 5 or gl.idle_chip: + return None + + # correlate by superframe and timing, similar to C++ logic + freq_id = msg.freq_id + superframe_unknown = False + needs_clear = False + for i in range(1, 6): + if i not in self.caches.glonass_strings[freq_id]: + continue + sf_prev = self.caches.glonass_string_superframes[freq_id].get(i, 0) + if sf_prev == 0 or gl.superframe_number == 0: + superframe_unknown = True + elif sf_prev != gl.superframe_number: + needs_clear = True + if superframe_unknown: + prev_time = self.caches.glonass_string_times[freq_id].get(i, 0.0) + if abs((prev_time - 2.0 * i) - (self.framer.last_log_time - 2.0 * string_number)) > 10: + needs_clear = True + + if needs_clear: + self.caches.glonass_strings[freq_id].clear() + self.caches.glonass_string_superframes[freq_id].clear() + self.caches.glonass_string_times[freq_id].clear() + + self.caches.glonass_strings[freq_id][string_number] = bytes(string_bytes) + self.caches.glonass_string_superframes[freq_id][string_number] = gl.superframe_number + self.caches.glonass_string_times[freq_id][string_number] = self.framer.last_log_time + + if msg.sv_id == 255: + # unknown SV id + return None + if len(self.caches.glonass_strings[freq_id]) != 5: + return None + + dat = messaging.new_message('ubloxGnss', valid=True) + eph = dat.ubloxGnss.init('glonassEphemeris') + eph.svId = msg.sv_id + eph.freqNum = msg.freq_id - 7 + + current_day = 0 + tk = 0 + + # string 1 + try: + s1 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][1]).data + except Exception: + return None + assert isinstance(s1, Glonass.String1) + eph.p1 = int(s1.p1) + tk = int(s1.t_k) + eph.tkDEPRECATED = tk + eph.xVel = float(s1.x_vel) * math.pow(2, -20) + eph.xAccel = float(s1.x_accel) * math.pow(2, -30) + eph.x = float(s1.x) * math.pow(2, -11) + + # string 2 + try: + s2 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][2]).data + except Exception: + return None + assert isinstance(s2, Glonass.String2) + eph.svHealth = int(s2.b_n >> 2) + eph.p2 = int(s2.p2) + eph.tb = int(s2.t_b) + eph.yVel = float(s2.y_vel) * math.pow(2, -20) + eph.yAccel = float(s2.y_accel) * math.pow(2, -30) + eph.y = float(s2.y) * math.pow(2, -11) + + # string 3 + try: + s3 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][3]).data + except Exception: + return None + assert isinstance(s3, Glonass.String3) + eph.p3 = int(s3.p3) + eph.gammaN = float(s3.gamma_n) * math.pow(2, -40) + eph.svHealth = int(eph.svHealth | (1 if s3.l_n else 0)) + eph.zVel = float(s3.z_vel) * math.pow(2, -20) + eph.zAccel = float(s3.z_accel) * math.pow(2, -30) + eph.z = float(s3.z) * math.pow(2, -11) + + # string 4 + try: + s4 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][4]).data + except Exception: + return None + assert isinstance(s4, Glonass.String4) + current_day = int(s4.n_t) + eph.nt = current_day + eph.tauN = float(s4.tau_n) * math.pow(2, -30) + eph.deltaTauN = float(s4.delta_tau_n) * math.pow(2, -30) + eph.age = int(s4.e_n) + eph.p4 = int(s4.p4) + eph.svURA = float(self.glonass_URA_lookup.get(int(s4.f_t), 0.0)) + # consistency check: SV slot number + # if it doesn't match, keep going but note mismatch (no logging here) + eph.svType = int(s4.m) + + # string 5 + try: + s5 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][5]).data + except Exception: + return None + assert isinstance(s5, Glonass.String5) + eph.n4 = int(s5.n_4) + tk_seconds = int(SECS_IN_HR * ((tk >> 7) & 0x1F) + SECS_IN_MIN * ((tk >> 1) & 0x3F) + (tk & 0x1) * 30) + eph.tkSeconds = tk_seconds + + self.caches.glonass_strings[freq_id].clear() + return ('ubloxGnss', dat) + + def _gen_rxm_rawx(self, msg: Ubx.RxmRawx) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]: + dat = messaging.new_message('ubloxGnss', valid=True) + mr = dat.ubloxGnss.init('measurementReport') + mr.rcvTow = msg.rcv_tow + mr.gpsWeek = msg.week + mr.leapSeconds = msg.leap_s + + mb = mr.init('measurements', msg.num_meas) + for i, m in enumerate(msg.meas): + mb[i].svId = m.sv_id + mb[i].pseudorange = m.pr_mes + mb[i].carrierCycles = m.cp_mes + mb[i].doppler = m.do_mes + mb[i].gnssId = int(m.gnss_id.value) + mb[i].glonassFrequencyIndex = m.freq_id + mb[i].locktime = m.lock_time + mb[i].cno = m.cno + mb[i].pseudorangeStdev = 0.01 * (math.pow(2, (m.pr_stdev & 15))) + mb[i].carrierPhaseStdev = 0.004 * (m.cp_stdev & 15) + mb[i].dopplerStdev = 0.002 * (math.pow(2, (m.do_stdev & 15))) + + ts = mb[i].init('trackingStatus') + trk = m.trk_stat + ts.pseudorangeValid = _bit(trk, 0) + ts.carrierPhaseValid = _bit(trk, 1) + ts.halfCycleValid = _bit(trk, 2) + ts.halfCycleSubtracted = _bit(trk, 3) + + mr.numMeas = msg.num_meas + rs = mr.init('receiverStatus') + rs.leapSecValid = _bit(msg.rec_stat, 0) + rs.clkReset = _bit(msg.rec_stat, 2) + return ('ubloxGnss', dat) + + def _gen_nav_sat(self, msg: Ubx.NavSat) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]: + dat = messaging.new_message('ubloxGnss', valid=True) + sr = dat.ubloxGnss.init('satReport') + sr.iTow = msg.itow + svs = sr.init('svs', msg.num_svs) + for i, s in enumerate(msg.svs): + svs[i].svId = s.sv_id + svs[i].gnssId = int(s.gnss_id.value) + svs[i].flagsBitfield = s.flags + svs[i].cno = s.cno + svs[i].elevationDeg = s.elev + svs[i].azimuthDeg = s.azim + svs[i].pseudorangeResidual = s.pr_res * 0.1 + return ('ubloxGnss', dat) + + def _gen_mon_hw(self, msg: Ubx.MonHw) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]: + dat = messaging.new_message('ubloxGnss', valid=True) + hw = dat.ubloxGnss.init('hwStatus') + hw.noisePerMS = msg.noise_per_ms + hw.flags = msg.flags + hw.agcCnt = msg.agc_cnt + hw.aStatus = int(msg.a_status.value) + hw.aPower = int(msg.a_power.value) + hw.jamInd = msg.jam_ind + return ('ubloxGnss', dat) + + def _gen_mon_hw2(self, msg: Ubx.MonHw2) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]: + dat = messaging.new_message('ubloxGnss', valid=True) + hw = dat.ubloxGnss.init('hwStatus2') + hw.ofsI = msg.ofs_i + hw.magI = msg.mag_i + hw.ofsQ = msg.ofs_q + hw.magQ = msg.mag_q + # Map Ubx enum to cereal enum {undefined=0, rom=1, otp=2, configpins=3, flash=4} + cfg_map = { + Ubx.MonHw2.ConfigSource.rom: 1, + Ubx.MonHw2.ConfigSource.otp: 2, + Ubx.MonHw2.ConfigSource.config_pins: 3, + Ubx.MonHw2.ConfigSource.flash: 4, + } + hw.cfgSource = cfg_map.get(msg.cfg_source, 0) + hw.lowLevCfg = msg.low_lev_cfg + hw.postStatus = msg.post_status + return ('ubloxGnss', dat) + + +def main(): + parser = UbloxMsgParser() + pm = messaging.PubMaster(['ubloxGnss', 'gpsLocationExternal']) + sock = messaging.sub_sock('ubloxRaw', timeout=100, conflate=False) + + while True: + msg = messaging.recv_one_or_none(sock) + if msg is None: + continue + + data = bytes(msg.ubloxRaw) + log_time = msg.logMonoTime * 1e-9 + frames = parser.framer.add_data(log_time, data) + for frame in frames: + try: + res = parser.parse_frame(frame) + except Exception: + continue + if not res: + continue + service, dat = res + pm.send(service, dat) + +if __name__ == '__main__': + main() diff --git a/third_party/SConscript b/third_party/SConscript index 507c17c4a..3a7497d16 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -1,4 +1,3 @@ Import('env') env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call']) -env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) diff --git a/third_party/kaitai/custom_decoder.h b/third_party/kaitai/custom_decoder.h deleted file mode 100644 index 6da7f5fd2..000000000 --- a/third_party/kaitai/custom_decoder.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef KAITAI_CUSTOM_DECODER_H -#define KAITAI_CUSTOM_DECODER_H - -#include - -namespace kaitai { - -class custom_decoder { -public: - virtual ~custom_decoder() {}; - virtual std::string decode(std::string src) = 0; -}; - -} - -#endif diff --git a/third_party/kaitai/exceptions.h b/third_party/kaitai/exceptions.h deleted file mode 100644 index 5c09c4672..000000000 --- a/third_party/kaitai/exceptions.h +++ /dev/null @@ -1,189 +0,0 @@ -#ifndef KAITAI_EXCEPTIONS_H -#define KAITAI_EXCEPTIONS_H - -#include - -#include -#include - -// We need to use "noexcept" in virtual destructor of our exceptions -// subclasses. Different compilers have different ideas on how to -// achieve that: C++98 compilers prefer `throw()`, C++11 and later -// use `noexcept`. We define KS_NOEXCEPT macro for that. - -#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1900) -#define KS_NOEXCEPT noexcept -#else -#define KS_NOEXCEPT throw() -#endif - -namespace kaitai { - -/** - * Common ancestor for all error originating from Kaitai Struct usage. - * Stores KSY source path, pointing to an element supposedly guilty of - * an error. - */ -class kstruct_error: public std::runtime_error { -public: - kstruct_error(const std::string what, const std::string src_path): - std::runtime_error(src_path + ": " + what), - m_src_path(src_path) - { - } - - virtual ~kstruct_error() KS_NOEXCEPT {}; - -protected: - const std::string m_src_path; -}; - -/** - * Error that occurs when default endianness should be decided with - * a switch, but nothing matches (although using endianness expression - * implies that there should be some positive result). - */ -class undecided_endianness_error: public kstruct_error { -public: - undecided_endianness_error(const std::string src_path): - kstruct_error("unable to decide on endianness for a type", src_path) - { - } - - virtual ~undecided_endianness_error() KS_NOEXCEPT {}; -}; - -/** - * Common ancestor for all validation failures. Stores pointer to - * KaitaiStream IO object which was involved in an error. - */ -class validation_failed_error: public kstruct_error { -public: - validation_failed_error(const std::string what, kstream* io, const std::string src_path): - kstruct_error("at pos " + kstream::to_string(static_cast(io->pos())) + ": validation failed: " + what, src_path), - m_io(io) - { - } - -// "at pos #{io.pos}: validation failed: #{msg}" - - virtual ~validation_failed_error() KS_NOEXCEPT {}; - -protected: - kstream* m_io; -}; - -/** - * Signals validation failure: we required "actual" value to be equal to - * "expected", but it turned out that it's not. - */ -template -class validation_not_equal_error: public validation_failed_error { -public: - validation_not_equal_error(const T& expected, const T& actual, kstream* io, const std::string src_path): - validation_failed_error("not equal", io, src_path), - m_expected(expected), - m_actual(actual) - { - } - - // "not equal, expected #{expected.inspect}, but got #{actual.inspect}" - - virtual ~validation_not_equal_error() KS_NOEXCEPT {}; - -protected: - const T& m_expected; - const T& m_actual; -}; - -/** - * Signals validation failure: we required "actual" value to be greater - * than or equal to "min", but it turned out that it's not. - */ -template -class validation_less_than_error: public validation_failed_error { -public: - validation_less_than_error(const T& min, const T& actual, kstream* io, const std::string src_path): - validation_failed_error("not in range", io, src_path), - m_min(min), - m_actual(actual) - { - } - - // "not in range, min #{min.inspect}, but got #{actual.inspect}" - - virtual ~validation_less_than_error() KS_NOEXCEPT {}; - -protected: - const T& m_min; - const T& m_actual; -}; - -/** - * Signals validation failure: we required "actual" value to be less - * than or equal to "max", but it turned out that it's not. - */ -template -class validation_greater_than_error: public validation_failed_error { -public: - validation_greater_than_error(const T& max, const T& actual, kstream* io, const std::string src_path): - validation_failed_error("not in range", io, src_path), - m_max(max), - m_actual(actual) - { - } - - // "not in range, max #{max.inspect}, but got #{actual.inspect}" - - virtual ~validation_greater_than_error() KS_NOEXCEPT {}; - -protected: - const T& m_max; - const T& m_actual; -}; - -/** - * Signals validation failure: we required "actual" value to be from - * the list, but it turned out that it's not. - */ -template -class validation_not_any_of_error: public validation_failed_error { -public: - validation_not_any_of_error(const T& actual, kstream* io, const std::string src_path): - validation_failed_error("not any of the list", io, src_path), - m_actual(actual) - { - } - - // "not any of the list, got #{actual.inspect}" - - virtual ~validation_not_any_of_error() KS_NOEXCEPT {}; - -protected: - const T& m_actual; -}; - -/** - * Signals validation failure: we required "actual" value to match - * the expression, but it turned out that it doesn't. - */ -template -class validation_expr_error: public validation_failed_error { -public: - validation_expr_error(const T& actual, kstream* io, const std::string src_path): - validation_failed_error("not matching the expression", io, src_path), - m_actual(actual) - { - } - - // "not matching the expression, got #{actual.inspect}" - - virtual ~validation_expr_error() KS_NOEXCEPT {}; - -protected: - const T& m_actual; -}; - -} - -#endif diff --git a/third_party/kaitai/kaitaistream.cpp b/third_party/kaitai/kaitaistream.cpp deleted file mode 100644 index d82ddb7e8..000000000 --- a/third_party/kaitai/kaitaistream.cpp +++ /dev/null @@ -1,689 +0,0 @@ -#include - -#if defined(__APPLE__) -#include -#include -#define bswap_16(x) OSSwapInt16(x) -#define bswap_32(x) OSSwapInt32(x) -#define bswap_64(x) OSSwapInt64(x) -#define __BYTE_ORDER BYTE_ORDER -#define __BIG_ENDIAN BIG_ENDIAN -#define __LITTLE_ENDIAN LITTLE_ENDIAN -#elif defined(_MSC_VER) // !__APPLE__ -#include -#define __LITTLE_ENDIAN 1234 -#define __BIG_ENDIAN 4321 -#define __BYTE_ORDER __LITTLE_ENDIAN -#define bswap_16(x) _byteswap_ushort(x) -#define bswap_32(x) _byteswap_ulong(x) -#define bswap_64(x) _byteswap_uint64(x) -#else // !__APPLE__ or !_MSC_VER -#include -#include -#endif - -#include -#include -#include - -kaitai::kstream::kstream(std::istream* io) { - m_io = io; - init(); -} - -kaitai::kstream::kstream(std::string& data): m_io_str(data) { - m_io = &m_io_str; - init(); -} - -void kaitai::kstream::init() { - exceptions_enable(); - align_to_byte(); -} - -void kaitai::kstream::close() { - // m_io->close(); -} - -void kaitai::kstream::exceptions_enable() const { - m_io->exceptions( - std::istream::eofbit | - std::istream::failbit | - std::istream::badbit - ); -} - -// ======================================================================== -// Stream positioning -// ======================================================================== - -bool kaitai::kstream::is_eof() const { - if (m_bits_left > 0) { - return false; - } - char t; - m_io->exceptions( - std::istream::badbit - ); - m_io->get(t); - if (m_io->eof()) { - m_io->clear(); - exceptions_enable(); - return true; - } else { - m_io->unget(); - exceptions_enable(); - return false; - } -} - -void kaitai::kstream::seek(uint64_t pos) { - m_io->seekg(pos); -} - -uint64_t kaitai::kstream::pos() { - return m_io->tellg(); -} - -uint64_t kaitai::kstream::size() { - std::iostream::pos_type cur_pos = m_io->tellg(); - m_io->seekg(0, std::ios::end); - std::iostream::pos_type len = m_io->tellg(); - m_io->seekg(cur_pos); - return len; -} - -// ======================================================================== -// Integer numbers -// ======================================================================== - -// ------------------------------------------------------------------------ -// Signed -// ------------------------------------------------------------------------ - -int8_t kaitai::kstream::read_s1() { - char t; - m_io->get(t); - return t; -} - -// ........................................................................ -// Big-endian -// ........................................................................ - -int16_t kaitai::kstream::read_s2be() { - int16_t t; - m_io->read(reinterpret_cast(&t), 2); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_16(t); -#endif - return t; -} - -int32_t kaitai::kstream::read_s4be() { - int32_t t; - m_io->read(reinterpret_cast(&t), 4); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_32(t); -#endif - return t; -} - -int64_t kaitai::kstream::read_s8be() { - int64_t t; - m_io->read(reinterpret_cast(&t), 8); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_64(t); -#endif - return t; -} - -// ........................................................................ -// Little-endian -// ........................................................................ - -int16_t kaitai::kstream::read_s2le() { - int16_t t; - m_io->read(reinterpret_cast(&t), 2); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_16(t); -#endif - return t; -} - -int32_t kaitai::kstream::read_s4le() { - int32_t t; - m_io->read(reinterpret_cast(&t), 4); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_32(t); -#endif - return t; -} - -int64_t kaitai::kstream::read_s8le() { - int64_t t; - m_io->read(reinterpret_cast(&t), 8); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_64(t); -#endif - return t; -} - -// ------------------------------------------------------------------------ -// Unsigned -// ------------------------------------------------------------------------ - -uint8_t kaitai::kstream::read_u1() { - char t; - m_io->get(t); - return t; -} - -// ........................................................................ -// Big-endian -// ........................................................................ - -uint16_t kaitai::kstream::read_u2be() { - uint16_t t; - m_io->read(reinterpret_cast(&t), 2); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_16(t); -#endif - return t; -} - -uint32_t kaitai::kstream::read_u4be() { - uint32_t t; - m_io->read(reinterpret_cast(&t), 4); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_32(t); -#endif - return t; -} - -uint64_t kaitai::kstream::read_u8be() { - uint64_t t; - m_io->read(reinterpret_cast(&t), 8); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_64(t); -#endif - return t; -} - -// ........................................................................ -// Little-endian -// ........................................................................ - -uint16_t kaitai::kstream::read_u2le() { - uint16_t t; - m_io->read(reinterpret_cast(&t), 2); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_16(t); -#endif - return t; -} - -uint32_t kaitai::kstream::read_u4le() { - uint32_t t; - m_io->read(reinterpret_cast(&t), 4); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_32(t); -#endif - return t; -} - -uint64_t kaitai::kstream::read_u8le() { - uint64_t t; - m_io->read(reinterpret_cast(&t), 8); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_64(t); -#endif - return t; -} - -// ======================================================================== -// Floating point numbers -// ======================================================================== - -// ........................................................................ -// Big-endian -// ........................................................................ - -float kaitai::kstream::read_f4be() { - uint32_t t; - m_io->read(reinterpret_cast(&t), 4); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_32(t); -#endif - return reinterpret_cast(t); -} - -double kaitai::kstream::read_f8be() { - uint64_t t; - m_io->read(reinterpret_cast(&t), 8); -#if __BYTE_ORDER == __LITTLE_ENDIAN - t = bswap_64(t); -#endif - return reinterpret_cast(t); -} - -// ........................................................................ -// Little-endian -// ........................................................................ - -float kaitai::kstream::read_f4le() { - uint32_t t; - m_io->read(reinterpret_cast(&t), 4); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_32(t); -#endif - return reinterpret_cast(t); -} - -double kaitai::kstream::read_f8le() { - uint64_t t; - m_io->read(reinterpret_cast(&t), 8); -#if __BYTE_ORDER == __BIG_ENDIAN - t = bswap_64(t); -#endif - return reinterpret_cast(t); -} - -// ======================================================================== -// Unaligned bit values -// ======================================================================== - -void kaitai::kstream::align_to_byte() { - m_bits_left = 0; - m_bits = 0; -} - -uint64_t kaitai::kstream::read_bits_int_be(int n) { - int bits_needed = n - m_bits_left; - if (bits_needed > 0) { - // 1 bit => 1 byte - // 8 bits => 1 byte - // 9 bits => 2 bytes - int bytes_needed = ((bits_needed - 1) / 8) + 1; - if (bytes_needed > 8) - throw std::runtime_error("read_bits_int: more than 8 bytes requested"); - char buf[8]; - m_io->read(buf, bytes_needed); - for (int i = 0; i < bytes_needed; i++) { - uint8_t b = buf[i]; - m_bits <<= 8; - m_bits |= b; - m_bits_left += 8; - } - } - - // raw mask with required number of 1s, starting from lowest bit - uint64_t mask = get_mask_ones(n); - // shift mask to align with highest bits available in @bits - int shift_bits = m_bits_left - n; - mask <<= shift_bits; - // derive reading result - uint64_t res = (m_bits & mask) >> shift_bits; - // clear top bits that we've just read => AND with 1s - m_bits_left -= n; - mask = get_mask_ones(m_bits_left); - m_bits &= mask; - - return res; -} - -// Deprecated, use read_bits_int_be() instead. -uint64_t kaitai::kstream::read_bits_int(int n) { - return read_bits_int_be(n); -} - -uint64_t kaitai::kstream::read_bits_int_le(int n) { - int bits_needed = n - m_bits_left; - if (bits_needed > 0) { - // 1 bit => 1 byte - // 8 bits => 1 byte - // 9 bits => 2 bytes - int bytes_needed = ((bits_needed - 1) / 8) + 1; - if (bytes_needed > 8) - throw std::runtime_error("read_bits_int_le: more than 8 bytes requested"); - char buf[8]; - m_io->read(buf, bytes_needed); - for (int i = 0; i < bytes_needed; i++) { - uint8_t b = buf[i]; - m_bits |= (static_cast(b) << m_bits_left); - m_bits_left += 8; - } - } - - // raw mask with required number of 1s, starting from lowest bit - uint64_t mask = get_mask_ones(n); - // derive reading result - uint64_t res = m_bits & mask; - // remove bottom bits that we've just read by shifting - m_bits >>= n; - m_bits_left -= n; - - return res; -} - -uint64_t kaitai::kstream::get_mask_ones(int n) { - if (n == 64) { - return 0xFFFFFFFFFFFFFFFF; - } else { - return ((uint64_t) 1 << n) - 1; - } -} - -// ======================================================================== -// Byte arrays -// ======================================================================== - -std::string kaitai::kstream::read_bytes(std::streamsize len) { - std::vector result(len); - - // NOTE: streamsize type is signed, negative values are only *supposed* to not be used. - // http://en.cppreference.com/w/cpp/io/streamsize - if (len < 0) { - throw std::runtime_error("read_bytes: requested a negative amount"); - } - - if (len > 0) { - m_io->read(&result[0], len); - } - - return std::string(result.begin(), result.end()); -} - -std::string kaitai::kstream::read_bytes_full() { - std::iostream::pos_type p1 = m_io->tellg(); - m_io->seekg(0, std::ios::end); - std::iostream::pos_type p2 = m_io->tellg(); - size_t len = p2 - p1; - - // Note: this requires a std::string to be backed with a - // contiguous buffer. Officially, it's a only requirement since - // C++11 (C++98 and C++03 didn't have this requirement), but all - // major implementations had contiguous buffers anyway. - std::string result(len, ' '); - m_io->seekg(p1); - m_io->read(&result[0], len); - - return result; -} - -std::string kaitai::kstream::read_bytes_term(char term, bool include, bool consume, bool eos_error) { - std::string result; - std::getline(*m_io, result, term); - if (m_io->eof()) { - // encountered EOF - if (eos_error) { - throw std::runtime_error("read_bytes_term: encountered EOF"); - } - } else { - // encountered terminator - if (include) - result.push_back(term); - if (!consume) - m_io->unget(); - } - return result; -} - -std::string kaitai::kstream::ensure_fixed_contents(std::string expected) { - std::string actual = read_bytes(expected.length()); - - if (actual != expected) { - // NOTE: I think printing it outright is not best idea, it could contain non-ascii charactes like backspace and beeps and whatnot. It would be better to print hexlified version, and also to redirect it to stderr. - throw std::runtime_error("ensure_fixed_contents: actual data does not match expected data"); - } - - return actual; -} - -std::string kaitai::kstream::bytes_strip_right(std::string src, char pad_byte) { - std::size_t new_len = src.length(); - - while (new_len > 0 && src[new_len - 1] == pad_byte) - new_len--; - - return src.substr(0, new_len); -} - -std::string kaitai::kstream::bytes_terminate(std::string src, char term, bool include) { - std::size_t new_len = 0; - std::size_t max_len = src.length(); - - while (new_len < max_len && src[new_len] != term) - new_len++; - - if (include && new_len < max_len) - new_len++; - - return src.substr(0, new_len); -} - -// ======================================================================== -// Byte array processing -// ======================================================================== - -std::string kaitai::kstream::process_xor_one(std::string data, uint8_t key) { - size_t len = data.length(); - std::string result(len, ' '); - - for (size_t i = 0; i < len; i++) - result[i] = data[i] ^ key; - - return result; -} - -std::string kaitai::kstream::process_xor_many(std::string data, std::string key) { - size_t len = data.length(); - size_t kl = key.length(); - std::string result(len, ' '); - - size_t ki = 0; - for (size_t i = 0; i < len; i++) { - result[i] = data[i] ^ key[ki]; - ki++; - if (ki >= kl) - ki = 0; - } - - return result; -} - -std::string kaitai::kstream::process_rotate_left(std::string data, int amount) { - size_t len = data.length(); - std::string result(len, ' '); - - for (size_t i = 0; i < len; i++) { - uint8_t bits = data[i]; - result[i] = (bits << amount) | (bits >> (8 - amount)); - } - - return result; -} - -#ifdef KS_ZLIB -#include - -std::string kaitai::kstream::process_zlib(std::string data) { - int ret; - - unsigned char *src_ptr = reinterpret_cast(&data[0]); - std::stringstream dst_strm; - - z_stream strm; - strm.zalloc = Z_NULL; - strm.zfree = Z_NULL; - strm.opaque = Z_NULL; - - ret = inflateInit(&strm); - if (ret != Z_OK) - throw std::runtime_error("process_zlib: inflateInit error"); - - strm.next_in = src_ptr; - strm.avail_in = data.length(); - - unsigned char outbuffer[ZLIB_BUF_SIZE]; - std::string outstring; - - // get the decompressed bytes blockwise using repeated calls to inflate - do { - strm.next_out = reinterpret_cast(outbuffer); - strm.avail_out = sizeof(outbuffer); - - ret = inflate(&strm, 0); - - if (outstring.size() < strm.total_out) - outstring.append(reinterpret_cast(outbuffer), strm.total_out - outstring.size()); - } while (ret == Z_OK); - - if (ret != Z_STREAM_END) { // an error occurred that was not EOF - std::ostringstream exc_msg; - exc_msg << "process_zlib: error #" << ret << "): " << strm.msg; - throw std::runtime_error(exc_msg.str()); - } - - if (inflateEnd(&strm) != Z_OK) - throw std::runtime_error("process_zlib: inflateEnd error"); - - return outstring; -} -#endif - -// ======================================================================== -// Misc utility methods -// ======================================================================== - -int kaitai::kstream::mod(int a, int b) { - if (b <= 0) - throw std::invalid_argument("mod: divisor b <= 0"); - int r = a % b; - if (r < 0) - r += b; - return r; -} - -#include -std::string kaitai::kstream::to_string(int val) { - // if int is 32 bits, "-2147483648" is the longest string representation - // => 11 chars + zero => 12 chars - // if int is 64 bits, "-9223372036854775808" is the longest - // => 20 chars + zero => 21 chars - char buf[25]; - int got_len = snprintf(buf, sizeof(buf), "%d", val); - - // should never happen, but check nonetheless - if (got_len > sizeof(buf)) - throw std::invalid_argument("to_string: integer is longer than string buffer"); - - return std::string(buf); -} - -#include -std::string kaitai::kstream::reverse(std::string val) { - std::reverse(val.begin(), val.end()); - - return val; -} - -uint8_t kaitai::kstream::byte_array_min(const std::string val) { - uint8_t min = 0xff; // UINT8_MAX - std::string::const_iterator end = val.end(); - for (std::string::const_iterator it = val.begin(); it != end; ++it) { - uint8_t cur = static_cast(*it); - if (cur < min) { - min = cur; - } - } - return min; -} - -uint8_t kaitai::kstream::byte_array_max(const std::string val) { - uint8_t max = 0; // UINT8_MIN - std::string::const_iterator end = val.end(); - for (std::string::const_iterator it = val.begin(); it != end; ++it) { - uint8_t cur = static_cast(*it); - if (cur > max) { - max = cur; - } - } - return max; -} - -// ======================================================================== -// Other internal methods -// ======================================================================== - -#ifndef KS_STR_DEFAULT_ENCODING -#define KS_STR_DEFAULT_ENCODING "UTF-8" -#endif - -#ifdef KS_STR_ENCODING_ICONV - -#include -#include -#include - -std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) { - iconv_t cd = iconv_open(KS_STR_DEFAULT_ENCODING, src_enc.c_str()); - - if (cd == (iconv_t) -1) { - if (errno == EINVAL) { - throw std::runtime_error("bytes_to_str: invalid encoding pair conversion requested"); - } else { - throw std::runtime_error("bytes_to_str: error opening iconv"); - } - } - - size_t src_len = src.length(); - size_t src_left = src_len; - - // Start with a buffer length of double the source length. - size_t dst_len = src_len * 2; - std::string dst(dst_len, ' '); - size_t dst_left = dst_len; - - char *src_ptr = &src[0]; - char *dst_ptr = &dst[0]; - - while (true) { - size_t res = iconv(cd, &src_ptr, &src_left, &dst_ptr, &dst_left); - - if (res == (size_t) -1) { - if (errno == E2BIG) { - // dst buffer is not enough to accomodate whole string - // enlarge the buffer and try again - size_t dst_used = dst_len - dst_left; - dst_left += dst_len; - dst_len += dst_len; - dst.resize(dst_len); - - // dst.resize might have allocated destination buffer in another area - // of memory, thus our previous pointer "dst" will be invalid; re-point - // it using "dst_used". - dst_ptr = &dst[dst_used]; - } else { - throw std::runtime_error("bytes_to_str: iconv error"); - } - } else { - // conversion successful - dst.resize(dst_len - dst_left); - break; - } - } - - if (iconv_close(cd) != 0) { - throw std::runtime_error("bytes_to_str: iconv close error"); - } - - return dst; -} -#elif defined(KS_STR_ENCODING_NONE) -std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) { - return src; -} -#else -#error Need to decide how to handle strings: please define one of: KS_STR_ENCODING_ICONV, KS_STR_ENCODING_NONE -#endif diff --git a/third_party/kaitai/kaitaistream.h b/third_party/kaitai/kaitaistream.h deleted file mode 100644 index e7f4c6ce3..000000000 --- a/third_party/kaitai/kaitaistream.h +++ /dev/null @@ -1,268 +0,0 @@ -#ifndef KAITAI_STREAM_H -#define KAITAI_STREAM_H - -// Kaitai Struct runtime API version: x.y.z = 'xxxyyyzzz' decimal -#define KAITAI_STRUCT_VERSION 9000L - -#include -#include -#include -#include - -namespace kaitai { - -/** - * Kaitai Stream class (kaitai::kstream) is an implementation of - * Kaitai Struct stream API - * for C++/STL. It's implemented as a wrapper over generic STL std::istream. - * - * It provides a wide variety of simple methods to read (parse) binary - * representations of primitive types, such as integer and floating - * point numbers, byte arrays and strings, and also provides stream - * positioning / navigation methods with unified cross-language and - * cross-toolkit semantics. - * - * Typically, end users won't access Kaitai Stream class manually, but would - * describe a binary structure format using .ksy language and then would use - * Kaitai Struct compiler to generate source code in desired target language. - * That code, in turn, would use this class and API to do the actual parsing - * job. - */ -class kstream { -public: - /** - * Constructs new Kaitai Stream object, wrapping a given std::istream. - * \param io istream object to use for this Kaitai Stream - */ - kstream(std::istream* io); - - /** - * Constructs new Kaitai Stream object, wrapping a given in-memory data - * buffer. - * \param data data buffer to use for this Kaitai Stream - */ - kstream(std::string& data); - - void close(); - - /** @name Stream positioning */ - //@{ - /** - * Check if stream pointer is at the end of stream. Note that the semantics - * are different from traditional STL semantics: one does *not* need to do a - * read (which will fail) after the actual end of the stream to trigger EOF - * flag, which can be accessed after that read. It is sufficient to just be - * at the end of the stream for this method to return true. - * \return "true" if we are located at the end of the stream. - */ - bool is_eof() const; - - /** - * Set stream pointer to designated position. - * \param pos new position (offset in bytes from the beginning of the stream) - */ - void seek(uint64_t pos); - - /** - * Get current position of a stream pointer. - * \return pointer position, number of bytes from the beginning of the stream - */ - uint64_t pos(); - - /** - * Get total size of the stream in bytes. - * \return size of the stream in bytes - */ - uint64_t size(); - //@} - - /** @name Integer numbers */ - //@{ - - // ------------------------------------------------------------------------ - // Signed - // ------------------------------------------------------------------------ - - int8_t read_s1(); - - // ........................................................................ - // Big-endian - // ........................................................................ - - int16_t read_s2be(); - int32_t read_s4be(); - int64_t read_s8be(); - - // ........................................................................ - // Little-endian - // ........................................................................ - - int16_t read_s2le(); - int32_t read_s4le(); - int64_t read_s8le(); - - // ------------------------------------------------------------------------ - // Unsigned - // ------------------------------------------------------------------------ - - uint8_t read_u1(); - - // ........................................................................ - // Big-endian - // ........................................................................ - - uint16_t read_u2be(); - uint32_t read_u4be(); - uint64_t read_u8be(); - - // ........................................................................ - // Little-endian - // ........................................................................ - - uint16_t read_u2le(); - uint32_t read_u4le(); - uint64_t read_u8le(); - - //@} - - /** @name Floating point numbers */ - //@{ - - // ........................................................................ - // Big-endian - // ........................................................................ - - float read_f4be(); - double read_f8be(); - - // ........................................................................ - // Little-endian - // ........................................................................ - - float read_f4le(); - double read_f8le(); - - //@} - - /** @name Unaligned bit values */ - //@{ - - void align_to_byte(); - uint64_t read_bits_int_be(int n); - uint64_t read_bits_int(int n); - uint64_t read_bits_int_le(int n); - - //@} - - /** @name Byte arrays */ - //@{ - - std::string read_bytes(std::streamsize len); - std::string read_bytes_full(); - std::string read_bytes_term(char term, bool include, bool consume, bool eos_error); - std::string ensure_fixed_contents(std::string expected); - - static std::string bytes_strip_right(std::string src, char pad_byte); - static std::string bytes_terminate(std::string src, char term, bool include); - static std::string bytes_to_str(std::string src, std::string src_enc); - - //@} - - /** @name Byte array processing */ - //@{ - - /** - * Performs a XOR processing with given data, XORing every byte of input with a single - * given value. - * @param data data to process - * @param key value to XOR with - * @return processed data - */ - static std::string process_xor_one(std::string data, uint8_t key); - - /** - * Performs a XOR processing with given data, XORing every byte of input with a key - * array, repeating key array many times, if necessary (i.e. if data array is longer - * than key array). - * @param data data to process - * @param key array of bytes to XOR with - * @return processed data - */ - static std::string process_xor_many(std::string data, std::string key); - - /** - * Performs a circular left rotation shift for a given buffer by a given amount of bits, - * using groups of 1 bytes each time. Right circular rotation should be performed - * using this procedure with corrected amount. - * @param data source data to process - * @param amount number of bits to shift by - * @return copy of source array with requested shift applied - */ - static std::string process_rotate_left(std::string data, int amount); - -#ifdef KS_ZLIB - /** - * Performs an unpacking ("inflation") of zlib-compressed data with usual zlib headers. - * @param data data to unpack - * @return unpacked data - * @throws IOException - */ - static std::string process_zlib(std::string data); -#endif - - //@} - - /** - * Performs modulo operation between two integers: dividend `a` - * and divisor `b`. Divisor `b` is expected to be positive. The - * result is always 0 <= x <= b - 1. - */ - static int mod(int a, int b); - - /** - * Converts given integer `val` to a decimal string representation. - * Should be used in place of std::to_string() (which is available only - * since C++11) in older C++ implementations. - */ - static std::string to_string(int val); - - /** - * Reverses given string `val`, so that the first character becomes the - * last and the last one becomes the first. This should be used to avoid - * the need of local variables at the caller. - */ - static std::string reverse(std::string val); - - /** - * Finds the minimal byte in a byte array, treating bytes as - * unsigned values. - * @param val byte array to scan - * @return minimal byte in byte array as integer - */ - static uint8_t byte_array_min(const std::string val); - - /** - * Finds the maximal byte in a byte array, treating bytes as - * unsigned values. - * @param val byte array to scan - * @return maximal byte in byte array as integer - */ - static uint8_t byte_array_max(const std::string val); - -private: - std::istream* m_io; - std::istringstream m_io_str; - int m_bits_left; - uint64_t m_bits; - - void init(); - void exceptions_enable() const; - - static uint64_t get_mask_ones(int n); - - static const int ZLIB_BUF_SIZE = 128 * 1024; -}; - -} - -#endif diff --git a/third_party/kaitai/kaitaistruct.h b/third_party/kaitai/kaitaistruct.h deleted file mode 100644 index 8172ede6c..000000000 --- a/third_party/kaitai/kaitaistruct.h +++ /dev/null @@ -1,20 +0,0 @@ -#ifndef KAITAI_STRUCT_H -#define KAITAI_STRUCT_H - -#include - -namespace kaitai { - -class kstruct { -public: - kstruct(kstream *_io) { m__io = _io; } - virtual ~kstruct() {} -protected: - kstream *m__io; -public: - kstream *_io() { return m__io; } -}; - -} - -#endif From 0739d4ac2d9ef05dd1dad3143a957c1c663f627c Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 8 Sep 2025 09:01:53 -0700 Subject: [PATCH 54/69] [bot] Update translations (#36089) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 14 -------------- selfdrive/ui/translations/main_de.ts | 14 -------------- selfdrive/ui/translations/main_es.ts | 14 -------------- selfdrive/ui/translations/main_fr.ts | 14 -------------- selfdrive/ui/translations/main_ja.ts | 14 -------------- selfdrive/ui/translations/main_ko.ts | 14 -------------- selfdrive/ui/translations/main_pt-BR.ts | 16 ---------------- selfdrive/ui/translations/main_th.ts | 14 -------------- selfdrive/ui/translations/main_tr.ts | 14 -------------- selfdrive/ui/translations/main_zh-CHS.ts | 16 ---------------- selfdrive/ui/translations/main_zh-CHT.ts | 16 ---------------- 11 files changed, 160 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index ff2e7ab05..381712770 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -482,10 +482,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت. - - NVMe drive not mounted. - محرك NVMe غير مثبَّت. - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai. @@ -1052,16 +1048,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 52fe55720..28b07029e 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -470,10 +470,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. - - NVMe drive not mounted. - NVMe-Laufwerk nicht gemounted. - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. @@ -1034,16 +1030,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 145eb7ae6..e8d57dddb 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -478,10 +478,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse. - - NVMe drive not mounted. - Unidad NVMe no montada. - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai. @@ -1036,16 +1032,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 297d93613..4efb92d0c 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -472,10 +472,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Une mise à jour du système d'exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu'elle sera prête à être installée. - - NVMe drive not mounted. - Le disque NVMe n'est pas monté. - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilot n'a pas pu identifier votre voiture. Votre voiture n'est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d'aide ? Rejoignez discord.comma.ai. @@ -1030,16 +1026,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 7bb5c5364..4307cee91 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -472,10 +472,6 @@ Firehoseモードを有効にすると学習データを最大限アップロー An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. オペレーティングシステムがバックグラウンドでダウンロードされています。インストールの準備が整うと更新を促されます。 - - NVMe drive not mounted. - SSDドライブ(NVMe)がマウントされていません。 - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilotが車両を識別できませんでした。車が未対応またはECUが認識されていない可能性があります。該当車両のファームウェアバージョンを追加するためにプルリクエストしてください。サポートが必要な場合は discord.comma.ai に参加することができます。 @@ -1031,16 +1027,6 @@ Firehoseモードを有効にすると学習データを最大限アップロー Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。 - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 807996f18..9ab43dd9b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -472,10 +472,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치가 준비되면 업데이트 메시지가 표시됩니다. - - NVMe drive not mounted. - NVMe 드라이브가 마운트되지 않았습니다. - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. 오픈파일럿이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 참여하세요. @@ -1031,16 +1027,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 운전 중에 마이크 오디오를 녹음하고 저장하십시오. 오디오는 comma connect의 대시캠 비디오에 포함됩니다. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 7f41588e8..77aa5e07c 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -474,10 +474,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar. - - NVMe drive not mounted. - Unidade NVMe não montada. - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai. @@ -1036,18 +1032,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect. - - Record Audio Feedback with LKAS button - Gravar feedback de áudio com o botão LKAS - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - Pressione o botão LKAS para gravar e compartilhar feedback de direção com a equipe do openpilot. Quando esta opção estiver desativada, o botão funcionará como um botão de marcador. O evento será destacado no comma connect e o segmento será preservado no armazenamento do seu dispositivo. - -Observe que este recurso é compatível apenas com alguns modelos de carros. - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 34824c268..9bd682208 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -472,10 +472,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง - - NVMe drive not mounted. - ไม่ได้ติดตั้งไดร์ฟ NVMe - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai @@ -1027,16 +1023,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index db6c4283a..7c6c692d5 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -469,10 +469,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - - NVMe drive not mounted. - - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. @@ -1024,16 +1020,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - - Record Audio Feedback with LKAS button - - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 667d81ddd..9481e62f1 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -472,10 +472,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。 - - NVMe drive not mounted. - NVMe固态硬盘未被挂载。 - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。 @@ -1031,18 +1027,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。 - - Record Audio Feedback with LKAS button - 使用“车道保持”按钮录制音频反馈 - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - 按下“车道保持”按钮，即可录制并分享驾驶反馈给 openpilot 团队。当此开关禁用时，该按钮将用作书签按钮。该事件将在 comma connect 中高亮显示，且对应的视频片段将被保留在您的设备存储空间中。 - -请注意，此功能仅兼容部分车型。 - WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index a0f1997a0..c3ef55d3d 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -472,10 +472,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 - - NVMe drive not mounted. - NVMe 固態硬碟未被掛載。 - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。 @@ -1031,18 +1027,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。 - - Record Audio Feedback with LKAS button - 使用「車道維持」按鈕錄製音訊回饋 - - - Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. - -Note that this feature is only compatible with select cars. - 按下「車道維持」按鈕，即可錄製並分享駕駛回饋給 openpilot 團隊。當此開關停用時，該按鈕的功能將轉為書籤按鈕。該事件將會在 comma connect 中被標註，且對應的路段影像將保留在您的裝置儲存空間中。 - -請注意，此功能僅與特定車款相容。 - WiFiPromptWidget From ea53111afc011530cbda17574e0e6726a11b3bc2 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 9 Sep 2025 07:56:07 -1000 Subject: [PATCH 55/69] basic jotpluggler (#36045) * jotpluggler! * demo, executable, fontfile * calc max and min, numpy, cloudlog * mypy things * simplified data.py * multiprocessed data ingest * allow verrryyy long search results * stream in multiprocessed segments * bug fixes * simplify and speed up timeseries * small fixes * rewrite layout * resizable layouts * cleanup * downsampling * deque for consistency * use item_visible_handler * only build visible UI * don't delete item handlers, add locks, don't expand large lists * delete item handlers after a frame * small data tree improvements * seperate datatree into its own file * reset when loading new segments * fix plot window resizing and recursive split resizing logic --- pyproject.toml | 1 + tools/jotpluggler/data.py | 311 ++++++++++++++++++++++++++++++++++ tools/jotpluggler/datatree.py | 266 +++++++++++++++++++++++++++++ tools/jotpluggler/layout.py | 262 ++++++++++++++++++++++++++++ tools/jotpluggler/pluggle.py | 247 +++++++++++++++++++++++++++ tools/jotpluggler/views.py | 195 +++++++++++++++++++++ uv.lock | 17 ++ 7 files changed, 1299 insertions(+) create mode 100644 tools/jotpluggler/data.py create mode 100644 tools/jotpluggler/datatree.py create mode 100644 tools/jotpluggler/layout.py create mode 100755 tools/jotpluggler/pluggle.py create mode 100644 tools/jotpluggler/views.py diff --git a/pyproject.toml b/pyproject.toml index 9ed1d8a4c..88c4d0673 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -124,6 +124,7 @@ dev = [ tools = [ "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')", + "dearpygui>=2.1.0", ] [project.urls] diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py new file mode 100644 index 000000000..41c305718 --- /dev/null +++ b/tools/jotpluggler/data.py @@ -0,0 +1,311 @@ +import numpy as np +import threading +import multiprocessing +import bisect +from collections import defaultdict +import tqdm +from openpilot.common.swaglog import cloudlog +from openpilot.tools.lib.logreader import _LogFileReader, LogReader + + +def flatten_dict(d: dict, sep: str = "/", prefix: str = None) -> dict: + result = {} + stack: list[tuple] = [(d, prefix)] + + while stack: + obj, current_prefix = stack.pop() + + if isinstance(obj, dict): + for key, val in obj.items(): + new_prefix = key if current_prefix is None else f"{current_prefix}{sep}{key}" + if isinstance(val, (dict, list)): + stack.append((val, new_prefix)) + else: + result[new_prefix] = val + elif isinstance(obj, list): + for i, item in enumerate(obj): + new_prefix = f"{current_prefix}{sep}{i}" + if isinstance(item, (dict, list)): + stack.append((item, new_prefix)) + else: + result[new_prefix] = item + else: + if current_prefix is not None: + result[current_prefix] = obj + return result + + +def extract_field_types(schema, prefix, field_types_dict): + stack = [(schema, prefix)] + + while stack: + current_schema, current_prefix = stack.pop() + + for field in current_schema.fields_list: + field_name = field.proto.name + field_path = f"{current_prefix}/{field_name}" + field_proto = field.proto + field_which = field_proto.which() + + field_type = field_proto.slot.type.which() if field_which == 'slot' else field_which + field_types_dict[field_path] = field_type + + if field_which == 'slot': + slot_type = field_proto.slot.type + type_which = slot_type.which() + + if type_which == 'list': + element_type = slot_type.list.elementType.which() + list_path = f"{field_path}/*" + field_types_dict[list_path] = element_type + + if element_type == 'struct': + stack.append((field.schema.elementType, list_path)) + + elif type_which == 'struct': + stack.append((field.schema, field_path)) + + elif field_which == 'group': + stack.append((field.schema, field_path)) + + +def _convert_to_optimal_dtype(values_list, capnp_type): + if not values_list: + return np.array([]) + + dtype_mapping = { + 'bool': np.bool_, 'int8': np.int8, 'int16': np.int16, 'int32': np.int32, 'int64': np.int64, + 'uint8': np.uint8, 'uint16': np.uint16, 'uint32': np.uint32, 'uint64': np.uint64, + 'float32': np.float32, 'float64': np.float64, 'text': object, 'data': object, + 'enum': object, 'anyPointer': object, + } + + target_dtype = dtype_mapping.get(capnp_type) + return np.array(values_list, dtype=target_dtype) if target_dtype else np.array(values_list) + + +def _match_field_type(field_path, field_types): + if field_path in field_types: + return field_types[field_path] + + path_parts = field_path.split('/') + template_parts = [p if not p.isdigit() else '*' for p in path_parts] + template_path = '/'.join(template_parts) + return field_types.get(template_path) + + +def msgs_to_time_series(msgs): + """Extract scalar fields and return (time_series_data, start_time, end_time).""" + collected_data = defaultdict(lambda: {'timestamps': [], 'columns': defaultdict(list), 'sparse_fields': set()}) + field_types = {} + extracted_schemas = set() + min_time = max_time = None + + for msg in msgs: + typ = msg.which() + timestamp = msg.logMonoTime * 1e-9 + if typ != 'initData': + if min_time is None: + min_time = timestamp + max_time = timestamp + + sub_msg = getattr(msg, typ) + if not hasattr(sub_msg, 'to_dict') or typ in ('qcomGnss', 'ubloxGnss'): + continue + + if hasattr(sub_msg, 'schema') and typ not in extracted_schemas: + extract_field_types(sub_msg.schema, typ, field_types) + extracted_schemas.add(typ) + + msg_dict = sub_msg.to_dict(verbose=True) + flat_dict = flatten_dict(msg_dict) + flat_dict['_valid'] = msg.valid + + type_data = collected_data[typ] + columns, sparse_fields = type_data['columns'], type_data['sparse_fields'] + known_fields = set(columns.keys()) + missing_fields = known_fields - flat_dict.keys() + + for field, value in flat_dict.items(): + if field not in known_fields and type_data['timestamps']: + sparse_fields.add(field) + columns[field].append(value) + if value is None: + sparse_fields.add(field) + + for field in missing_fields: + columns[field].append(None) + sparse_fields.add(field) + + type_data['timestamps'].append(timestamp) + + final_result = {} + for typ, data in collected_data.items(): + if not data['timestamps']: + continue + + typ_result = {'t': np.array(data['timestamps'], dtype=np.float64)} + sparse_fields = data['sparse_fields'] + + for field_name, values in data['columns'].items(): + if len(values) < len(data['timestamps']): + values = [None] * (len(data['timestamps']) - len(values)) + values + sparse_fields.add(field_name) + + if field_name in sparse_fields: + typ_result[field_name] = np.array(values, dtype=object) + else: + capnp_type = _match_field_type(f"{typ}/{field_name}", field_types) + typ_result[field_name] = _convert_to_optimal_dtype(values, capnp_type) + + final_result[typ] = typ_result + + return final_result, min_time or 0.0, max_time or 0.0 + + +def _process_segment(segment_identifier: str): + try: + lr = _LogFileReader(segment_identifier, sort_by_time=True) + return msgs_to_time_series(lr) + except Exception as e: + cloudlog.warning(f"Warning: Failed to process segment {segment_identifier}: {e}") + return {}, 0.0, 0.0 + + +class DataManager: + def __init__(self): + self._segments = [] + self._segment_starts = [] + self._start_time = 0.0 + self._duration = 0.0 + self._paths = set() + self._observers = [] + self._loading = False + self._lock = threading.RLock() + + def load_route(self, route: str) -> None: + if self._loading: + return + self._reset() + threading.Thread(target=self._load_async, args=(route,), daemon=True).start() + + def get_timeseries(self, path: str): + with self._lock: + msg_type, field = path.split('/', 1) + times, values = [], [] + + for segment in self._segments: + if msg_type in segment and field in segment[msg_type]: + times.append(segment[msg_type]['t']) + values.append(segment[msg_type][field]) + + if not times: + return [], [] + + combined_times = np.concatenate(times) - self._start_time + if len(values) > 1 and any(arr.dtype != values[0].dtype for arr in values): + values = [arr.astype(object) for arr in values] + + return combined_times, np.concatenate(values) + + def get_value_at(self, path: str, time: float): + with self._lock: + MAX_LOOKBACK = 5.0 # seconds + absolute_time = self._start_time + time + message_type, field = path.split('/', 1) + current_index = bisect.bisect_right(self._segment_starts, absolute_time) - 1 + for index in (current_index, current_index - 1): + if not 0 <= index < len(self._segments): + continue + segment = self._segments[index].get(message_type) + if not segment or field not in segment: + continue + times = segment['t'] + if len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK): + continue + position = np.searchsorted(times, absolute_time, 'right') - 1 + if position >= 0 and absolute_time - times[position] <= MAX_LOOKBACK: + return segment[field][position] + return None + + def get_all_paths(self): + with self._lock: + return sorted(self._paths) + + def get_duration(self): + with self._lock: + return self._duration + + def is_plottable(self, path: str): + data = self.get_timeseries(path) + if data is None: + return False + _, values = data + return np.issubdtype(values.dtype, np.number) or np.issubdtype(values.dtype, np.bool_) + + def add_observer(self, callback): + with self._lock: + self._observers.append(callback) + + def remove_observer(self, callback): + with self._lock: + if callback in self._observers: + self._observers.remove(callback) + + def _reset(self): + with self._lock: + self._loading = True + self._segments.clear() + self._segment_starts.clear() + self._paths.clear() + self._start_time = self._duration = 0.0 + observers = self._observers.copy() + + for callback in observers: + callback({'reset': True}) + + def _load_async(self, route: str): + try: + lr = LogReader(route, sort_by_time=True) + if not lr.logreader_identifiers: + cloudlog.warning(f"Warning: No log segments found for route: {route}") + return + + num_processes = max(1, multiprocessing.cpu_count() // 2) + with multiprocessing.Pool(processes=num_processes) as pool, tqdm.tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar: + for segment_result, start_time, end_time in pool.imap(_process_segment, lr.logreader_identifiers): + pbar.update(1) + if segment_result: + self._add_segment(segment_result, start_time, end_time) + except Exception: + cloudlog.exception(f"Error loading route {route}:") + finally: + self._finalize_loading() + + def _add_segment(self, segment_data: dict, start_time: float, end_time: float): + with self._lock: + self._segments.append(segment_data) + self._segment_starts.append(start_time) + + if len(self._segments) == 1: + self._start_time = start_time + self._duration = end_time - self._start_time + + for msg_type, data in segment_data.items(): + for field in data.keys(): + if field != 't': + self._paths.add(f"{msg_type}/{field}") + + observers = self._observers.copy() + + for callback in observers: + callback({'segment_added': True, 'duration': self._duration, 'segment_count': len(self._segments)}) + + def _finalize_loading(self): + with self._lock: + self._loading = False + observers = self._observers.copy() + duration = self._duration + + for callback in observers: + callback({'loading_complete': True, 'duration': duration}) diff --git a/tools/jotpluggler/datatree.py b/tools/jotpluggler/datatree.py new file mode 100644 index 000000000..7bd026cf9 --- /dev/null +++ b/tools/jotpluggler/datatree.py @@ -0,0 +1,266 @@ +import os +import re +import threading +import numpy as np +from collections import deque +import dearpygui.dearpygui as dpg + + +class DataTreeNode: + def __init__(self, name: str, full_path: str = "", parent=None): + self.name = name + self.full_path = full_path + self.parent = parent + self.children: dict[str, DataTreeNode] = {} + self.is_leaf = False + self.child_count = 0 + self.is_plottable: bool | None = None + self.ui_created = False + self.children_ui_created = False + self.ui_tag: str | None = None + + +class DataTree: + MAX_NODES_PER_FRAME = 50 + + def __init__(self, data_manager, playback_manager): + self.data_manager = data_manager + self.playback_manager = playback_manager + self.current_search = "" + self.data_tree = DataTreeNode(name="root") + self._build_queue: deque[tuple[DataTreeNode, str | None, str | int]] = deque() + self._all_paths_cache: set[str] = set() + self._item_handlers: set[str] = set() + self._avg_char_width = None + self._queued_search = None + self._new_data = False + self._ui_lock = threading.RLock() + self.data_manager.add_observer(self._on_data_loaded) + + def create_ui(self, parent_tag: str): + with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1): + dpg.add_text("Available Data") + dpg.add_separator() + dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data) + dpg.add_separator() + with dpg.group(tag="data_tree_container"): + pass + + def _on_data_loaded(self, data: dict): + with self._ui_lock: + if data.get('segment_added'): + self._new_data = True + elif data.get('reset'): + self._all_paths_cache = set() + self._new_data = True + + + def _populate_tree(self): + self._clear_ui() + self.data_tree = self._add_paths_to_tree(self._all_paths_cache, incremental=False) + if self.data_tree: + self._request_children_build(self.data_tree) + + def _add_paths_to_tree(self, paths, incremental=False): + search_term = self.current_search.strip().lower() + filtered_paths = [path for path in paths if self._should_show_path(path, search_term)] + target_tree = self.data_tree if incremental else DataTreeNode(name="root") + + if not filtered_paths: + return target_tree + + parent_nodes_to_recheck = set() + for path in sorted(filtered_paths): + parts = path.split('/') + current_node = target_tree + current_path_prefix = "" + + for i, part in enumerate(parts): + current_path_prefix = f"{current_path_prefix}/{part}" if current_path_prefix else part + if i < len(parts) - 1: + parent_nodes_to_recheck.add(current_node) # for incremental changes from new data + if part not in current_node.children: + current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix, parent=current_node) + current_node = current_node.children[part] + + if not current_node.is_leaf: + current_node.is_leaf = True + + self._calculate_child_counts(target_tree) + if incremental: + for p_node in parent_nodes_to_recheck: + p_node.children_ui_created = False + self._request_children_build(p_node) + return target_tree + + def update_frame(self, font): + with self._ui_lock: + if self._avg_char_width is None and dpg.is_dearpygui_running(): + self._avg_char_width = self.calculate_avg_char_width(font) + + if self._new_data: + current_paths = set(self.data_manager.get_all_paths()) + new_paths = current_paths - self._all_paths_cache + all_paths_empty = not self._all_paths_cache + self._all_paths_cache = current_paths + if all_paths_empty: + self._populate_tree() + elif new_paths: + self._add_paths_to_tree(new_paths, incremental=True) + self._new_data = False + return + + if self._queued_search is not None: + self.current_search = self._queued_search + self._all_paths_cache = set(self.data_manager.get_all_paths()) + self._populate_tree() + self._queued_search = None + return + + nodes_processed = 0 + while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME: + child_node, parent_tag, before_tag = self._build_queue.popleft() + if not child_node.ui_created: + if child_node.is_leaf: + self._create_leaf_ui(child_node, parent_tag, before_tag) + else: + self._create_tree_node_ui(child_node, parent_tag, before_tag) + nodes_processed += 1 + + def search_data(self): + self._queued_search = dpg.get_value("search_input") + + def _clear_ui(self): + for handler_tag in self._item_handlers: + dpg.configure_item(handler_tag, show=False) + dpg.set_frame_callback(dpg.get_frame_count() + 1, callback=self._delete_handlers, user_data=list(self._item_handlers)) + self._item_handlers.clear() + + if dpg.does_item_exist("data_tree_container"): + dpg.delete_item("data_tree_container", children_only=True) + + self._build_queue.clear() + + def _delete_handlers(self, sender, app_data, user_data): + for handler in user_data: + dpg.delete_item(handler) + + def _calculate_child_counts(self, node: DataTreeNode): + if node.is_leaf: + node.child_count = 0 + else: + node.child_count = len(node.children) + for child in node.children.values(): + self._calculate_child_counts(child) + + def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, before: str | int): + tag = f"tree_{node.full_path}" + node.ui_tag = tag + label = f"{node.name} ({node.child_count} fields)" + search_term = self.current_search.strip().lower() + expand = bool(search_term) and len(search_term) > 1 and any(search_term in path for path in self._get_descendant_paths(node)) + if expand and node.parent and node.parent.child_count > 100 and node.child_count > 2: # don't fully autoexpand large lists (only affects procLog rn) + label += " (+)" + expand = False + + with dpg.tree_node( + label=label, parent=parent_tag, tag=tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True + ): + with dpg.item_handler_registry() as handler_tag: + dpg.add_item_toggled_open_handler(callback=lambda s, a, u: self._request_children_build(node)) + dpg.add_item_visible_handler(callback=lambda s, a, u: self._request_children_build(node)) + dpg.bind_item_handler_registry(tag, handler_tag) + self._item_handlers.add(handler_tag) + + node.ui_created = True + + def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str, before: str | int): + with dpg.group(parent=parent_tag, tag=f"leaf_{node.full_path}", before=before, delay_search=True) as draggable_group: + with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp, delay_search=True): + dpg.add_table_column(init_width_or_weight=0.5) + dpg.add_table_column(init_width_or_weight=0.5) + with dpg.table_row(): + dpg.add_text(node.name) + dpg.add_text("N/A", tag=f"value_{node.full_path}") + + if node.is_plottable is None: + node.is_plottable = self.data_manager.is_plottable(node.full_path) + if node.is_plottable: + with dpg.drag_payload(parent=draggable_group, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"): + dpg.add_text(f"Plot: {node.full_path}") + + with dpg.item_handler_registry() as handler_tag: + dpg.add_item_visible_handler(callback=self._on_item_visible, user_data=node.full_path) + dpg.bind_item_handler_registry(draggable_group, handler_tag) + self._item_handlers.add(handler_tag) + + node.ui_created = True + node.ui_tag = f"value_{node.full_path}" + + def _on_item_visible(self, sender, app_data, user_data): + with self._ui_lock: + path = user_data + value_tag = f"value_{path}" + value_column_width = dpg.get_item_rect_size("sidebar_window")[0] // 2 + value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s) + if value is not None: + formatted_value = self.format_and_truncate(value, value_column_width, self._avg_char_width) + dpg.set_value(value_tag, formatted_value) + else: + dpg.set_value(value_tag, "N/A") + + def _request_children_build(self, node: DataTreeNode): + with self._ui_lock: + if not node.children_ui_created and (node.name == "root" or (node.ui_tag is not None and dpg.get_value(node.ui_tag))): # check root or node expanded + parent_tag = "data_tree_container" if node.name == "root" else node.ui_tag + sorted_children = sorted(node.children.values(), key=self._natural_sort_key) + next_existing: list[int | str] = [0] * len(sorted_children) + current_before_tag: int | str = 0 + + for i in range(len(sorted_children) - 1, -1, -1): # calculate "before_tag" for correct ordering when incrementally building tree + child = sorted_children[i] + next_existing[i] = current_before_tag + if child.ui_created: + candidate_tag = f"leaf_{child.full_path}" if child.is_leaf else f"tree_{child.full_path}" + if dpg.does_item_exist(candidate_tag): + current_before_tag = candidate_tag + + for i, child_node in enumerate(sorted_children): + if not child_node.ui_created: + before_tag = next_existing[i] + self._build_queue.append((child_node, parent_tag, before_tag)) + node.children_ui_created = True + + def _should_show_path(self, path: str, search_term: str) -> bool: + if 'DEPRECATED' in path and not os.environ.get('SHOW_DEPRECATED'): + return False + return not search_term or search_term in path.lower() + + def _natural_sort_key(self, node: DataTreeNode): + node_type_key = node.is_leaf + parts = [int(p) if p.isdigit() else p.lower() for p in re.split(r'(\d+)', node.name) if p] + return (node_type_key, parts) + + def _get_descendant_paths(self, node: DataTreeNode): + for child_name, child_node in node.children.items(): + child_name_lower = child_name.lower() + if child_node.is_leaf: + yield child_name_lower + else: + for path in self._get_descendant_paths(child_node): + yield f"{child_name_lower}/{path}" + + @staticmethod + def calculate_avg_char_width(font): + sample_text = "abcdefghijklmnopqrstuvwxyz0123456789" + if size := dpg.get_text_size(sample_text, font=font): + return size[0] / len(sample_text) + return None + + @staticmethod + def format_and_truncate(value, available_width: float, avg_char_width: float) -> str: + s = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value) + max_chars = int(available_width / avg_char_width) - 3 + if len(s) > max_chars: + return s[: max(0, max_chars)] + "..." + return s diff --git a/tools/jotpluggler/layout.py b/tools/jotpluggler/layout.py new file mode 100644 index 000000000..0c40116e6 --- /dev/null +++ b/tools/jotpluggler/layout.py @@ -0,0 +1,262 @@ +import dearpygui.dearpygui as dpg +from openpilot.tools.jotpluggler.data import DataManager +from openpilot.tools.jotpluggler.views import TimeSeriesPanel + +GRIP_SIZE = 4 +MIN_PANE_SIZE = 60 + + +class PlotLayoutManager: + def __init__(self, data_manager: DataManager, playback_manager, worker_manager, scale: float = 1.0): + self.data_manager = data_manager + self.playback_manager = playback_manager + self.worker_manager = worker_manager + self.scale = scale + self.container_tag = "plot_layout_container" + self.active_panels: list = [] + + self.grip_size = int(GRIP_SIZE * self.scale) + self.min_pane_size = int(MIN_PANE_SIZE * self.scale) + + initial_panel = TimeSeriesPanel(data_manager, playback_manager, worker_manager) + self.layout: dict = {"type": "panel", "panel": initial_panel} + + def create_ui(self, parent_tag: str): + if dpg.does_item_exist(self.container_tag): + dpg.delete_item(self.container_tag) + + with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True): + container_width, container_height = dpg.get_item_rect_size(self.container_tag) + self._create_ui_recursive(self.layout, self.container_tag, [], container_width, container_height) + + def _create_ui_recursive(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int): + if layout["type"] == "panel": + self._create_panel_ui(layout, parent_tag, path) + else: + self._create_split_ui(layout, parent_tag, path, width, height) + + def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int]): + panel_tag = self._path_to_tag(path, "panel") + panel = layout["panel"] + self.active_panels.append(panel) + + with dpg.child_window(tag=panel_tag, parent=parent_tag, border=True, width=-1, height=-1, no_scrollbar=True): + with dpg.group(horizontal=True): + dpg.add_input_text(default_value=panel.title, width=int(100 * self.scale), callback=lambda s, v: setattr(panel, "title", v)) + dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale)) + dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale)) + dpg.add_button(label="Delete", callback=lambda: self.delete_panel(path), width=int(40 * self.scale)) + dpg.add_button(label="Split H", callback=lambda: self.split_panel(path, 0), width=int(40 * self.scale)) + dpg.add_button(label="Split V", callback=lambda: self.split_panel(path, 1), width=int(40 * self.scale)) + + dpg.add_separator() + + content_tag = self._path_to_tag(path, "content") + with dpg.child_window(tag=content_tag, border=False, height=-1, width=-1, no_scrollbar=True): + panel.create_ui(content_tag) + + def _create_split_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int): + split_tag = self._path_to_tag(path, "split") + orientation, _, pane_sizes = self._get_split_geometry(layout, (width, height)) + + with dpg.group(tag=split_tag, parent=parent_tag, horizontal=orientation == 0): + for i, child_layout in enumerate(layout["children"]): + child_path = path + [i] + container_tag = self._path_to_tag(child_path, "container") + pane_width, pane_height = [(pane_sizes[i], -1), (-1, pane_sizes[i])][orientation] # fill 2nd dim up to the border + with dpg.child_window(tag=container_tag, width=pane_width, height=pane_height, border=False, no_scrollbar=True): + child_width, child_height = [(pane_sizes[i], height), (width, pane_sizes[i])][orientation] + self._create_ui_recursive(child_layout, container_tag, child_path, child_width, child_height) + if i < len(layout["children"]) - 1: + self._create_grip(split_tag, path, i, orientation) + + def clear_panel(self, panel): + panel.clear() + + def delete_panel(self, panel_path: list[int]): + if not panel_path: # Root deletion + old_panel = self.layout["panel"] + old_panel.destroy_ui() + self.active_panels.remove(old_panel) + new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager) + self.layout = {"type": "panel", "panel": new_panel} + self._rebuild_ui_at_path([]) + return + + parent, child_index = self._get_parent_and_index(panel_path) + layout_to_delete = parent["children"][child_index] + self._cleanup_ui_recursive(layout_to_delete, panel_path) + + parent["children"].pop(child_index) + parent["proportions"].pop(child_index) + + if len(parent["children"]) == 1: # remove parent and collapse + remaining_child = parent["children"][0] + if len(panel_path) == 1: # parent is at root level - promote remaining child to root + self.layout = remaining_child + self._rebuild_ui_at_path([]) + else: # replace parent with remaining child in grandparent + grandparent_path = panel_path[:-2] + parent_index = panel_path[-2] + self._replace_layout_at_path(grandparent_path + [parent_index], remaining_child) + self._rebuild_ui_at_path(grandparent_path + [parent_index]) + else: # redistribute proportions + equal_prop = 1.0 / len(parent["children"]) + parent["proportions"] = [equal_prop] * len(parent["children"]) + self._rebuild_ui_at_path(panel_path[:-1]) + + def split_panel(self, panel_path: list[int], orientation: int): + current_layout = self._get_layout_at_path(panel_path) + existing_panel = current_layout["panel"] + new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager) + parent, child_index = self._get_parent_and_index(panel_path) + + if parent is None: # Root split + self.layout = { + "type": "split", + "orientation": orientation, + "children": [{"type": "panel", "panel": existing_panel}, {"type": "panel", "panel": new_panel}], + "proportions": [0.5, 0.5], + } + self._rebuild_ui_at_path([]) + elif parent["type"] == "split" and parent["orientation"] == orientation: # Same orientation - insert into existing split + parent["children"].insert(child_index + 1, {"type": "panel", "panel": new_panel}) + parent["proportions"] = [1.0 / len(parent["children"])] * len(parent["children"]) + self._rebuild_ui_at_path(panel_path[:-1]) + else: # Different orientation - create new split level + new_split = {"type": "split", "orientation": orientation, "children": [current_layout, {"type": "panel", "panel": new_panel}], "proportions": [0.5, 0.5]} + self._replace_layout_at_path(panel_path, new_split) + self._rebuild_ui_at_path(panel_path) + + def _rebuild_ui_at_path(self, path: list[int]): + layout = self._get_layout_at_path(path) + if path: + container_tag = self._path_to_tag(path, "container") + else: # Root update + container_tag = self.container_tag + + self._cleanup_ui_recursive(layout, path) + dpg.delete_item(container_tag, children_only=True) + width, height = dpg.get_item_rect_size(container_tag) + self._create_ui_recursive(layout, container_tag, path, width, height) + + def _cleanup_ui_recursive(self, layout: dict, path: list[int]): + if layout["type"] == "panel": + panel = layout["panel"] + panel.destroy_ui() + if panel in self.active_panels: + self.active_panels.remove(panel) + else: + for i in range(len(layout["children"]) - 1): + handler_tag = f"{self._path_to_tag(path, f'grip_{i}')}_handler" + if dpg.does_item_exist(handler_tag): + dpg.delete_item(handler_tag) + + for i, child in enumerate(layout["children"]): + self._cleanup_ui_recursive(child, path + [i]) + + def update_all_panels(self): + for panel in self.active_panels: + panel.update() + + def on_viewport_resize(self): + self._resize_splits_recursive(self.layout, []) + + def _resize_splits_recursive(self, layout: dict, path: list[int], width: int | None = None, height: int | None = None): + if layout["type"] == "split": + split_tag = self._path_to_tag(path, "split") + if dpg.does_item_exist(split_tag): + available_sizes = (width, height) if width and height else dpg.get_item_rect_size(dpg.get_item_parent(split_tag)) + orientation, _, pane_sizes = self._get_split_geometry(layout, available_sizes) + size_properties = ("width", "height") + + for i, child_layout in enumerate(layout["children"]): + child_path = path + [i] + container_tag = self._path_to_tag(child_path, "container") + if dpg.does_item_exist(container_tag): + dpg.configure_item(container_tag, **{size_properties[orientation]: pane_sizes[i]}) + child_width, child_height = [(pane_sizes[i], available_sizes[1]), (available_sizes[0], pane_sizes[i])][orientation] + self._resize_splits_recursive(child_layout, child_path, child_width, child_height) + + def _get_split_geometry(self, layout: dict, available_size: tuple[int, int]) -> tuple[int, int, list[int]]: + orientation = layout["orientation"] + num_grips = len(layout["children"]) - 1 + usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * self.grip_size)) + pane_sizes = [max(self.min_pane_size, int(usable_size * prop)) for prop in layout["proportions"]] + return orientation, usable_size, pane_sizes + + def _get_layout_at_path(self, path: list[int]) -> dict: + current = self.layout + for index in path: + current = current["children"][index] + return current + + def _get_parent_and_index(self, path: list[int]) -> tuple: + return (None, -1) if not path else (self._get_layout_at_path(path[:-1]), path[-1]) + + def _replace_layout_at_path(self, path: list[int], new_layout: dict): + if not path: + self.layout = new_layout + else: + parent, index = self._get_parent_and_index(path) + parent["children"][index] = new_layout + + def _path_to_tag(self, path: list[int], prefix: str = "") -> str: + path_str = "_".join(map(str, path)) if path else "root" + return f"{prefix}_{path_str}" if prefix else path_str + + def _create_grip(self, parent_tag: str, path: list[int], grip_index: int, orientation: int): + grip_tag = self._path_to_tag(path, f"grip_{grip_index}") + width, height = [(self.grip_size, -1), (-1, self.grip_size)][orientation] + + with dpg.child_window(tag=grip_tag, parent=parent_tag, width=width, height=height, no_scrollbar=True, border=False): + button_tag = dpg.add_button(label="", width=-1, height=-1) + + with dpg.item_handler_registry(tag=f"{grip_tag}_handler"): + user_data = (path, grip_index, orientation) + dpg.add_item_active_handler(callback=self._on_grip_drag, user_data=user_data) + dpg.add_item_deactivated_handler(callback=self._on_grip_end, user_data=user_data) + dpg.bind_item_handler_registry(button_tag, f"{grip_tag}_handler") + + def _on_grip_drag(self, sender, app_data, user_data): + path, grip_index, orientation = user_data + layout = self._get_layout_at_path(path) + + if "_drag_data" not in layout: + layout["_drag_data"] = {"initial_proportions": layout["proportions"][:], "start_mouse": dpg.get_mouse_pos(local=False)[orientation]} + return + + drag_data = layout["_drag_data"] + split_tag = self._path_to_tag(path, "split") + if not dpg.does_item_exist(split_tag): + return + + _, usable_size, _ = self._get_split_geometry(layout, dpg.get_item_rect_size(split_tag)) + current_coord = dpg.get_mouse_pos(local=False)[orientation] + delta = current_coord - drag_data["start_mouse"] + delta_prop = delta / usable_size + + left_idx = grip_index + right_idx = left_idx + 1 + initial = drag_data["initial_proportions"] + min_prop = self.min_pane_size / usable_size + + new_left = max(min_prop, initial[left_idx] + delta_prop) + new_right = max(min_prop, initial[right_idx] - delta_prop) + + total_available = initial[left_idx] + initial[right_idx] + if new_left + new_right > total_available: + if new_left > new_right: + new_left = total_available - new_right + else: + new_right = total_available - new_left + + layout["proportions"] = initial[:] + layout["proportions"][left_idx] = new_left + layout["proportions"][right_idx] = new_right + + self._resize_splits_recursive(layout, path) + + def _on_grip_end(self, sender, app_data, user_data): + path, _, _ = user_data + self._get_layout_at_path(path).pop("_drag_data", None) diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py new file mode 100755 index 000000000..9868b998e --- /dev/null +++ b/tools/jotpluggler/pluggle.py @@ -0,0 +1,247 @@ +#!/usr/bin/env python3 +import argparse +import os +import pyautogui +import subprocess +import dearpygui.dearpygui as dpg +import multiprocessing +import uuid +import signal +from openpilot.common.basedir import BASEDIR +from openpilot.tools.jotpluggler.data import DataManager +from openpilot.tools.jotpluggler.datatree import DataTree +from openpilot.tools.jotpluggler.layout import PlotLayoutManager + +DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" + + +class WorkerManager: + def __init__(self, max_workers=None): + self.pool = multiprocessing.Pool(max_workers or min(4, multiprocessing.cpu_count()), initializer=WorkerManager.worker_initializer) + self.active_tasks = {} + + def submit_task(self, func, args_list, callback=None, task_id=None): + task_id = task_id or str(uuid.uuid4()) + + if task_id in self.active_tasks: + try: + self.active_tasks[task_id].terminate() + except Exception: + pass + + def handle_success(result): + self.active_tasks.pop(task_id, None) + if callback: + try: + callback(result) + except Exception as e: + print(f"Callback for task {task_id} failed: {e}") + + def handle_error(error): + self.active_tasks.pop(task_id, None) + print(f"Task {task_id} failed: {error}") + + async_result = self.pool.starmap_async(func, args_list, callback=handle_success, error_callback=handle_error) + self.active_tasks[task_id] = async_result + return task_id + + @staticmethod + def worker_initializer(): + signal.signal(signal.SIGINT, signal.SIG_IGN) + + def shutdown(self): + for task in self.active_tasks.values(): + try: + task.terminate() + except Exception: + pass + self.pool.terminate() + self.pool.join() + + +class PlaybackManager: + def __init__(self): + self.is_playing = False + self.current_time_s = 0.0 + self.duration_s = 0.0 + + def set_route_duration(self, duration: float): + self.duration_s = duration + self.seek(min(self.current_time_s, duration)) + + def toggle_play_pause(self): + if not self.is_playing and self.current_time_s >= self.duration_s: + self.seek(0.0) + self.is_playing = not self.is_playing + + def seek(self, time_s: float): + self.is_playing = False + self.current_time_s = max(0.0, min(time_s, self.duration_s)) + + def update_time(self, delta_t: float): + if self.is_playing: + self.current_time_s = min(self.current_time_s + delta_t, self.duration_s) + if self.current_time_s >= self.duration_s: + self.is_playing = False + return self.current_time_s + + +class MainController: + def __init__(self, scale: float = 1.0): + self.scale = scale + self.data_manager = DataManager() + self.playback_manager = PlaybackManager() + self.worker_manager = WorkerManager() + self._create_global_themes() + self.data_tree = DataTree(self.data_manager, self.playback_manager) + self.plot_layout_manager = PlotLayoutManager(self.data_manager, self.playback_manager, self.worker_manager, scale=self.scale) + self.data_manager.add_observer(self.on_data_loaded) + + def _create_global_themes(self): + with dpg.theme(tag="global_line_theme"): + with dpg.theme_component(dpg.mvLineSeries): + scaled_thickness = max(1.0, self.scale) + dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots) + + with dpg.theme(tag="global_timeline_theme"): + with dpg.theme_component(dpg.mvInfLineSeries): + scaled_thickness = max(1.0, self.scale) + dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots) + dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots) + + + def on_data_loaded(self, data: dict): + duration = data.get('duration', 0.0) + self.playback_manager.set_route_duration(duration) + + if data.get('reset'): + self.playback_manager.current_time_s = 0.0 + self.playback_manager.duration_s = 0.0 + self.playback_manager.is_playing = False + dpg.set_value("load_status", "Loading...") + dpg.set_value("timeline_slider", 0.0) + dpg.configure_item("timeline_slider", max_value=0.0) + dpg.configure_item("play_pause_button", label="Play") + dpg.configure_item("load_button", enabled=True) + elif data.get('loading_complete'): + num_paths = len(self.data_manager.get_all_paths()) + dpg.set_value("load_status", f"Loaded {num_paths} data paths") + dpg.configure_item("load_button", enabled=True) + elif data.get('segment_added'): + segment_count = data.get('segment_count', 0) + dpg.set_value("load_status", f"Loading... {segment_count} segments processed") + + dpg.configure_item("timeline_slider", max_value=duration) + + def setup_ui(self): + with dpg.window(tag="Primary Window"): + with dpg.group(horizontal=True): + # Left panel - Data tree + with dpg.child_window(label="Sidebar", width=300 * self.scale, tag="sidebar_window", border=True, resizable_x=True): + with dpg.group(horizontal=True): + dpg.add_input_text(tag="route_input", width=-75 * self.scale, hint="Enter route name...") + dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1) + dpg.add_text("Ready to load route", tag="load_status") + dpg.add_separator() + self.data_tree.create_ui("sidebar_window") + + # Right panel - Plots and timeline + with dpg.group(tag="right_panel"): + with dpg.child_window(label="Plot Window", border=True, height=-(30 + 13 * self.scale), tag="main_plot_area"): + self.plot_layout_manager.create_ui("main_plot_area") + + with dpg.child_window(label="Timeline", border=True): + with dpg.table(header_row=False, borders_innerH=False, borders_innerV=False, borders_outerH=False, borders_outerV=False): + dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale)) # Play button + dpg.add_table_column(width_stretch=True) # Timeline slider + dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale)) # FPS counter + with dpg.table_row(): + dpg.add_button(label="Play", tag="play_pause_button", callback=self.toggle_play_pause, width=int(50 * self.scale)) + dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag) + dpg.add_text("", tag="fps_counter") + with dpg.item_handler_registry(tag="plot_resize_handler"): + dpg.add_item_resize_handler(callback=self.on_plot_resize) + dpg.bind_item_handler_registry("right_panel", "plot_resize_handler") + + dpg.set_primary_window("Primary Window", True) + + def on_plot_resize(self, sender, app_data, user_data): + self.plot_layout_manager.on_viewport_resize() + + def load_route(self): + route_name = dpg.get_value("route_input").strip() + if route_name: + dpg.set_value("load_status", "Loading route...") + dpg.configure_item("load_button", enabled=False) + self.data_manager.load_route(route_name) + + def toggle_play_pause(self, sender): + self.playback_manager.toggle_play_pause() + label = "Pause" if self.playback_manager.is_playing else "Play" + dpg.configure_item(sender, label=label) + + def timeline_drag(self, sender, app_data): + self.playback_manager.seek(app_data) + dpg.configure_item("play_pause_button", label="Play") + + def update_frame(self, font): + self.data_tree.update_frame(font) + + new_time = self.playback_manager.update_time(dpg.get_delta_time()) + if not dpg.is_item_active("timeline_slider"): + dpg.set_value("timeline_slider", new_time) + + self.plot_layout_manager.update_all_panels() + + dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS") + + def shutdown(self): + self.worker_manager.shutdown() + + +def main(route_to_load=None): + dpg.create_context() + + # TODO: find better way of calculating display scaling + try: + w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l) # actual resolution + scale = pyautogui.size()[0] / w # scaled resolution + except Exception: + scale = 1 + + with dpg.font_registry(): + default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/Inter-Regular.ttf"), int(13 * scale)) + dpg.bind_font(default_font) + + viewport_width, viewport_height = int(1200 * scale), int(800 * scale) + mouse_x, mouse_y = pyautogui.position() # TODO: find better way of creating the window where the user is (default dpg behavior annoying on multiple displays) + dpg.create_viewport( + title='JotPluggler', width=viewport_width, height=viewport_height, x_pos=mouse_x - viewport_width // 2, y_pos=mouse_y - viewport_height // 2 + ) + dpg.setup_dearpygui() + + controller = MainController(scale=scale) + controller.setup_ui() + + if route_to_load: + dpg.set_value("route_input", route_to_load) + controller.load_route() + + dpg.show_viewport() + + # Main loop + try: + while dpg.is_dearpygui_running(): + controller.update_frame(default_font) + dpg.render_dearpygui_frame() + finally: + controller.shutdown() + dpg.destroy_context() + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.") + parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") + parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.") + args = parser.parse_args() + route = DEMO_ROUTE if args.demo else args.route + main(route_to_load=route) diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py new file mode 100644 index 000000000..bcadd4f38 --- /dev/null +++ b/tools/jotpluggler/views.py @@ -0,0 +1,195 @@ +import uuid +import threading +import numpy as np +from collections import deque +import dearpygui.dearpygui as dpg +from abc import ABC, abstractmethod + + +class ViewPanel(ABC): + """Abstract base class for all view panels that can be displayed in a plot container""" + + def __init__(self, panel_id: str = None): + self.panel_id = panel_id or str(uuid.uuid4()) + self.title = "Untitled Panel" + + @abstractmethod + def clear(self): + pass + + @abstractmethod + def create_ui(self, parent_tag: str): + pass + + @abstractmethod + def destroy_ui(self): + pass + + @abstractmethod + def get_panel_type(self) -> str: + pass + + @abstractmethod + def update(self): + pass + + +class TimeSeriesPanel(ViewPanel): + def __init__(self, data_manager, playback_manager, worker_manager, panel_id: str | None = None): + super().__init__(panel_id) + self.data_manager = data_manager + self.playback_manager = playback_manager + self.worker_manager = worker_manager + self.title = "Time Series Plot" + self.plot_tag = f"plot_{self.panel_id}" + self.x_axis_tag = f"{self.plot_tag}_x_axis" + self.y_axis_tag = f"{self.plot_tag}_y_axis" + self.timeline_indicator_tag = f"{self.plot_tag}_timeline" + self._ui_created = False + self._series_data: dict[str, tuple[list, list]] = {} + self._last_plot_duration = 0 + self._update_lock = threading.RLock() + self.results_deque: deque[tuple[str, list, list]] = deque() + self._new_data = False + + def create_ui(self, parent_tag: str): + self.data_manager.add_observer(self.on_data_loaded) + with dpg.plot(height=-1, width=-1, tag=self.plot_tag, parent=parent_tag, drop_callback=self._on_series_drop, payload_type="TIMESERIES_PAYLOAD"): + dpg.add_plot_legend() + dpg.add_plot_axis(dpg.mvXAxis, no_label=True, tag=self.x_axis_tag) + dpg.add_plot_axis(dpg.mvYAxis, no_label=True, tag=self.y_axis_tag) + timeline_series_tag = dpg.add_inf_line_series(x=[0], label="Timeline", parent=self.y_axis_tag, tag=self.timeline_indicator_tag) + dpg.bind_item_theme(timeline_series_tag, "global_timeline_theme") + + for series_path in list(self._series_data.keys()): + self.add_series(series_path) + self._ui_created = True + + def update(self): + with self._update_lock: + if not self._ui_created: + return + + if self._new_data: # handle new data in main thread + self._new_data = False + for series_path in list(self._series_data.keys()): + self.add_series(series_path, update=True) + + while self.results_deque: # handle downsampled results in main thread + results = self.results_deque.popleft() + for series_path, downsampled_time, downsampled_values in results: + series_tag = f"series_{self.panel_id}_{series_path}" + if dpg.does_item_exist(series_tag): + dpg.set_value(series_tag, [downsampled_time, downsampled_values]) + + # update timeline + current_time_s = self.playback_manager.current_time_s + dpg.set_value(self.timeline_indicator_tag, [[current_time_s], [0]]) + + # update timeseries legend label + for series_path, (time_array, value_array) in self._series_data.items(): + position = np.searchsorted(time_array, current_time_s, side='right') - 1 + if position >= 0 and (current_time_s - time_array[position]) <= 1.0: + value = value_array[position] + formatted_value = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value) + series_tag = f"series_{self.panel_id}_{series_path}" + if dpg.does_item_exist(series_tag): + dpg.configure_item(series_tag, label=f"{series_path}: {formatted_value}") + + # downsample if plot zoom changed significantly + plot_duration = dpg.get_axis_limits(self.x_axis_tag)[1] - dpg.get_axis_limits(self.x_axis_tag)[0] + if plot_duration > self._last_plot_duration * 2 or plot_duration < self._last_plot_duration * 0.5: + self._downsample_all_series(plot_duration) + + def _downsample_all_series(self, plot_duration): + plot_width = dpg.get_item_rect_size(self.plot_tag)[0] + if plot_width <= 0 or plot_duration <= 0: + return + + self._last_plot_duration = plot_duration + target_points_per_second = plot_width / plot_duration + work_items = [] + for series_path, (time_array, value_array) in self._series_data.items(): + if len(time_array) == 0: + continue + series_duration = time_array[-1] - time_array[0] if len(time_array) > 1 else 1 + points_per_second = len(time_array) / series_duration + if points_per_second > target_points_per_second * 2: + target_points = max(int(target_points_per_second * series_duration), plot_width) + work_items.append((series_path, time_array, value_array, target_points)) + elif dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"): + dpg.set_value(f"series_{self.panel_id}_{series_path}", [time_array, value_array]) + + if work_items: + self.worker_manager.submit_task( + TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self.results_deque.append(results), task_id=f"downsample_{self.panel_id}" + ) + + def add_series(self, series_path: str, update: bool = False): + with self._update_lock: + if update or series_path not in self._series_data: + self._series_data[series_path] = self.data_manager.get_timeseries(series_path) + + time_array, value_array = self._series_data[series_path] + series_tag = f"series_{self.panel_id}_{series_path}" + if dpg.does_item_exist(series_tag): + dpg.set_value(series_tag, [time_array, value_array]) + else: + line_series_tag = dpg.add_line_series(x=time_array, y=value_array, label=series_path, parent=self.y_axis_tag, tag=series_tag) + dpg.bind_item_theme(line_series_tag, "global_line_theme") + dpg.fit_axis_data(self.x_axis_tag) + dpg.fit_axis_data(self.y_axis_tag) + plot_duration = dpg.get_axis_limits(self.x_axis_tag)[1] - dpg.get_axis_limits(self.x_axis_tag)[0] + self._downsample_all_series(plot_duration) + + def destroy_ui(self): + with self._update_lock: + self.data_manager.remove_observer(self.on_data_loaded) + if dpg.does_item_exist(self.plot_tag): + dpg.delete_item(self.plot_tag) + self._ui_created = False + + def get_panel_type(self) -> str: + return "timeseries" + + def clear(self): + with self._update_lock: + for series_path in list(self._series_data.keys()): + self.remove_series(series_path) + + def remove_series(self, series_path: str): + with self._update_lock: + if series_path in self._series_data: + if dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"): + dpg.delete_item(f"series_{self.panel_id}_{series_path}") + del self._series_data[series_path] + + def on_data_loaded(self, data: dict): + self._new_data = True + + def _on_series_drop(self, sender, app_data, user_data): + self.add_series(app_data) + + @staticmethod + def _downsample_worker(series_path, time_array, value_array, target_points): + if len(time_array) <= target_points: + return series_path, time_array, value_array + + step = len(time_array) / target_points + indices = [] + + for i in range(target_points): + start_idx = int(i * step) + end_idx = int((i + 1) * step) + if start_idx == end_idx: + indices.append(start_idx) + else: + bucket_values = value_array[start_idx:end_idx] + min_idx = start_idx + np.argmin(bucket_values) + max_idx = start_idx + np.argmax(bucket_values) + if min_idx != max_idx: + indices.extend([min(min_idx, max_idx), max(min_idx, max_idx)]) + else: + indices.append(min_idx) + indices = sorted(set(indices)) + return series_path, time_array[indices], value_array[indices] diff --git a/uv.lock b/uv.lock index 9977ff1bf..25d2b626c 100644 --- a/uv.lock +++ b/uv.lock @@ -451,6 +451,21 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885, upload-time = "2021-07-25T22:11:25.466Z" }, ] +[[package]] +name = "dearpygui" +version = "2.1.0" +source = { registry = "https://pypi.org/simple" } +wheels = [ + { url = "https://files.pythonhosted.org/packages/92/fe/66293fc40254a29f060efd3398f2b1001ed79263ae1837db9ec42caa8f1d/dearpygui-2.1.0-cp311-cp311-macosx_10_6_x86_64.whl", hash = "sha256:03e5dc0b3dd2f7965e50bbe41f3316a814408064b582586de994d93afedb125c", size = 2100924, 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"https://files.pythonhosted.org/packages/28/9c/3ab33927f1d8c839c5b7033a33d44fc9f0aeb00c264fc9772cb7555a03c4/dearpygui-2.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:43f0e4db9402f44fc3683a1f5c703564819de18cc15a042de7f1ed1c8cb5d148", size = 1810460, upload-time = "2025-07-07T14:19:53.13Z" }, +] + [[package]] name = "dictdiffer" version = "0.9.0" @@ -1246,6 +1261,7 @@ dependencies = [ { name = "cffi" }, { name = "crcmod" }, { name = "cython" }, + { name = "dearpygui" }, { name = "future-fstrings" }, { name = "inputs" }, { name = "json-rpc" }, @@ -1337,6 +1353,7 @@ requires-dist = [ { name = "crcmod" }, { name = "cython" }, { name = "dbus-next", marker = "extra == 'dev'" }, + { name = "dearpygui", specifier = ">=2.1.0" }, { name = "dictdiffer", marker = "extra == 'dev'" }, { name = "future-fstrings" }, { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" }, From 2bfdd0d61db30cc5e97c144ce299bec81adc8144 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 9 Sep 2025 18:02:31 -0400 Subject: [PATCH 56/69] PlotJuggler: Updated layout for torque controller (#36123) * PlotJuggler: Updated layout for torque controller * yeah, no --- pyproject.toml | 2 +- .../plotjuggler/layouts/torque-controller.xml | 305 +++++++++--------- 2 files changed, 156 insertions(+), 151 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 88c4d0673..1655b565e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -176,7 +176,7 @@ quiet-level = 3 # if you've got a short variable name that's getting flagged, add it here ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite" builtin = "clear,rare,informal,code,names,en-GB_to_en-US" -skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*" +skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*" [tool.mypy] python_version = "3.11" diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index 606df0361..8e9a1a852 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -1,77 +1,45 @@ - + - + - - + + - - + + - - + + - - + + - - + + - + - + - - + + - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + @@ -79,115 +47,134 @@ - + - - + + - - + + - - + + - - + + - - + + - - + + - + - - - - + + + + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - - + + - - + + - - - - + + + + - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + @@ -199,25 +186,34 @@ + + + + + + + + + + + + + - + - return (0) - /carState/canValid + return value * 3.6 + /carState/vEgo - + - return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/curvature - - /carState/vEgo - /liveParameters/roll - + return value * 2.23694 + /carState/vEgo @@ -228,15 +224,24 @@ /liveParameters/roll - + - return value * 2.23694 - /carState/vEgo + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/curvature + + /carState/vEgo + /liveParameters/roll + - + - return value * 3.6 - /carState/vEgo + return value + 0.2 + /carParams/steerActuatorDelay + + + + return (0) + /carState/canValid From d0171084b51c2ee9eb2d3211adc5201edfb498f1 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 9 Sep 2025 15:40:39 -0700 Subject: [PATCH 57/69] Update RELEASES.md 0.10.1 --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index d89ee2462..90d99c001 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -4,6 +4,7 @@ Version 0.10.1 (2025-09-08) * World Model: removed global localization inputs * World Model: 2x the number of parameters * World Model: trained on 4x the number of segments + * Driving Vision Model: trained on 4x the number of segments * Record driving feedback using LKAS button * Honda City 2023 support thanks to drFritz! From 6b131753380e21b22701827194cc3d083ec3f073 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 9 Sep 2025 21:09:08 -1000 Subject: [PATCH 58/69] jotpluggler: better handle sparse message data and bools (#36124) * better handle sparse message data * fix plotting of of bools * add type for msg._valid * fix typing * add assert in case something changes in future --- tools/jotpluggler/data.py | 105 ++++++++++++++++++++++++++----------- tools/jotpluggler/views.py | 18 +++---- 2 files changed, 82 insertions(+), 41 deletions(-) diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py index 41c305718..100dfe544 100644 --- a/tools/jotpluggler/data.py +++ b/tools/jotpluggler/data.py @@ -3,7 +3,7 @@ import threading import multiprocessing import bisect from collections import defaultdict -import tqdm +from tqdm import tqdm from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.logreader import _LogFileReader, LogReader @@ -70,9 +70,6 @@ def extract_field_types(schema, prefix, field_types_dict): def _convert_to_optimal_dtype(values_list, capnp_type): - if not values_list: - return np.array([]) - dtype_mapping = { 'bool': np.bool_, 'int8': np.int8, 'int16': np.int16, 'int32': np.int32, 'int64': np.int64, 'uint8': np.uint8, 'uint16': np.uint16, 'uint32': np.uint32, 'uint64': np.uint64, @@ -80,8 +77,8 @@ def _convert_to_optimal_dtype(values_list, capnp_type): 'enum': object, 'anyPointer': object, } - target_dtype = dtype_mapping.get(capnp_type) - return np.array(values_list, dtype=target_dtype) if target_dtype else np.array(values_list) + target_dtype = dtype_mapping.get(capnp_type, object) + return np.array(values_list, dtype=target_dtype) def _match_field_type(field_path, field_types): @@ -94,6 +91,21 @@ def _match_field_type(field_path, field_types): return field_types.get(template_path) +def _get_field_times_values(segment, field_name): + if field_name not in segment: + return None, None + + field_data = segment[field_name] + segment_times = segment['t'] + + if field_data['sparse']: + if len(field_data['t_index']) == 0: + return None, None + return segment_times[field_data['t_index']], field_data['values'] + else: + return segment_times, field_data['values'] + + def msgs_to_time_series(msgs): """Extract scalar fields and return (time_series_data, start_time, end_time).""" collected_data = defaultdict(lambda: {'timestamps': [], 'columns': defaultdict(list), 'sparse_fields': set()}) @@ -110,16 +122,22 @@ def msgs_to_time_series(msgs): max_time = timestamp sub_msg = getattr(msg, typ) - if not hasattr(sub_msg, 'to_dict') or typ in ('qcomGnss', 'ubloxGnss'): + if not hasattr(sub_msg, 'to_dict'): continue if hasattr(sub_msg, 'schema') and typ not in extracted_schemas: extract_field_types(sub_msg.schema, typ, field_types) extracted_schemas.add(typ) - msg_dict = sub_msg.to_dict(verbose=True) + try: + msg_dict = sub_msg.to_dict(verbose=True) + except Exception as e: + cloudlog.warning(f"Failed to convert sub_msg.to_dict() for message of type: {typ}: {e}") + continue + flat_dict = flatten_dict(msg_dict) flat_dict['_valid'] = msg.valid + field_types[f"{typ}/_valid"] = 'bool' type_data = collected_data[typ] columns, sparse_fields = type_data['columns'], type_data['sparse_fields'] @@ -152,11 +170,26 @@ def msgs_to_time_series(msgs): values = [None] * (len(data['timestamps']) - len(values)) + values sparse_fields.add(field_name) - if field_name in sparse_fields: - typ_result[field_name] = np.array(values, dtype=object) - else: - capnp_type = _match_field_type(f"{typ}/{field_name}", field_types) - typ_result[field_name] = _convert_to_optimal_dtype(values, capnp_type) + capnp_type = _match_field_type(f"{typ}/{field_name}", field_types) + + if field_name in sparse_fields: # extract non-None values and their indices + non_none_indices = [] + non_none_values = [] + for i, value in enumerate(values): + if value is not None: + non_none_indices.append(i) + non_none_values.append(value) + + if non_none_values: # check if indices > uint16 max, currently would require a 1000+ Hz signal since indices are within segments + assert max(non_none_indices) <= 65535, f"Sparse field {typ}/{field_name} has timestamp indices exceeding uint16 max. Max: {max(non_none_indices)}" + + typ_result[field_name] = { + 'values': _convert_to_optimal_dtype(non_none_values, capnp_type), + 'sparse': True, + 't_index': np.array(non_none_indices, dtype=np.uint16), + } + else: # dense representation + typ_result[field_name] = {'values': _convert_to_optimal_dtype(values, capnp_type), 'sparse': False} final_result[typ] = typ_result @@ -195,22 +228,31 @@ class DataManager: times, values = [], [] for segment in self._segments: - if msg_type in segment and field in segment[msg_type]: - times.append(segment[msg_type]['t']) - values.append(segment[msg_type][field]) + if msg_type in segment: + field_times, field_values = _get_field_times_values(segment[msg_type], field) + if field_times is not None: + times.append(field_times) + values.append(field_values) if not times: - return [], [] + return np.array([]), np.array([]) combined_times = np.concatenate(times) - self._start_time - if len(values) > 1 and any(arr.dtype != values[0].dtype for arr in values): - values = [arr.astype(object) for arr in values] - return combined_times, np.concatenate(values) + if len(values) > 1: + first_dtype = values[0].dtype + if all(arr.dtype == first_dtype for arr in values): # check if all arrays have compatible dtypes + combined_values = np.concatenate(values) + else: + combined_values = np.concatenate([arr.astype(object) for arr in values]) + else: + combined_values = values[0] if values else np.array([]) + + return combined_times, combined_values def get_value_at(self, path: str, time: float): with self._lock: - MAX_LOOKBACK = 5.0 # seconds + MAX_LOOKBACK = 5.0 # seconds absolute_time = self._start_time + time message_type, field = path.split('/', 1) current_index = bisect.bisect_right(self._segment_starts, absolute_time) - 1 @@ -218,14 +260,14 @@ class DataManager: if not 0 <= index < len(self._segments): continue segment = self._segments[index].get(message_type) - if not segment or field not in segment: + if not segment: continue - times = segment['t'] - if len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK): + times, values = _get_field_times_values(segment, field) + if times is None or len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK): continue position = np.searchsorted(times, absolute_time, 'right') - 1 if position >= 0 and absolute_time - times[position] <= MAX_LOOKBACK: - return segment[field][position] + return values[position] return None def get_all_paths(self): @@ -237,10 +279,9 @@ class DataManager: return self._duration def is_plottable(self, path: str): - data = self.get_timeseries(path) - if data is None: + _, values = self.get_timeseries(path) + if len(values) == 0: return False - _, values = data return np.issubdtype(values.dtype, np.number) or np.issubdtype(values.dtype, np.bool_) def add_observer(self, callback): @@ -272,7 +313,7 @@ class DataManager: return num_processes = max(1, multiprocessing.cpu_count() // 2) - with multiprocessing.Pool(processes=num_processes) as pool, tqdm.tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar: + with multiprocessing.Pool(processes=num_processes) as pool, tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar: for segment_result, start_time, end_time in pool.imap(_process_segment, lr.logreader_identifiers): pbar.update(1) if segment_result: @@ -292,9 +333,9 @@ class DataManager: self._duration = end_time - self._start_time for msg_type, data in segment_data.items(): - for field in data.keys(): - if field != 't': - self._paths.add(f"{msg_type}/{field}") + for field_name in data.keys(): + if field_name != 't': + self._paths.add(f"{msg_type}/{field_name}") observers = self._observers.copy() diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py index bcadd4f38..4af9a102a 100644 --- a/tools/jotpluggler/views.py +++ b/tools/jotpluggler/views.py @@ -46,10 +46,10 @@ class TimeSeriesPanel(ViewPanel): self.y_axis_tag = f"{self.plot_tag}_y_axis" self.timeline_indicator_tag = f"{self.plot_tag}_timeline" self._ui_created = False - self._series_data: dict[str, tuple[list, list]] = {} + self._series_data: dict[str, tuple[np.ndarray, np.ndarray]] = {} self._last_plot_duration = 0 self._update_lock = threading.RLock() - self.results_deque: deque[tuple[str, list, list]] = deque() + self._results_deque: deque[tuple[str, list, list]] = deque() self._new_data = False def create_ui(self, parent_tag: str): @@ -75,12 +75,12 @@ class TimeSeriesPanel(ViewPanel): for series_path in list(self._series_data.keys()): self.add_series(series_path, update=True) - while self.results_deque: # handle downsampled results in main thread - results = self.results_deque.popleft() + while self._results_deque: # handle downsampled results in main thread + results = self._results_deque.popleft() for series_path, downsampled_time, downsampled_values in results: series_tag = f"series_{self.panel_id}_{series_path}" if dpg.does_item_exist(series_tag): - dpg.set_value(series_tag, [downsampled_time, downsampled_values]) + dpg.set_value(series_tag, (downsampled_time, downsampled_values.astype(float))) # update timeline current_time_s = self.playback_manager.current_time_s @@ -118,11 +118,11 @@ class TimeSeriesPanel(ViewPanel): target_points = max(int(target_points_per_second * series_duration), plot_width) work_items.append((series_path, time_array, value_array, target_points)) elif dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"): - dpg.set_value(f"series_{self.panel_id}_{series_path}", [time_array, value_array]) + dpg.set_value(f"series_{self.panel_id}_{series_path}", (time_array, value_array.astype(float))) if work_items: self.worker_manager.submit_task( - TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self.results_deque.append(results), task_id=f"downsample_{self.panel_id}" + TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self._results_deque.append(results), task_id=f"downsample_{self.panel_id}" ) def add_series(self, series_path: str, update: bool = False): @@ -133,9 +133,9 @@ class TimeSeriesPanel(ViewPanel): time_array, value_array = self._series_data[series_path] series_tag = f"series_{self.panel_id}_{series_path}" if dpg.does_item_exist(series_tag): - dpg.set_value(series_tag, [time_array, value_array]) + dpg.set_value(series_tag, (time_array, value_array.astype(float))) else: - line_series_tag = dpg.add_line_series(x=time_array, y=value_array, label=series_path, parent=self.y_axis_tag, tag=series_tag) + line_series_tag = dpg.add_line_series(x=time_array, y=value_array.astype(float), label=series_path, parent=self.y_axis_tag, tag=series_tag) dpg.bind_item_theme(line_series_tag, "global_line_theme") dpg.fit_axis_data(self.x_axis_tag) dpg.fit_axis_data(self.y_axis_tag) From 10580aca922789c58fae1a6922193df9b2fdf311 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 10 Sep 2025 15:06:25 -0700 Subject: [PATCH 59/69] ci: adjust power draw bounds (#36130) * consider min * bounds --- system/hardware/tici/tests/test_power_draw.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 46b45460b..4fbde8167 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -31,9 +31,9 @@ class Proc: PROCS = [ - Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 0.7, msgs=['driverStateV2']), + Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] From 0e1b573f89ab425e724ee0b7278f2d31bfd7029e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 11 Sep 2025 05:32:44 -0400 Subject: [PATCH 60/69] Honda: Add Honda Odyssey 2021-25 to release (#36132) * bump opendbc * regen CARS.md * add to RELEASES.md * forgot this was originally VG's PR * correctly typo the typo * follow recent DBC cleanup --- RELEASES.md | 3 ++- docs/CARS.md | 7 ++++--- opendbc_repo | 2 +- tools/sim/lib/simulated_car.py | 4 ++-- 4 files changed, 9 insertions(+), 7 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 90d99c001..529bcb6b0 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,7 +6,8 @@ Version 0.10.1 (2025-09-08) * World Model: trained on 4x the number of segments * Driving Vision Model: trained on 4x the number of segments * Record driving feedback using LKAS button -* Honda City 2023 support thanks to drFritz! +* Honda City 2023 support thanks to vanillagorillaa and drFritz! +* Honda Odyssey 2021-25 support thanks to vanillagorillaa and MVL! Version 0.10.0 (2025-08-05) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 7269f2573..4c0569a1b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 321 Supported Cars +# 322 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -99,6 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Odyssey 2021-25|All|openpilot available[1](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -247,7 +248,7 @@ A supported vehicle is one that just works when you install a comma device. All |Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Tesla[11](#footnotes)|Model Y (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 7afc25d8d..435ef8203 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7afc25d8d4096bb31e25c0b7ae0b961ea05f5394 +Subproject commit 435ef8203be39c225e95ba8b10b7db7272b99fcc diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 2681b2690..68ff3050d 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -11,7 +11,7 @@ from openpilot.tools.sim.lib.common import SimulatorState class SimulatedCar: """Simulates a honda civic 2022 (panda state + can messages) to OpenPilot""" - packer = CANPacker("honda_civic_ex_2022_can_generated") + packer = CANPacker("honda_bosch_radarless_generated") def __init__(self): self.pm = messaging.PubMaster(['can', 'pandaStates']) @@ -23,7 +23,7 @@ class SimulatedCar: @staticmethod def get_car_can_parser(): - dbc_f = 'honda_civic_ex_2022_can_generated' + dbc_f = 'honda_bosch_radarless_generated' checks = [] return CANParser(dbc_f, checks, 0) From 4ccd17903b6528d73ebd7ab5d4e30eca3685d2d0 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 11 Sep 2025 05:59:15 -0400 Subject: [PATCH 61/69] correction to Honda release notes (#36133) correction to release notes --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 529bcb6b0..b868bb7d5 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -7,7 +7,7 @@ Version 0.10.1 (2025-09-08) * Driving Vision Model: trained on 4x the number of segments * Record driving feedback using LKAS button * Honda City 2023 support thanks to vanillagorillaa and drFritz! -* Honda Odyssey 2021-25 support thanks to vanillagorillaa and MVL! +* Honda Odyssey 2021-25 support thanks to MVL! Version 0.10.0 (2025-08-05) ======================== From 3c28188d7a6b433211d665f5482720275088d7d3 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 11 Sep 2025 07:04:15 -0400 Subject: [PATCH 62/69] Honda: Add Honda N-Box 2018 to release (#36134) * bump opendbc * regen CARS.md * add to RELEASES.md --- RELEASES.md | 1 + docs/CARS.md | 3 ++- opendbc_repo | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index b868bb7d5..746dea9fd 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -7,6 +7,7 @@ Version 0.10.1 (2025-09-08) * Driving Vision Model: trained on 4x the number of segments * Record driving feedback using LKAS button * Honda City 2023 support thanks to vanillagorillaa and drFritz! +* Honda N-Box 2018 support thanks to miettal! * Honda Odyssey 2021-25 support thanks to MVL! Version 0.10.0 (2025-08-05) diff --git a/docs/CARS.md b/docs/CARS.md index 4c0569a1b..bd6a9c920 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 322 Supported Cars +# 323 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -98,6 +98,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|HR-V 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|N-Box 2018|All|openpilot available[1](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Odyssey 2021-25|All|openpilot available[1](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 435ef8203..4170d7d87 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 435ef8203be39c225e95ba8b10b7db7272b99fcc +Subproject commit 4170d7d876a87904dab4b351aa8139ec3d400430 From 994170ddb593dfcdc7ec613b4eab2ca2c7c10309 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Thu, 11 Sep 2025 07:45:36 -1000 Subject: [PATCH 63/69] fix qcom decoder compilation on mac with platform check (#36131) --- tools/replay/SConscript | 4 +++- tools/replay/framereader.cc | 7 ++++++- tools/replay/framereader.h | 5 +++++ 3 files changed, 14 insertions(+), 2 deletions(-) diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 99c8263a8..136c4119f 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -12,7 +12,9 @@ else: base_libs.append('OpenCL') replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", - "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc", "qcom_decoder.cc"] + "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] +if arch != "Darwin": + replay_lib_src.append("qcom_decoder.cc") replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index f2b1faf2c..e9cd09044 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -39,9 +39,12 @@ struct DecoderManager { } std::unique_ptr decoder; + #ifndef __APPLE__ if (Hardware::TICI() && hw_decoder) { decoder = std::make_unique(); - } else { + } else + #endif + { decoder = std::make_unique(); } @@ -264,6 +267,7 @@ bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) { return true; } +#ifndef __APPLE__ bool QcomVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) { if (codecpar->codec_id != AV_CODEC_ID_HEVC) { rError("Hardware decoder only supports HEVC codec"); @@ -305,3 +309,4 @@ bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { } return result; } +#endif diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index 1fb3cdfeb..d8e86fce0 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -6,7 +6,10 @@ #include "msgq/visionipc/visionbuf.h" #include "tools/replay/filereader.h" #include "tools/replay/util.h" + +#ifndef __APPLE__ #include "tools/replay/qcom_decoder.h" +#endif extern "C" { #include @@ -65,6 +68,7 @@ private: AVBufferRef *hw_device_ctx = nullptr; }; +#ifndef __APPLE__ class QcomVideoDecoder : public VideoDecoder { public: QcomVideoDecoder() {}; @@ -75,3 +79,4 @@ public: private: MsmVidc msm_vidc = MsmVidc(); }; +#endif From 67238d5045a3b0cb1bd675acd02f7ee638dc656a Mon Sep 17 00:00:00 2001 From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Date: Thu, 11 Sep 2025 12:47:23 -0500 Subject: [PATCH 64/69] Update release notes (#36137) Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 746dea9fd..f9656cfb0 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,7 +8,7 @@ Version 0.10.1 (2025-09-08) * Record driving feedback using LKAS button * Honda City 2023 support thanks to vanillagorillaa and drFritz! * Honda N-Box 2018 support thanks to miettal! -* Honda Odyssey 2021-25 support thanks to MVL! +* Honda Odyssey 2021-25 support thanks to csouers and MVL! Version 0.10.0 (2025-08-05) ======================== From fa498221da86eb76e6342cd9897efd509671f077 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 11 Sep 2025 10:48:32 -0700 Subject: [PATCH 65/69] still thinking about this one --- RELEASES.md | 1 - 1 file changed, 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index f9656cfb0..189aa7ad5 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -5,7 +5,6 @@ Version 0.10.1 (2025-09-08) * World Model: 2x the number of parameters * World Model: trained on 4x the number of segments * Driving Vision Model: trained on 4x the number of segments -* Record driving feedback using LKAS button * Honda City 2023 support thanks to vanillagorillaa and drFritz! * Honda N-Box 2018 support thanks to miettal! * Honda Odyssey 2021-25 support thanks to csouers and MVL! From 572c03dbace3d9e0454c3d4f1561e31333821aeb Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Thu, 11 Sep 2025 07:48:45 -1000 Subject: [PATCH 66/69] jotpluggler: fix flashing while searching (#36128) * modify in place instead of recreating nodes * don't delete DataTreeNodes and simplify code * faster: more efficient state tracking, better handler deletion --- tools/jotpluggler/datatree.py | 266 ++++++++++++++++++++-------------- 1 file changed, 160 insertions(+), 106 deletions(-) diff --git a/tools/jotpluggler/datatree.py b/tools/jotpluggler/datatree.py index 7bd026cf9..c18ab6189 100644 --- a/tools/jotpluggler/datatree.py +++ b/tools/jotpluggler/datatree.py @@ -2,7 +2,6 @@ import os import re import threading import numpy as np -from collections import deque import dearpygui.dearpygui as dpg @@ -12,8 +11,9 @@ class DataTreeNode: self.full_path = full_path self.parent = parent self.children: dict[str, DataTreeNode] = {} + self.filtered_children: dict[str, DataTreeNode] = {} + self.created_children: dict[str, DataTreeNode] = {} self.is_leaf = False - self.child_count = 0 self.is_plottable: bool | None = None self.ui_created = False self.children_ui_created = False @@ -28,13 +28,17 @@ class DataTree: self.playback_manager = playback_manager self.current_search = "" self.data_tree = DataTreeNode(name="root") - self._build_queue: deque[tuple[DataTreeNode, str | None, str | int]] = deque() - self._all_paths_cache: set[str] = set() - self._item_handlers: set[str] = set() + self._build_queue: dict[str, tuple[DataTreeNode, DataTreeNode, str | int]] = {} # full_path -> (node, parent, before_tag) + self._current_created_paths: set[str] = set() + self._current_filtered_paths: set[str] = set() + self._path_to_node: dict[str, DataTreeNode] = {} # full_path -> node + self._expanded_tags: set[str] = set() + self._item_handlers: dict[str, str] = {} # ui_tag -> handler_tag self._avg_char_width = None self._queued_search = None self._new_data = False self._ui_lock = threading.RLock() + self._handlers_to_delete = [] self.data_manager.add_observer(self._on_data_loaded) def create_ui(self, parent_tag: str): @@ -48,31 +52,102 @@ class DataTree: def _on_data_loaded(self, data: dict): with self._ui_lock: - if data.get('segment_added'): - self._new_data = True - elif data.get('reset'): - self._all_paths_cache = set() + if data.get('segment_added') or data.get('reset'): self._new_data = True + def update_frame(self, font): + if self._handlers_to_delete: # we need to do everything in main thread, frame callbacks are flaky + dpg.render_dearpygui_frame() # wait a frame to ensure queued callbacks are done + with self._ui_lock: + for handler in self._handlers_to_delete: + dpg.delete_item(handler) + self._handlers_to_delete.clear() - def _populate_tree(self): - self._clear_ui() - self.data_tree = self._add_paths_to_tree(self._all_paths_cache, incremental=False) - if self.data_tree: - self._request_children_build(self.data_tree) + with self._ui_lock: + if self._avg_char_width is None and dpg.is_dearpygui_running(): + self._avg_char_width = self.calculate_avg_char_width(font) - def _add_paths_to_tree(self, paths, incremental=False): + if self._new_data: + self._process_path_change() + self._new_data = False + return + + if self._queued_search is not None: + self.current_search = self._queued_search + self._process_path_change() + self._queued_search = None + return + + nodes_processed = 0 + while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME: + child_node, parent, before_tag = self._build_queue.pop(next(iter(self._build_queue))) + parent_tag = "data_tree_container" if parent.name == "root" else parent.ui_tag + if not child_node.ui_created: + if child_node.is_leaf: + self._create_leaf_ui(child_node, parent_tag, before_tag) + else: + self._create_tree_node_ui(child_node, parent_tag, before_tag) + parent.created_children[child_node.name] = parent.children[child_node.name] + self._current_created_paths.add(child_node.full_path) + nodes_processed += 1 + + def _process_path_change(self): + self._build_queue.clear() search_term = self.current_search.strip().lower() - filtered_paths = [path for path in paths if self._should_show_path(path, search_term)] - target_tree = self.data_tree if incremental else DataTreeNode(name="root") - - if not filtered_paths: - return target_tree - - parent_nodes_to_recheck = set() - for path in sorted(filtered_paths): + all_paths = set(self.data_manager.get_all_paths()) + new_filtered_leafs = {path for path in all_paths if self._should_show_path(path, search_term)} + new_filtered_paths = set(new_filtered_leafs) + for path in new_filtered_leafs: parts = path.split('/') - current_node = target_tree + for i in range(1, len(parts)): + prefix = '/'.join(parts[:i]) + new_filtered_paths.add(prefix) + created_paths_to_remove = self._current_created_paths - new_filtered_paths + filtered_paths_to_remove = self._current_filtered_paths - new_filtered_leafs + + if created_paths_to_remove or filtered_paths_to_remove: + self._remove_paths_from_tree(created_paths_to_remove, filtered_paths_to_remove) + self._apply_expansion_to_tree(self.data_tree, search_term) + + paths_to_add = new_filtered_leafs - self._current_created_paths + if paths_to_add: + self._add_paths_to_tree(paths_to_add) + self._apply_expansion_to_tree(self.data_tree, search_term) + self._current_filtered_paths = new_filtered_paths + + def _remove_paths_from_tree(self, created_paths_to_remove, filtered_paths_to_remove): + for path in sorted(created_paths_to_remove, reverse=True): + current_node = self._path_to_node[path] + + if len(current_node.created_children) == 0: + self._current_created_paths.remove(current_node.full_path) + if item_handler_tag := self._item_handlers.get(current_node.ui_tag): + dpg.configure_item(item_handler_tag, show=False) + self._handlers_to_delete.append(item_handler_tag) + del self._item_handlers[current_node.ui_tag] + dpg.delete_item(current_node.ui_tag) + current_node.ui_created = False + current_node.ui_tag = None + current_node.children_ui_created = False + del current_node.parent.created_children[current_node.name] + del current_node.parent.filtered_children[current_node.name] + + for path in filtered_paths_to_remove: + parts = path.split('/') + current_node = self._path_to_node[path] + + part_array_index = -1 + while len(current_node.filtered_children) == 0 and part_array_index >= -len(parts): + current_node = current_node.parent + if parts[part_array_index] in current_node.filtered_children: + del current_node.filtered_children[parts[part_array_index]] + part_array_index -= 1 + + def _add_paths_to_tree(self, paths): + parent_nodes_to_recheck = set() + for path in sorted(paths): + parts = path.split('/') + current_node = self.data_tree current_path_prefix = "" for i, part in enumerate(parts): @@ -81,101 +156,81 @@ class DataTree: parent_nodes_to_recheck.add(current_node) # for incremental changes from new data if part not in current_node.children: current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix, parent=current_node) + self._path_to_node[current_path_prefix] = current_node.children[part] + current_node.filtered_children[part] = current_node.children[part] current_node = current_node.children[part] if not current_node.is_leaf: current_node.is_leaf = True - self._calculate_child_counts(target_tree) - if incremental: - for p_node in parent_nodes_to_recheck: - p_node.children_ui_created = False - self._request_children_build(p_node) - return target_tree + for p_node in parent_nodes_to_recheck: + p_node.children_ui_created = False + self._request_children_build(p_node) - def update_frame(self, font): - with self._ui_lock: - if self._avg_char_width is None and dpg.is_dearpygui_running(): - self._avg_char_width = self.calculate_avg_char_width(font) + def _get_node_label_and_expand(self, node: DataTreeNode, search_term: str): + label = f"{node.name} ({len(node.filtered_children)} fields)" + expand = len(search_term) > 0 and any(search_term in path for path in self._get_descendant_paths(node)) + if expand and node.parent and len(node.parent.filtered_children) > 100 and len(node.filtered_children) > 2: + label += " (+)" # symbol for large lists which aren't fully expanded for performance (only affects procLog rn) + expand = False + return label, expand - if self._new_data: - current_paths = set(self.data_manager.get_all_paths()) - new_paths = current_paths - self._all_paths_cache - all_paths_empty = not self._all_paths_cache - self._all_paths_cache = current_paths - if all_paths_empty: - self._populate_tree() - elif new_paths: - self._add_paths_to_tree(new_paths, incremental=True) - self._new_data = False - return + def _apply_expansion_to_tree(self, node: DataTreeNode, search_term: str): + if node.ui_created and not node.is_leaf and node.ui_tag and dpg.does_item_exist(node.ui_tag): + label, expand = self._get_node_label_and_expand(node, search_term) + if expand: + self._expanded_tags.add(node.ui_tag) + dpg.set_value(node.ui_tag, expand) + elif node.ui_tag in self._expanded_tags: # not expanded and was expanded + self._expanded_tags.remove(node.ui_tag) + dpg.set_value(node.ui_tag, expand) + dpg.delete_item(node.ui_tag, children_only=True) # delete children (not visible since collapsed) + self._reset_ui_state_recursive(node) + node.children_ui_created = False + dpg.set_item_label(node.ui_tag, label) + for child in node.created_children.values(): + self._apply_expansion_to_tree(child, search_term) - if self._queued_search is not None: - self.current_search = self._queued_search - self._all_paths_cache = set(self.data_manager.get_all_paths()) - self._populate_tree() - self._queued_search = None - return - - nodes_processed = 0 - while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME: - child_node, parent_tag, before_tag = self._build_queue.popleft() - if not child_node.ui_created: - if child_node.is_leaf: - self._create_leaf_ui(child_node, parent_tag, before_tag) - else: - self._create_tree_node_ui(child_node, parent_tag, before_tag) - nodes_processed += 1 + def _reset_ui_state_recursive(self, node: DataTreeNode): + for child in node.created_children.values(): + if child.ui_tag is not None: + if item_handler_tag := self._item_handlers.get(child.ui_tag): + self._handlers_to_delete.append(item_handler_tag) + dpg.configure_item(item_handler_tag, show=False) + del self._item_handlers[child.ui_tag] + self._reset_ui_state_recursive(child) + child.ui_created = False + child.ui_tag = None + child.children_ui_created = False + self._current_created_paths.remove(child.full_path) + node.created_children.clear() def search_data(self): - self._queued_search = dpg.get_value("search_input") - - def _clear_ui(self): - for handler_tag in self._item_handlers: - dpg.configure_item(handler_tag, show=False) - dpg.set_frame_callback(dpg.get_frame_count() + 1, callback=self._delete_handlers, user_data=list(self._item_handlers)) - self._item_handlers.clear() - - if dpg.does_item_exist("data_tree_container"): - dpg.delete_item("data_tree_container", children_only=True) - - self._build_queue.clear() - - def _delete_handlers(self, sender, app_data, user_data): - for handler in user_data: - dpg.delete_item(handler) - - def _calculate_child_counts(self, node: DataTreeNode): - if node.is_leaf: - node.child_count = 0 - else: - node.child_count = len(node.children) - for child in node.children.values(): - self._calculate_child_counts(child) + with self._ui_lock: + self._queued_search = dpg.get_value("search_input") def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, before: str | int): - tag = f"tree_{node.full_path}" - node.ui_tag = tag - label = f"{node.name} ({node.child_count} fields)" + node.ui_tag = f"tree_{node.full_path}" search_term = self.current_search.strip().lower() - expand = bool(search_term) and len(search_term) > 1 and any(search_term in path for path in self._get_descendant_paths(node)) - if expand and node.parent and node.parent.child_count > 100 and node.child_count > 2: # don't fully autoexpand large lists (only affects procLog rn) - label += " (+)" - expand = False + label, expand = self._get_node_label_and_expand(node, search_term) + if expand: + self._expanded_tags.add(node.ui_tag) + elif node.ui_tag in self._expanded_tags: + self._expanded_tags.remove(node.ui_tag) with dpg.tree_node( - label=label, parent=parent_tag, tag=tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True + label=label, parent=parent_tag, tag=node.ui_tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True ): with dpg.item_handler_registry() as handler_tag: dpg.add_item_toggled_open_handler(callback=lambda s, a, u: self._request_children_build(node)) dpg.add_item_visible_handler(callback=lambda s, a, u: self._request_children_build(node)) - dpg.bind_item_handler_registry(tag, handler_tag) - self._item_handlers.add(handler_tag) - + dpg.bind_item_handler_registry(node.ui_tag, handler_tag) + self._item_handlers[node.ui_tag] = handler_tag node.ui_created = True def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str, before: str | int): - with dpg.group(parent=parent_tag, tag=f"leaf_{node.full_path}", before=before, delay_search=True) as draggable_group: + node.ui_tag = f"leaf_{node.full_path}" + with dpg.group(parent=parent_tag, tag=node.ui_tag, before=before, delay_search=True): with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp, delay_search=True): dpg.add_table_column(init_width_or_weight=0.5) dpg.add_table_column(init_width_or_weight=0.5) @@ -186,21 +241,21 @@ class DataTree: if node.is_plottable is None: node.is_plottable = self.data_manager.is_plottable(node.full_path) if node.is_plottable: - with dpg.drag_payload(parent=draggable_group, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"): + with dpg.drag_payload(parent=node.ui_tag, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"): dpg.add_text(f"Plot: {node.full_path}") with dpg.item_handler_registry() as handler_tag: dpg.add_item_visible_handler(callback=self._on_item_visible, user_data=node.full_path) - dpg.bind_item_handler_registry(draggable_group, handler_tag) - self._item_handlers.add(handler_tag) - + dpg.bind_item_handler_registry(node.ui_tag, handler_tag) + self._item_handlers[node.ui_tag] = handler_tag node.ui_created = True - node.ui_tag = f"value_{node.full_path}" def _on_item_visible(self, sender, app_data, user_data): with self._ui_lock: path = user_data value_tag = f"value_{path}" + if not dpg.does_item_exist(value_tag): + return value_column_width = dpg.get_item_rect_size("sidebar_window")[0] // 2 value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s) if value is not None: @@ -212,8 +267,7 @@ class DataTree: def _request_children_build(self, node: DataTreeNode): with self._ui_lock: if not node.children_ui_created and (node.name == "root" or (node.ui_tag is not None and dpg.get_value(node.ui_tag))): # check root or node expanded - parent_tag = "data_tree_container" if node.name == "root" else node.ui_tag - sorted_children = sorted(node.children.values(), key=self._natural_sort_key) + sorted_children = sorted(node.filtered_children.values(), key=self._natural_sort_key) next_existing: list[int | str] = [0] * len(sorted_children) current_before_tag: int | str = 0 @@ -228,7 +282,7 @@ class DataTree: for i, child_node in enumerate(sorted_children): if not child_node.ui_created: before_tag = next_existing[i] - self._build_queue.append((child_node, parent_tag, before_tag)) + self._build_queue[child_node.full_path] = (child_node, node, before_tag) node.children_ui_created = True def _should_show_path(self, path: str, search_term: str) -> bool: @@ -242,7 +296,7 @@ class DataTree: return (node_type_key, parts) def _get_descendant_paths(self, node: DataTreeNode): - for child_name, child_node in node.children.items(): + for child_name, child_node in node.filtered_children.items(): child_name_lower = child_name.lower() if child_node.is_leaf: yield child_name_lower From 70c0592e84a2cc5a8795b0d09d60eec46329c490 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 11 Sep 2025 11:03:59 -0700 Subject: [PATCH 67/69] CI: re-enable macOS build (#36120) * CI: re-enable macOS build * Update selfdrive_tests.yaml with new env variable --- .github/workflows/selfdrive_tests.yaml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index cdafbbfed..beb426c66 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -91,7 +91,6 @@ jobs: build_mac: name: build macOS - if: false # temp disable since homebrew install is getting stuck runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} steps: - uses: actions/checkout@v4 @@ -109,8 +108,8 @@ jobs: - name: Install dependencies run: ./tools/mac_setup.sh env: - # package install has DeprecationWarnings - PYTHONWARNINGS: default + PYTHONWARNINGS: default # package install has DeprecationWarnings + HOMEBREW_DISPLAY_INSTALL_TIMES: 1 - run: git lfs pull - name: Getting scons cache uses: ./.github/workflows/auto-cache From 2c04a27a2a0c3d3bdf9dfc6079d724651e369b49 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 11 Sep 2025 14:03:37 -0700 Subject: [PATCH 68/69] ubloxd: cleanup unused files --- system/ubloxd/glonass_fix.patch | 13 ----- system/ubloxd/tests/ubloxd.py | 89 --------------------------------- 2 files changed, 102 deletions(-) delete mode 100644 system/ubloxd/glonass_fix.patch delete mode 100755 system/ubloxd/tests/ubloxd.py diff --git a/system/ubloxd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch deleted file mode 100644 index 7eb973a34..000000000 --- a/system/ubloxd/glonass_fix.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp -index 5b17bc327..b5c6aa610 100644 ---- a/system/ubloxd/generated/glonass.cpp -+++ b/system/ubloxd/generated/glonass.cpp -@@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass - void glonass_t::_read() { - m_idle_chip = m__io->read_bits_int_be(1); - m_string_number = m__io->read_bits_int_be(4); -- m__io->align_to_byte(); -+ //m__io->align_to_byte(); - switch (string_number()) { - case 4: { - m_data = new string_4_t(m__io, this, m__root); diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py deleted file mode 100755 index c17387114..000000000 --- a/system/ubloxd/tests/ubloxd.py +++ /dev/null @@ -1,89 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore - -from openpilot.selfdrive.locationd.test import ublox -import struct - -baudrate = 460800 -rate = 100 # send new data every 100ms - - -def configure_ublox(dev): - # configure ports and solution parameters and rate - dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1) # enable only UBX on USB - dev.configure_port(port=0, inMask=0, outMask=0) # disable DDC - - payload = struct.pack(' Date: Thu, 11 Sep 2025 20:31:32 -1000 Subject: [PATCH 69/69] jotpluggler: add icons, use monospace font, and fix ui quirks (#36141) * use play/pause icons * use monospace font * x button for delete * add icons for splitting * many scaling + scrollbar fixes and niceties * simplify texture loading code --- tools/jotpluggler/assets/pause.png | 3 +++ tools/jotpluggler/assets/play.png | 3 +++ tools/jotpluggler/assets/split_h.png | 3 +++ tools/jotpluggler/assets/split_v.png | 3 +++ tools/jotpluggler/assets/x.png | 3 +++ tools/jotpluggler/datatree.py | 31 +++++++++++---------------- tools/jotpluggler/layout.py | 32 ++++++++++++++++++---------- tools/jotpluggler/pluggle.py | 25 +++++++++++++--------- 8 files changed, 64 insertions(+), 39 deletions(-) create mode 100644 tools/jotpluggler/assets/pause.png create mode 100644 tools/jotpluggler/assets/play.png create mode 100644 tools/jotpluggler/assets/split_h.png create mode 100644 tools/jotpluggler/assets/split_v.png create mode 100644 tools/jotpluggler/assets/x.png diff --git a/tools/jotpluggler/assets/pause.png b/tools/jotpluggler/assets/pause.png new file mode 100644 index 000000000..804009983 --- /dev/null +++ b/tools/jotpluggler/assets/pause.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ea96d8193eb9067a5efdc5d88a3099730ecafa40efcd09d7402bb3efd723603 +size 2305 diff --git a/tools/jotpluggler/assets/play.png b/tools/jotpluggler/assets/play.png new file mode 100644 index 000000000..b1556cf0a --- /dev/null +++ b/tools/jotpluggler/assets/play.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53097ac5403b725ff1841dfa186ea770b4bb3714205824bde36ec3c2a0fb5dba +size 2758 diff --git a/tools/jotpluggler/assets/split_h.png b/tools/jotpluggler/assets/split_h.png new file mode 100644 index 000000000..4fd88806e --- /dev/null +++ b/tools/jotpluggler/assets/split_h.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54dd035ff898d881509fa686c402a61af8ef5fb408b92414722da01f773b0d33 +size 2900 diff --git a/tools/jotpluggler/assets/split_v.png b/tools/jotpluggler/assets/split_v.png new file mode 100644 index 000000000..752e62a4a --- /dev/null +++ b/tools/jotpluggler/assets/split_v.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adbd4e5df1f58694dca9dde46d1d95b4e7471684e42e6bca9f41ea5d346e67c5 +size 3669 diff --git a/tools/jotpluggler/assets/x.png b/tools/jotpluggler/assets/x.png new file mode 100644 index 000000000..3b2eabd44 --- /dev/null +++ b/tools/jotpluggler/assets/x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6d9c90cb0dd906e0b15e1f7f3fd9f0dfad3c3b0b34eeed7a7882768dc5f3961 +size 2053 diff --git a/tools/jotpluggler/datatree.py b/tools/jotpluggler/datatree.py index c18ab6189..3390fed2e 100644 --- a/tools/jotpluggler/datatree.py +++ b/tools/jotpluggler/datatree.py @@ -34,7 +34,7 @@ class DataTree: self._path_to_node: dict[str, DataTreeNode] = {} # full_path -> node self._expanded_tags: set[str] = set() self._item_handlers: dict[str, str] = {} # ui_tag -> handler_tag - self._avg_char_width = None + self._char_width = None self._queued_search = None self._new_data = False self._ui_lock = threading.RLock() @@ -43,12 +43,13 @@ class DataTree: def create_ui(self, parent_tag: str): with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1): - dpg.add_text("Available Data") + dpg.add_text("Timeseries List") dpg.add_separator() dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data) dpg.add_separator() - with dpg.group(tag="data_tree_container"): - pass + with dpg.child_window(border=False, width=-1, height=-1): + with dpg.group(tag="data_tree_container"): + pass def _on_data_loaded(self, data: dict): with self._ui_lock: @@ -64,8 +65,9 @@ class DataTree: self._handlers_to_delete.clear() with self._ui_lock: - if self._avg_char_width is None and dpg.is_dearpygui_running(): - self._avg_char_width = self.calculate_avg_char_width(font) + if self._char_width is None: + if size := dpg.get_text_size(" ", font=font): + self._char_width = size[0] if self._new_data: self._process_path_change() @@ -256,10 +258,10 @@ class DataTree: value_tag = f"value_{path}" if not dpg.does_item_exist(value_tag): return - value_column_width = dpg.get_item_rect_size("sidebar_window")[0] // 2 + value_column_width = dpg.get_item_rect_size(f"leaf_{path}")[0] // 2 value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s) if value is not None: - formatted_value = self.format_and_truncate(value, value_column_width, self._avg_char_width) + formatted_value = self.format_and_truncate(value, value_column_width, self._char_width) dpg.set_value(value_tag, formatted_value) else: dpg.set_value(value_tag, "N/A") @@ -305,16 +307,9 @@ class DataTree: yield f"{child_name_lower}/{path}" @staticmethod - def calculate_avg_char_width(font): - sample_text = "abcdefghijklmnopqrstuvwxyz0123456789" - if size := dpg.get_text_size(sample_text, font=font): - return size[0] / len(sample_text) - return None - - @staticmethod - def format_and_truncate(value, available_width: float, avg_char_width: float) -> str: + def format_and_truncate(value, available_width: float, char_width: float) -> str: s = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value) - max_chars = int(available_width / avg_char_width) - 3 + max_chars = int(available_width / char_width) if len(s) > max_chars: - return s[: max(0, max_chars)] + "..." + return s[: max(0, max_chars - 3)] + "..." return s diff --git a/tools/jotpluggler/layout.py b/tools/jotpluggler/layout.py index 0c40116e6..917c156f9 100644 --- a/tools/jotpluggler/layout.py +++ b/tools/jotpluggler/layout.py @@ -25,29 +25,33 @@ class PlotLayoutManager: if dpg.does_item_exist(self.container_tag): dpg.delete_item(self.container_tag) - with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True): + with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True): container_width, container_height = dpg.get_item_rect_size(self.container_tag) self._create_ui_recursive(self.layout, self.container_tag, [], container_width, container_height) def _create_ui_recursive(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int): if layout["type"] == "panel": - self._create_panel_ui(layout, parent_tag, path) + self._create_panel_ui(layout, parent_tag, path, width, height) else: self._create_split_ui(layout, parent_tag, path, width, height) - def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int]): + def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height:int): panel_tag = self._path_to_tag(path, "panel") panel = layout["panel"] self.active_panels.append(panel) + text_size = int(13 * self.scale) + bar_height = (text_size+24) if width < int(279 * self.scale + 80) else (text_size+8) # adjust height to allow for scrollbar - with dpg.child_window(tag=panel_tag, parent=parent_tag, border=True, width=-1, height=-1, no_scrollbar=True): + with dpg.child_window(parent=parent_tag, border=True, width=-1, height=-1, no_scrollbar=True): with dpg.group(horizontal=True): - dpg.add_input_text(default_value=panel.title, width=int(100 * self.scale), callback=lambda s, v: setattr(panel, "title", v)) - dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale)) - dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale)) - dpg.add_button(label="Delete", callback=lambda: self.delete_panel(path), width=int(40 * self.scale)) - dpg.add_button(label="Split H", callback=lambda: self.split_panel(path, 0), width=int(40 * self.scale)) - dpg.add_button(label="Split V", callback=lambda: self.split_panel(path, 1), width=int(40 * self.scale)) + with dpg.child_window(tag=panel_tag, width=-(text_size + 16), height=bar_height, horizontal_scrollbar=True, no_scroll_with_mouse=True, border=False): + with dpg.group(horizontal=True): + dpg.add_input_text(default_value=panel.title, width=int(100 * self.scale), callback=lambda s, v: setattr(panel, "title", v)) + dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale)) + dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale)) + dpg.add_image_button(texture_tag="split_h_texture", callback=lambda: self.split_panel(path, 0), width=text_size, height=text_size) + dpg.add_image_button(texture_tag="split_v_texture", callback=lambda: self.split_panel(path, 1), width=text_size, height=text_size) + dpg.add_image_button(texture_tag="x_texture", callback=lambda: self.delete_panel(path), width=text_size, height=text_size) dpg.add_separator() @@ -177,11 +181,17 @@ class PlotLayoutManager: dpg.configure_item(container_tag, **{size_properties[orientation]: pane_sizes[i]}) child_width, child_height = [(pane_sizes[i], available_sizes[1]), (available_sizes[0], pane_sizes[i])][orientation] self._resize_splits_recursive(child_layout, child_path, child_width, child_height) + else: # leaf node/panel - adjust bar height to allow for scrollbar + panel_tag = self._path_to_tag(path, "panel") + if width is not None and width < int(279 * self.scale + 80): # scaled widths of the elements in top bar + fixed 8 padding on left and right of each item + dpg.configure_item(panel_tag, height=(int(13*self.scale) + 24)) + else: + dpg.configure_item(panel_tag, height=(int(13*self.scale) + 8)) def _get_split_geometry(self, layout: dict, available_size: tuple[int, int]) -> tuple[int, int, list[int]]: orientation = layout["orientation"] num_grips = len(layout["children"]) - 1 - usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * self.grip_size)) + usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * (self.grip_size + 8 * (2-orientation)))) # approximate, scaling is weird pane_sizes = [max(self.min_pane_size, int(usable_size * prop)) for prop in layout["proportions"]] return orientation, usable_size, pane_sizes diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py index 9868b998e..582a44454 100755 --- a/tools/jotpluggler/pluggle.py +++ b/tools/jotpluggler/pluggle.py @@ -73,9 +73,10 @@ class PlaybackManager: if not self.is_playing and self.current_time_s >= self.duration_s: self.seek(0.0) self.is_playing = not self.is_playing + texture_tag = "pause_texture" if self.is_playing else "play_texture" + dpg.configure_item("play_pause_button", texture_tag=texture_tag) def seek(self, time_s: float): - self.is_playing = False self.current_time_s = max(0.0, min(time_s, self.duration_s)) def update_time(self, delta_t: float): @@ -83,6 +84,7 @@ class PlaybackManager: self.current_time_s = min(self.current_time_s + delta_t, self.duration_s) if self.current_time_s >= self.duration_s: self.is_playing = False + dpg.configure_item("play_pause_button", texture_tag="play_texture") return self.current_time_s @@ -109,7 +111,6 @@ class MainController: dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots) dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots) - def on_data_loaded(self, data: dict): duration = data.get('duration', 0.0) self.playback_manager.set_route_duration(duration) @@ -121,7 +122,7 @@ class MainController: dpg.set_value("load_status", "Loading...") dpg.set_value("timeline_slider", 0.0) dpg.configure_item("timeline_slider", max_value=0.0) - dpg.configure_item("play_pause_button", label="Play") + dpg.configure_item("play_pause_button", texture_tag="play_texture") dpg.configure_item("load_button", enabled=True) elif data.get('loading_complete'): num_paths = len(self.data_manager.get_all_paths()) @@ -134,6 +135,12 @@ class MainController: dpg.configure_item("timeline_slider", max_value=duration) def setup_ui(self): + with dpg.texture_registry(): + script_dir = os.path.dirname(os.path.realpath(__file__)) + for image in ["play", "pause", "x", "split_h", "split_v"]: + texture = dpg.load_image(os.path.join(script_dir, "assets", f"{image}.png")) + dpg.add_static_texture(width=texture[0], height=texture[1], default_value=texture[3], tag=f"{image}_texture") + with dpg.window(tag="Primary Window"): with dpg.group(horizontal=True): # Left panel - Data tree @@ -147,16 +154,17 @@ class MainController: # Right panel - Plots and timeline with dpg.group(tag="right_panel"): - with dpg.child_window(label="Plot Window", border=True, height=-(30 + 13 * self.scale), tag="main_plot_area"): + with dpg.child_window(label="Plot Window", border=True, height=-(32 + 13 * self.scale), tag="main_plot_area"): self.plot_layout_manager.create_ui("main_plot_area") with dpg.child_window(label="Timeline", border=True): with dpg.table(header_row=False, borders_innerH=False, borders_innerV=False, borders_outerH=False, borders_outerV=False): - dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale)) # Play button + btn_size = int(13 * self.scale) + dpg.add_table_column(width_fixed=True, init_width_or_weight=(btn_size + 8)) # Play button dpg.add_table_column(width_stretch=True) # Timeline slider dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale)) # FPS counter with dpg.table_row(): - dpg.add_button(label="Play", tag="play_pause_button", callback=self.toggle_play_pause, width=int(50 * self.scale)) + dpg.add_image_button(texture_tag="play_texture", tag="play_pause_button", callback=self.toggle_play_pause, width=btn_size, height=btn_size) dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag) dpg.add_text("", tag="fps_counter") with dpg.item_handler_registry(tag="plot_resize_handler"): @@ -177,12 +185,9 @@ class MainController: def toggle_play_pause(self, sender): self.playback_manager.toggle_play_pause() - label = "Pause" if self.playback_manager.is_playing else "Play" - dpg.configure_item(sender, label=label) def timeline_drag(self, sender, app_data): self.playback_manager.seek(app_data) - dpg.configure_item("play_pause_button", label="Play") def update_frame(self, font): self.data_tree.update_frame(font) @@ -210,7 +215,7 @@ def main(route_to_load=None): scale = 1 with dpg.font_registry(): - default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/Inter-Regular.ttf"), int(13 * scale)) + default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale)) dpg.bind_font(default_font) viewport_width, viewport_height = int(1200 * scale), int(800 * scale)