reset to pre-modification baseline; restart feature work from clean state
Restoring the working tree to the pristine pre-Claude baseline previously preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03 and tagged here as pre-reset-2026-05-03 for reference. From here, features (UI changes, dashcam, telemetry, GPS, display modes, speed logic, standstill power saving, etc.) will be re-introduced one at a time with proper testing.
This commit is contained in:
@@ -2,8 +2,6 @@ prebuilt
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system/clearpilot/dev/on_start_brian.sh
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system/clearpilot/dev/on_start_brian.sh
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||||||
system/clearpilot/dev/id_rsa
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system/clearpilot/dev/id_rsa
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||||||
system/clearpilot/dev/id_rsa.pub
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system/clearpilot/dev/id_rsa.pub
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system/clearpilot/dev/id_ed25519
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system/clearpilot/dev/id_ed25519.pub
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venv/
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venv/
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||||||
.venv/
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.venv/
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||||||
.ci_cache
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.ci_cache
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@@ -1,29 +0,0 @@
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# CAN-FD Issues to Investigate
|
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||||||
|
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||||||
## Cruise Control Desync on Hot Start
|
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||||||
|
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||||||
### Problem
|
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||||||
When the car is already in cruise control mode before openpilot starts (or before controlsd initializes), pressing the cruise control button causes a desync:
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1. Car has active cruise control when openpilot comes online
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2. Driver presses cruise button — car interprets as "toggle off" (cruise was already on)
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||||||
3. openpilot interprets it as "engage" (from its perspective, it hasn't seen a cruise enable transition)
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4. Result: car disengages cruise, but openpilot thinks it just engaged lateral mode
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||||||
|
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||||||
### Proposed Fix
|
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||||||
When controlsd first reads carState and discovers `cruiseState.enabled` is already true:
|
|
||||||
|
|
||||||
1. Set a flag `cruise_was_active_at_start = True`
|
|
||||||
2. While this flag is set, do NOT allow openpilot to transition to engaged state on button press
|
|
||||||
3. Only clear the flag after seeing `cruiseState.enabled` go to `False` at least once (a full stop of cruise, not just standstill/pause)
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||||||
4. After the first full off cycle, normal engagement logic resumes
|
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||||||
|
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||||||
### Status
|
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||||||
- Could not reproduce on 2026-04-14 — may require specific timing (openpilot restart while driving with cruise active)
|
|
||||||
- Need to capture telemetry data during reproduction to see exact signal sequence
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||||||
- Key telemetry groups to watch: `cruise` (enabled, available, ACCMode, VSetDis), `buttons` (cruise_button)
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||||||
|
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||||||
### Relevant Code
|
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||||||
- `selfdrive/controls/controlsd.py` — engagement state machine
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- `selfdrive/car/hyundai/carstate.py` — CAN-FD cruise state parsing
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- `selfdrive/car/interfaces.py` — pcm_enable / cruise state transitions
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@@ -1,601 +0,0 @@
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# ClearPilot — CLAUDE.md
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||||||
|
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||||||
## Project Overview
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||||||
|
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||||||
ClearPilot is a custom fork of **FrogPilot** (itself a fork of comma.ai's openpilot), based on a 2024 release. It is purpose-built for Brian Hanson's **Hyundai Tucson** (HDA2 equipped). The vehicle's HDA2 system has specific quirks around how it synchronizes driving state with openpilot that require careful handling.
|
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||||||
|
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||||||
### Key Customizations in This Fork
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||||||
|
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||||||
- **UI changes** to the onroad driving interface
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- **Lane change behavior**: brief disengage when turn signal is active during lane changes
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- **Lateral control disabled**: the car's own radar cruise control handles lateral; openpilot handles longitudinal only
|
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||||||
- **Driver monitoring timeouts**: modified safety timeouts for the driver monitoring system
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||||||
- **Custom driving models**: `duck-amigo.thneed`, `farmville.onnx`, `wd-40.thneed` in `selfdrive/clearpilot/models/`
|
|
||||||
- **ClearPilot service**: Node.js service at `selfdrive/clearpilot/` with behavior scripts for lane change and longitudinal control
|
|
||||||
- **Native dashcamd**: C++ process capturing raw camera frames via VisionIPC with OMX H.264 hardware encoding
|
|
||||||
- **Standstill power saving**: model inference throttled to 1fps and fan quieted when car is stopped
|
|
||||||
- **ClearPilot menu**: sidebar settings panel replacing stock home screen (Home, Dashcam, Debug panels)
|
|
||||||
- **Status window**: live system stats (temp, fan, storage, RAM, WiFi, VPN, GPS, telemetry, dashcam status)
|
|
||||||
- **Debug button (LFA)**: steering wheel button repurposed for screen toggle and future UI actions
|
|
||||||
- **Telemetry system**: diff-based CSV logger via ZMQ IPC, toggleable from Debug panel
|
|
||||||
- **Bench mode**: `--bench` flag for onroad UI testing without car connected
|
|
||||||
- **GPS**: custom AT-command based GPS daemon (`system/clearpilot/gpsd.py`) replacing broken qcomgpsd diag interface
|
|
||||||
- **OpenVPN tunnel**: auto-connecting VPN to expose device on remote network for SSH access
|
|
||||||
|
|
||||||
See `GOALS.md` for feature roadmap.
|
|
||||||
|
|
||||||
## Working Rules
|
|
||||||
|
|
||||||
### CRITICAL: Change Control
|
|
||||||
|
|
||||||
This is self-driving software. All changes must be deliberate and well-understood.
|
|
||||||
|
|
||||||
- **NEVER make changes outside of what is explicitly requested**
|
|
||||||
- **Always explain proposed changes first** — describe the change, the logic, and the architecture; let Brian review and approve before writing any code
|
|
||||||
- **Brian is an expert on this software** — do not override his judgment or assume responsibility for changes he doesn't understand
|
|
||||||
- **Every line must be understood** — work slowly and deliberately
|
|
||||||
- **Test everything thoroughly** — Brian must always be in the loop
|
|
||||||
- **Do not refactor, clean up, or "improve" code beyond the specific request**
|
|
||||||
|
|
||||||
### Logging
|
|
||||||
|
|
||||||
**NEVER use `cloudlog`.** It's comma.ai's cloud telemetry pipeline, not ours — writes go to a publisher that's effectively a black hole for us (and the only thing it could do if ever reachable is bother the upstream FrogPilot developer). Our changes must always use **file logging** instead.
|
|
||||||
|
|
||||||
Use `print(..., file=sys.stderr, flush=True)`. `manager.py` redirects each managed process's stderr to `/data/log2/current/{process}.log`, so these lines land in the per-process log we already grep. Prefix custom log lines with `CLP ` so they're easy to filter out from upstream noise.
|
|
||||||
|
|
||||||
Example:
|
|
||||||
```python
|
|
||||||
import sys
|
|
||||||
print(f"CLP frogpilotPlan valid=False: carState_freq_ok={sm.freq_ok['carState']}", file=sys.stderr, flush=True)
|
|
||||||
```
|
|
||||||
|
|
||||||
Do not use `cloudlog.warning`, `cloudlog.info`, `cloudlog.error`, `cloudlog.event`, or `cloudlog.exception` in any CLEARPILOT-added code. Existing upstream/FrogPilot `cloudlog` calls can stay untouched.
|
|
||||||
|
|
||||||
### File Ownership
|
|
||||||
|
|
||||||
We operate as `root` on this device, but openpilot runs as the `comma` user (uid=1000, gid=1000). After any code changes that touch multiple files or before testing:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
chown -R comma:comma /data/openpilot
|
|
||||||
```
|
|
||||||
|
|
||||||
### Git
|
|
||||||
|
|
||||||
- Remote: `git@git.hanson.xyz:brianhansonxyz/clearpilot.git`
|
|
||||||
- Branch: `clearpilot`
|
|
||||||
- Large model files are tracked in git (intentional — this is a backup)
|
|
||||||
|
|
||||||
### Samba Share
|
|
||||||
|
|
||||||
- Share name: `openpilot` (e.g. `\\comma-3889765b\openpilot`)
|
|
||||||
- Path: `/data/openpilot`
|
|
||||||
- Username: `comma`
|
|
||||||
- Password: `i-like-to-drive-cars`
|
|
||||||
- Runs as `comma:comma` via force user/group — files created over SMB are owned correctly
|
|
||||||
- Enabled at boot (`smbd` + `nmbd`)
|
|
||||||
|
|
||||||
### Testing Changes
|
|
||||||
|
|
||||||
Always use `build_only.sh` to compile, then start the manager separately. Never compile individual targets with scons directly — always use the full build script. Always use full paths with `su - comma` — the login shell drops into `/home/comma` (volatile tmpfs), not `/data/openpilot`. **Always start the manager after a successful build** — don't wait for the user to ask.
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# 1. Fix ownership (we edit as root, openpilot runs as comma)
|
|
||||||
chown -R comma:comma /data/openpilot
|
|
||||||
|
|
||||||
# 2. Build (kills running manager, removes prebuilt, compiles, exits)
|
|
||||||
# Shows progress spinner on screen. On failure, shows error on screen
|
|
||||||
# and prints to stderr. Does NOT start the manager.
|
|
||||||
su - comma -c "bash /data/openpilot/build_only.sh"
|
|
||||||
|
|
||||||
# 3. If build succeeded ($? == 0), start openpilot
|
|
||||||
su - comma -c "bash /data/openpilot/launch_openpilot.sh"
|
|
||||||
|
|
||||||
# 4. Review the aggregate session log for errors
|
|
||||||
cat /data/log2/current/session.log
|
|
||||||
|
|
||||||
# 5. Check per-process stdout/stderr logs if needed
|
|
||||||
ls /data/log2/current/
|
|
||||||
cat /data/log2/current/gpsd.log
|
|
||||||
```
|
|
||||||
|
|
||||||
### Changing a Service's Publish Rate
|
|
||||||
|
|
||||||
SubMaster's `freq_ok` check requires observed rate to fall within
|
|
||||||
`[0.8 × min_freq, 1.2 × max_freq]` of the value declared in
|
|
||||||
`cereal/services.py`. Publishing *faster* than declared fails the check
|
|
||||||
just as surely as publishing too slowly — it trips `all_freq_ok()` →
|
|
||||||
`EventName.commIssue` → "TAKE CONTROL IMMEDIATELY / Communication Issue
|
|
||||||
Between Processes".
|
|
||||||
|
|
||||||
If you change how often a process publishes, you **must** update the rate
|
|
||||||
in `cereal/services.py` to match. Example (real bug we hit):
|
|
||||||
|
|
||||||
- Bumped thermald from 2Hz → 4Hz (DT_TRML 0.5→0.25) for faster fan control
|
|
||||||
- Bumped gpsd from 1Hz → 2Hz
|
|
||||||
- manager publishes `managerState` gated by `sm.update()` returning on
|
|
||||||
`deviceState`, so it picks up thermald's rate automatically
|
|
||||||
|
|
||||||
`services.py` still declared `deviceState` and `managerState` as 2Hz
|
|
||||||
(ceiling 2.4Hz) and `gpsLocation` as 1Hz (ceiling 1.2Hz), so controlsd
|
|
||||||
fired `commIssue` on every cycle the moment any of these arrived at the
|
|
||||||
new faster rate.
|
|
||||||
|
|
||||||
Fix: update the second tuple element (Hz) in `cereal/services.py` for the
|
|
||||||
affected service. Cereal will use the updated rate for all consumers.
|
|
||||||
|
|
||||||
### Adding New Params
|
|
||||||
|
|
||||||
The params system uses a C++ whitelist. Adding a new param name in `manager.py` alone will crash with `UnknownKeyName`. You must:
|
|
||||||
|
|
||||||
1. Register the key in `common/params.cc` (alphabetically, with `PERSISTENT` or `CLEAR_ON_*` flag)
|
|
||||||
2. Add the default value in `selfdrive/manager/manager.py` in `manager_init()`
|
|
||||||
3. Remove `prebuilt`, `common/params.o`, and `common/libcommon.a` to force rebuild
|
|
||||||
|
|
||||||
### Memory Params (paramsMemory)
|
|
||||||
|
|
||||||
ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should reset on boot. Key rules:
|
|
||||||
|
|
||||||
- **Registration**: Register the key in `common/params.cc` as `PERSISTENT` (same as FrogPilot pattern — the registration flag does NOT control which path the param lives at)
|
|
||||||
- **C++ access**: Use `Params{"/dev/shm/params"}` — stored as a class member `paramsMemory` in onroad.h. Do NOT use `Params("/dev/shm/params/d")` — the Params class appends `/d/` internally, so that would resolve to `/dev/shm/params/d/d/`
|
|
||||||
- **Python access**: Use `Params("/dev/shm/params")`
|
|
||||||
- **Defaults**: Set in `manager_init()` via `Params("/dev/shm/params").put(key, value)`
|
|
||||||
- **UI toggles**: Use `ToggleControl` with manual `toggleFlipped` lambda that writes via `Params("/dev/shm/params")`. Do NOT use `ParamControl` for memory params — it reads/writes persistent params only
|
|
||||||
- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ModelStandby` (default "0"), `ScreenDisplayMode`, `DashcamState` (default "stopped"), `DashcamFrames` (default "0"), `DashcamShutdown` (default "0")
|
|
||||||
- **IMPORTANT — method names differ between C++ and Python**: C++ uses camelCase (`putBool`, `getBool`, `getInt`), Python uses snake_case (`put_bool`, `get_bool`, `get_int`). This is a common source of silent failures — the wrong casing compiles/runs but doesn't work.
|
|
||||||
|
|
||||||
### Building Native (C++) Processes
|
|
||||||
|
|
||||||
- SCons is the build system. Static libraries (`common`, `messaging`, `cereal`, `visionipc`) must be imported as SCons objects, not `-l` flags
|
|
||||||
- The `--as-needed` linker flag can cause link order issues with static libs — disable it in your SConscript if needed
|
|
||||||
- OMX encoder object (`omx_encoder.o`) is compiled by the UI build — reference the pre-built `.o` file rather than recompiling (avoids "two environments" scons error)
|
|
||||||
- `prebuilt` is recreated after every successful build — always remove it before rebuilding
|
|
||||||
|
|
||||||
## Bench Mode (Onroad UI Testing)
|
|
||||||
|
|
||||||
Bench mode allows testing the onroad UI without a car connected. It runs a fake vehicle simulator (`bench_onroad.py`) as a managed process and disables real car processes (pandad, thermald, controlsd, etc.).
|
|
||||||
|
|
||||||
### Usage
|
|
||||||
|
|
||||||
**IMPORTANT**: Do NOT use `echo` to write bench params — `echo` appends a newline which causes param parsing to fail silently (e.g. gear stays in park). Always use the `bench_cmd.py` tool.
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# 1. Build first
|
|
||||||
chown -R comma:comma /data/openpilot
|
|
||||||
su - comma -c "bash /data/openpilot/build_only.sh"
|
|
||||||
|
|
||||||
# 2. Start in bench mode
|
|
||||||
su - comma -c "bash /data/openpilot/launch_openpilot.sh --bench"
|
|
||||||
|
|
||||||
# 3. Wait for UI to be ready (polls RPC every 1s, up to 20s)
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd wait_ready"
|
|
||||||
|
|
||||||
# 4. Control vehicle state
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd gear D"
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd speed 20"
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45"
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd cruise 55"
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd engaged 1"
|
|
||||||
|
|
||||||
# 5. Inspect UI widget tree (RPC call, instant response)
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd dump"
|
|
||||||
```
|
|
||||||
|
|
||||||
### Debugging Crashes
|
|
||||||
|
|
||||||
The UI has a SIGSEGV/SIGABRT crash handler (`selfdrive/ui/main.cc`) that prints a stack trace to stderr, captured in the per-process log:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# Check for crash traces (use /data/log2/current which is always the active session)
|
|
||||||
grep -A 30 "CRASH" /data/log2/current/ui.log
|
|
||||||
|
|
||||||
# Resolve addresses to source lines
|
|
||||||
addr2line -e /data/openpilot/selfdrive/ui/ui -f 0xADDRESS
|
|
||||||
|
|
||||||
# bench_cmd dump detects crash loops automatically:
|
|
||||||
# if UI process uptime < 5s, it reports "likely crash looping"
|
|
||||||
|
|
||||||
# Check per-process logs
|
|
||||||
ls /data/log2/current/
|
|
||||||
cat /data/log2/current/session.log
|
|
||||||
cat /data/log2/current/gpsd.log
|
|
||||||
```
|
|
||||||
|
|
||||||
### UI Introspection RPC
|
|
||||||
|
|
||||||
The UI process runs a ZMQ REP server at `ipc:///tmp/clearpilot_ui_rpc`. Send `"dump"` to get a recursive widget tree showing class name, visibility, geometry, and stacked layout current indices. This is the primary debugging tool for understanding what the UI is displaying.
|
|
||||||
|
|
||||||
- `bench_cmd dump` — queries the RPC and prints the widget tree
|
|
||||||
- `bench_cmd wait_ready` — polls the RPC every second until `ReadyWindow` is visible (up to 10s)
|
|
||||||
- `ui_dump.py` — standalone dump tool (same as `bench_cmd dump`)
|
|
||||||
|
|
||||||
### Architecture
|
|
||||||
|
|
||||||
- `launch_openpilot.sh --bench` sets `BENCH_MODE=1` env var
|
|
||||||
- `manager.py` reads `BENCH_MODE`, blocks real car processes, enables `bench_onroad` process
|
|
||||||
- `bench_onroad.py` publishes fake `pandaStates` (ignition=true), `carState`, `controlsState` — thermald reads the fake pandaStates to determine ignition and publishes `deviceState.started=true` on its own
|
|
||||||
- thermald and camerad run normally in bench mode (thermald manages CPU cores needed for camerad)
|
|
||||||
- Blocked processes in bench mode: pandad, controlsd, radard, plannerd, calibrationd, torqued, paramsd, locationd, sensord, ubloxd, pigeond, dmonitoringmodeld, dmonitoringd, modeld, soundd, loggerd, micd, dashcamd
|
|
||||||
|
|
||||||
### Key Files
|
|
||||||
|
|
||||||
| File | Role |
|
|
||||||
|------|------|
|
|
||||||
| `selfdrive/clearpilot/bench_onroad.py` | Fake vehicle state publisher |
|
|
||||||
| `selfdrive/clearpilot/bench_cmd.py` | Command tool for setting bench params and querying UI |
|
|
||||||
| `selfdrive/clearpilot/ui_dump.py` | Standalone UI widget tree dump |
|
|
||||||
| `selfdrive/manager/process_config.py` | Registers bench_onroad as managed process (enabled=BENCH_MODE) |
|
|
||||||
| `selfdrive/manager/manager.py` | Blocks conflicting processes in bench mode |
|
|
||||||
| `launch_openpilot.sh` | Accepts `--bench` flag, exports BENCH_MODE env var |
|
|
||||||
| `selfdrive/ui/qt/window.cc` | UI RPC server (`ipc:///tmp/clearpilot_ui_rpc`), widget tree dump |
|
|
||||||
|
|
||||||
### Resolved Issues
|
|
||||||
|
|
||||||
- **SIGSEGV in onroad view (fixed)**: `update_model()` in `ui.cc` dereferenced empty model position data when modeld wasn't running. Fixed by guarding against empty `plan_position.getX()`. The root cause was found using the crash handler + `addr2line`.
|
|
||||||
- **`showDriverView` overriding transitions (fixed)**: was forcing `slayout` to onroad/home every frame at 20Hz, overriding park/drive logic. Fixed to only act when not in started state.
|
|
||||||
- **Sidebar appearing during onroad transition (fixed)**: `MainWindow::closeSettings()` was re-enabling the sidebar. Fixed by not calling `closeSettings` during `offroadTransition`.
|
|
||||||
|
|
||||||
## Performance Profiling
|
|
||||||
|
|
||||||
Use `py-spy` to find CPU hotspots in any Python process. It's installed at `/home/comma/.local/bin/py-spy`. (If missing: `su - comma -c "/usr/local/pyenv/versions/3.11.4/bin/pip install py-spy"`.)
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# Find the target pid
|
|
||||||
ps -eo pid,cmd | grep -E "selfdrive.controls.controlsd" | grep -v grep
|
|
||||||
|
|
||||||
# Record 10s of stacks at 200Hz, raw (folded) format
|
|
||||||
/home/comma/.local/bin/py-spy record -o /tmp/ctrl.txt --pid <PID> --duration 10 --rate 200 --format raw
|
|
||||||
|
|
||||||
# Aggregate: which line of step() is consuming the most samples
|
|
||||||
awk -F';' '{
|
|
||||||
for(i=1;i<=NF;i++) if ($i ~ /step \(selfdrive\/controls\/controlsd.py/) step_line=i;
|
|
||||||
if (step_line && step_line < NF) {
|
|
||||||
n=split($NF, parts, " "); count=parts[n];
|
|
||||||
caller = $(step_line+1);
|
|
||||||
sum[caller] += count;
|
|
||||||
}
|
|
||||||
step_line=0;
|
|
||||||
} END { for (c in sum) printf "%6d %s\n", sum[c], c }' /tmp/ctrl.txt | sort -rn | head -15
|
|
||||||
|
|
||||||
# Aggregate by a source file — shows hottest lines in that file
|
|
||||||
awk -F';' '{
|
|
||||||
for(i=1;i<=NF;i++) if ($i ~ /carstate\.py:/) {
|
|
||||||
match($i, /:[0-9]+/); ln = substr($i, RSTART+1, RLENGTH-1);
|
|
||||||
n=split($NF, parts, " "); count=parts[n];
|
|
||||||
sum[ln] += count;
|
|
||||||
}
|
|
||||||
} END { for (l in sum) printf "%5d line %s\n", sum[l], l }' /tmp/ctrl.txt | sort -rn | head -15
|
|
||||||
|
|
||||||
# Quick stack dump (single sample, no recording)
|
|
||||||
/home/comma/.local/bin/py-spy dump --pid <PID>
|
|
||||||
```
|
|
||||||
|
|
||||||
**Known performance trap — hot `Params` writes**: `Params.put()` does `mkstemp` + `fsync` + `flock` + `rename` + `fsync_dir`. At 100Hz even on tmpfs the `flock` contention is ruinous. Cache the last-written value and skip writes when unchanged. Found this pattern in `carstate.py` and `controlsd.py` — controlsd went from 69% → 28% CPU after gating writes.
|
|
||||||
|
|
||||||
## Session Logging
|
|
||||||
|
|
||||||
Per-process stderr and an aggregate event log are captured in `/data/log2/current/`.
|
|
||||||
|
|
||||||
### Log Directory
|
|
||||||
|
|
||||||
- `/data/log2/current/` is always the active session directory
|
|
||||||
- `init_log_dir()` is called once from `manager_init()` — creates a fresh `/data/log2/current/` real directory
|
|
||||||
- If a previous `current/` real directory exists (unresolved session), it's renamed using its mtime timestamp
|
|
||||||
- If a previous `current` symlink exists, it's removed
|
|
||||||
- Once system time is valid (GPS/NTP), the real directory is renamed to `/data/log2/YYYY-MM-DD-HH-MM-SS/` and `current` becomes a symlink to it
|
|
||||||
- `LogDirInitialized` param: `"0"` until time resolves, then `"1"`
|
|
||||||
- Open file handles survive the rename (same inode, same filesystem)
|
|
||||||
- Session directories older than 30 days are deleted on manager startup
|
|
||||||
|
|
||||||
### Per-Process Logs
|
|
||||||
|
|
||||||
- Every `PythonProcess` and `NativeProcess` has stderr redirected to `{name}.log` in the session directory
|
|
||||||
- `DaemonProcess` (athenad) redirects both stdout+stderr (existing behavior)
|
|
||||||
- Stderr is redirected via `os.dup2` inside the forked child process
|
|
||||||
|
|
||||||
### Aggregate Session Log (`session.log`)
|
|
||||||
|
|
||||||
A single `session.log` in each session directory records major events:
|
|
||||||
|
|
||||||
- Manager start/stop/crash
|
|
||||||
- Process starts, deaths (with exit codes), watchdog restarts
|
|
||||||
- Onroad/offroad transitions
|
|
||||||
|
|
||||||
### Key Files
|
|
||||||
|
|
||||||
| File | Role |
|
|
||||||
|------|------|
|
|
||||||
| `selfdrive/manager/process.py` | Log directory creation, stderr redirection, session_log logger |
|
|
||||||
| `selfdrive/manager/manager.py` | Log rotation cleanup, session event logging |
|
|
||||||
| `build_only.sh` | Build-only script (no manager start) |
|
|
||||||
|
|
||||||
## Dashcam (dashcamd)
|
|
||||||
|
|
||||||
### Architecture
|
|
||||||
|
|
||||||
`dashcamd` is a native C++ process that captures raw camera frames directly from `camerad` via VisionIPC and encodes to MP4 using the Qualcomm OMX H.264 hardware encoder. This replaces the earlier FrogPilot screen recorder approach (`QWidget::grab()` -> OMX).
|
|
||||||
|
|
||||||
- **Codec**: H.264 AVC (hardware accelerated via `OMX.qcom.video.encoder.avc`)
|
|
||||||
- **Resolution**: 1928x1208 (full camera resolution, no downscaling)
|
|
||||||
- **Bitrate**: 2500 kbps
|
|
||||||
- **Container**: MP4 (remuxed via libavformat) + SRT subtitle sidecar
|
|
||||||
- **Segment length**: 3 minutes per file
|
|
||||||
- **Save path**: `/data/media/0/videos/YYYYMMDD-HHMMSS/YYYYMMDD-HHMMSS.mp4` (trip directories)
|
|
||||||
- **GPS subtitles**: companion `.srt` file per segment with 1Hz entries (speed MPH, lat/lon, UTC timestamp)
|
|
||||||
- **Trip lifecycle**: waits in WAITING state until valid system time + GPS fix + car in drive; records until car parked 10 min or ignition off; then returns to WAITING
|
|
||||||
- **Graceful shutdown**: thermald sets `DashcamShutdown` param, dashcamd closes segment and acks within 15s
|
|
||||||
- **Storage**: ~56 MB per 3-minute segment at 2500 kbps (verified: actual bitrate ~2570 kbps)
|
|
||||||
- **Crash handler**: SIGSEGV/SIGABRT handler writes backtrace to `/tmp/dashcamd_crash.log`
|
|
||||||
- **Storage device**: WDC SDINDDH4-128G UFS 2.1 — automotive grade, ~384 TB write endurance, no concern for continuous writes
|
|
||||||
|
|
||||||
### OmxEncoder
|
|
||||||
|
|
||||||
The OMX encoder (`selfdrive/frogpilot/screenrecorder/omx_encoder.cc`) was ported from upstream FrogPilot with the following key properties:
|
|
||||||
|
|
||||||
- Each encoder instance calls `OMX_Init()` in constructor and `OMX_Deinit()` in destructor — manages its own OMX lifecycle
|
|
||||||
- Constructor takes 5 args: `(path, width, height, fps, bitrate)` — no h265/downscale params
|
|
||||||
- `encoder_close()` calls `av_write_trailer` + ffmpeg faststart remux (`-movflags +faststart`)
|
|
||||||
- Destructor has null guards and error handling on all OMX state transitions
|
|
||||||
- ClearPilot addition: `encode_frame_nv12()` for direct NV12 input (dashcamd), alongside original `encode_frame_rgba()` (screen recorder)
|
|
||||||
|
|
||||||
### Key Files
|
|
||||||
|
|
||||||
| File | Role |
|
|
||||||
|------|------|
|
|
||||||
| `selfdrive/clearpilot/dashcamd.cc` | Main dashcam process — VisionIPC -> OMX encoder |
|
|
||||||
| `selfdrive/clearpilot/SConscript` | Build config for dashcamd |
|
|
||||||
| `selfdrive/frogpilot/screenrecorder/omx_encoder.cc` | OMX encoder (upstream FrogPilot port + `encode_frame_nv12`) |
|
|
||||||
| `selfdrive/frogpilot/screenrecorder/omx_encoder.h` | Encoder header |
|
|
||||||
| `selfdrive/manager/process_config.py` | dashcamd registered as NativeProcess, camerad always_run, encoderd disabled |
|
|
||||||
| `system/loggerd/deleter.py` | Trip-aware storage rotation (oldest trip first, then segments within active trip) |
|
|
||||||
|
|
||||||
### Params
|
|
||||||
|
|
||||||
- `DashcamShutdown` (memory param) — set by thermald before power-off, dashcamd acks by clearing it
|
|
||||||
- `DashcamState` (memory param) — "stopped", "waiting", or "recording" — published every 5s
|
|
||||||
- `DashcamFrames` (memory param) — per-trip encoded frame count, resets each trip — published every 5s
|
|
||||||
|
|
||||||
## Standstill Power Saving
|
|
||||||
|
|
||||||
When `carState.standstill` is true:
|
|
||||||
|
|
||||||
- **modeld**: skips GPU inference on 19/20 frames (1fps vs 20fps), reports 0 frame drops to avoid triggering `modeldLagging` in controlsd. Runs full 20fps during calibration (`liveCalibration.calStatus != calibrated`)
|
|
||||||
- **dmonitoringmodeld**: same 1fps throttle, added `carState` subscription
|
|
||||||
- **Fan controller**: uses offroad clamps (0-30%) instead of onroad (30-100%) at standstill; thermal protection still active via feedforward if temp > 60°C
|
|
||||||
|
|
||||||
### Key Files
|
|
||||||
|
|
||||||
| File | Role |
|
|
||||||
|------|------|
|
|
||||||
| `selfdrive/modeld/modeld.py` | Standstill frame skip logic |
|
|
||||||
| `selfdrive/modeld/dmonitoringmodeld.py` | Standstill frame skip logic |
|
|
||||||
| `selfdrive/thermald/fan_controller.py` | Standstill-aware fan clamps |
|
|
||||||
| `selfdrive/thermald/thermald.py` | Passes standstill to fan controller via carState |
|
|
||||||
|
|
||||||
## Display Modes (LFA/LKAS Debug Button)
|
|
||||||
|
|
||||||
The Hyundai Tucson's LFA steering wheel button cycles through 5 display modes via `ScreenDisplayMode` param (`/dev/shm/params`, CLEAR_ON_MANAGER_START, default 0).
|
|
||||||
|
|
||||||
### Display States
|
|
||||||
|
|
||||||
| State | Name | Display | Camera | Path Drawing |
|
|
||||||
|-------|------|---------|--------|-------------|
|
|
||||||
| 0 | auto-normal | on | yes | filled (normal) |
|
|
||||||
| 1 | auto-nightrider | on | black | 2px outline only |
|
|
||||||
| 2 | normal (manual) | on | yes | filled (normal) |
|
|
||||||
| 3 | screen off | GPIO off | n/a | n/a |
|
|
||||||
| 4 | nightrider (manual) | on | black | 2px outline only |
|
|
||||||
|
|
||||||
### Auto Day/Night Switching
|
|
||||||
|
|
||||||
- `gpsd.py` computes `is_daylight(lat, lon, utc_dt)` using NOAA solar position algorithm
|
|
||||||
- First calculation immediately on GPS fix + valid clock, then every 30 seconds
|
|
||||||
- State 0 + sunset → auto-switch to 1; State 1 + sunrise → auto-switch to 0
|
|
||||||
- States 2/3/4 are never touched by auto logic
|
|
||||||
- `IsDaylight` param written to `/dev/shm/params` for reference
|
|
||||||
|
|
||||||
### Button Behavior
|
|
||||||
|
|
||||||
**Onroad (car in drive gear):** 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto via button)
|
|
||||||
|
|
||||||
**Not in drive (parked/off):** any except 3 → 3 (screen off), state 3 → 0 (auto-normal)
|
|
||||||
|
|
||||||
**Shift to drive from screen off:** auto-resets to mode 0 (auto-normal) via `controlsd`
|
|
||||||
|
|
||||||
**Shift to park from nightrider:** auto-switches to mode 3 (screen off) via `home.cc`
|
|
||||||
|
|
||||||
**Tap screen while screen off:** resets to mode 0 (auto-normal) via `window.cc` touch handler
|
|
||||||
|
|
||||||
### Nightrider Mode
|
|
||||||
|
|
||||||
- Camera feed suppressed (OpenGL clears to black instead of rendering camera texture)
|
|
||||||
- All HUD elements (speed, alerts, telemetry indicator) still visible
|
|
||||||
- Path/lane polygons drawn as 2px outlines only (no gradient fill)
|
|
||||||
- Lane lines, road edges, blind spot paths, adjacent paths all use outline rendering
|
|
||||||
|
|
||||||
### Signal Chain
|
|
||||||
|
|
||||||
```
|
|
||||||
Steering wheel LFA button press
|
|
||||||
-> CAN-FD: cruise_btns_msg_canfd["LFA_BTN"]
|
|
||||||
-> Edge detection → ButtonEvent(type=FrogPilotButtonType.lkas)
|
|
||||||
-> controlsd.clearpilot_state_control()
|
|
||||||
-> Reads ScreenDisplayMode, applies transition table based on driving_gear
|
|
||||||
-> Writes new ScreenDisplayMode to /dev/shm/params
|
|
||||||
-> UI reads ScreenDisplayMode in paintEvent() (for camera/nightrider)
|
|
||||||
and drawHud() (for display power on/off)
|
|
||||||
```
|
|
||||||
|
|
||||||
### Key Files
|
|
||||||
|
|
||||||
| File | Role |
|
|
||||||
|------|------|
|
|
||||||
| `selfdrive/controls/controlsd.py` | Button state machine, writes ScreenDisplayMode |
|
|
||||||
| `selfdrive/ui/qt/onroad.cc` | Nightrider rendering, display power control |
|
|
||||||
| `selfdrive/ui/qt/home.cc` | Display power for park/splash state |
|
|
||||||
| `system/clearpilot/gpsd.py` | Sunset/sunrise calc, auto day/night transitions |
|
|
||||||
| `selfdrive/clearpilot/bench_cmd.py` | `debugbutton` command simulates button press |
|
|
||||||
|
|
||||||
## Screen Timeout / Display Power
|
|
||||||
|
|
||||||
Display power is managed by `Device::updateWakefulness()` in `selfdrive/ui/ui.cc`.
|
|
||||||
|
|
||||||
- **Ignition off (offroad)**: screen blanks after `ScreenTimeout` seconds (default 120) of no touch. Tapping wakes it.
|
|
||||||
- **Ignition on (onroad)**: screen stays on unconditionally — ignition=true short-circuits the timeout check.
|
|
||||||
- **ScreenDisplayMode 3 override**: `updateWakefulness` checks `ScreenDisplayMode` first — if mode 3, calls `setAwake(false)` unconditionally, preventing ignition-on from overriding screen-off.
|
|
||||||
- **Debug button (LFA)**: cycles through display modes including screen off (state 3).
|
|
||||||
- **Park transition**: always shows splash screen; if coming from nightrider mode, auto-switches to screen off (mode 3) via `home.cc`.
|
|
||||||
- **Touch wake**: tapping screen while in mode 3 resets to mode 0 via `window.cc` event filter.
|
|
||||||
|
|
||||||
## Offroad UI (ClearPilot Menu)
|
|
||||||
|
|
||||||
The offroad home screen (`selfdrive/ui/qt/home.cc`) is a sidebar settings panel replacing the stock home screen. The original system settings are no longer accessible — the ClearPilot menu is the only settings interface.
|
|
||||||
|
|
||||||
### Panels
|
|
||||||
|
|
||||||
- **General**: Status window, Reset Calibration, Shutdown Timer, Reboot/Soft Reboot/Power Off
|
|
||||||
- **Network**: WiFi management, tethering, roaming, hidden networks (APN settings removed)
|
|
||||||
- **Dashcam**: placeholder for future dashcam footage viewer
|
|
||||||
- **Debug**: Telemetry logging toggle
|
|
||||||
|
|
||||||
### Navigation
|
|
||||||
|
|
||||||
- Tapping the splash screen (ReadyWindow) opens the ClearPilot menu
|
|
||||||
- "← Back" button returns to splash or onroad view
|
|
||||||
- Sidebar with stock metrics (TEMP, VEHICLE, CONNECT) is hidden
|
|
||||||
|
|
||||||
## Device: comma 3x
|
|
||||||
|
|
||||||
### Hardware
|
|
||||||
|
|
||||||
- Qualcomm Snapdragon SoC (aarch64)
|
|
||||||
- Serial: comma-3889765b
|
|
||||||
- Storage: WDC SDINDDH4-128G, 128 GB UFS 2.1
|
|
||||||
- Connects to the car via comma panda (CAN bus interface)
|
|
||||||
|
|
||||||
### Operating System
|
|
||||||
|
|
||||||
- **Ubuntu 20.04.6 LTS (Focal Fossa)** on aarch64
|
|
||||||
- **Kernel**: 4.9.103+ (custom comma.ai PREEMPT build, Feb 2024) — very old, vendor-patched Qualcomm kernel
|
|
||||||
- **Python**: 3.11.4 via pyenv at `/usr/local/pyenv/versions/3.11.4/` (system python is 3.8, do not use)
|
|
||||||
- **AGNOS version**: 9.7 (comma's custom OS layer on top of Ubuntu)
|
|
||||||
- **Display server**: Weston (Wayland compositor) on tty1
|
|
||||||
- **SELinux**: mounted (enforcement status varies)
|
|
||||||
|
|
||||||
### Users
|
|
||||||
|
|
||||||
- `comma` (uid=1000) — the user openpilot runs as; member of root, sudo, disk, gpu, gpio groups
|
|
||||||
- `root` — what we SSH in as; files must be chowned back to comma before running openpilot
|
|
||||||
|
|
||||||
### Filesystem / Mount Quirks
|
|
||||||
|
|
||||||
| Mount | Device | Type | Notes |
|
|
||||||
|-------------|-------------|---------|-------|
|
|
||||||
| `/` | /dev/sda7 | ext4 | Root filesystem, read-write |
|
|
||||||
| `/data` | /dev/sda12 | ext4 | **Persistent**. Openpilot lives here. Survives reboots. |
|
|
||||||
| `/home` | overlay | overlayfs | **VOLATILE** — upperdir on tmpfs, changes lost on reboot |
|
|
||||||
| `/tmp` | tmpfs | tmpfs | Volatile, 150 MB |
|
|
||||||
| `/var` | tmpfs | tmpfs | Volatile, 128 MB (fstab) / 1.5 GB (actual) |
|
|
||||||
| `/systemrw` | /dev/sda10 | ext4 | Writable system overlay, noexec |
|
|
||||||
| `/persist` | /dev/sda2 | ext4 | Persistent config/certs, noexec |
|
|
||||||
| `/cache` | /dev/sda11 | ext4 | Android-style cache partition |
|
|
||||||
| `/dsp` | /dev/sde26 | ext4 | **Read-only** Qualcomm DSP firmware |
|
|
||||||
| `/firmware` | /dev/sde4 | vfat | **Read-only** firmware blobs |
|
|
||||||
|
|
||||||
### Hardware Encoding
|
|
||||||
|
|
||||||
- **OMX**: `OMX.qcom.video.encoder.avc` (H.264) and `OMX.qcom.video.encoder.hevc` — used by dashcamd and screen recorder
|
|
||||||
- **V4L2**: Qualcomm VIDC at `/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1` — used by encoderd (now disabled). Not accessible from ffmpeg due to permission/driver issues
|
|
||||||
- **ffmpeg**: v4.2.2, has `h264_v4l2m2m` and `h264_omx` listed but neither works from ffmpeg subprocess (OMX port issues, V4L2 device not found). Use OMX directly via the C++ encoder
|
|
||||||
|
|
||||||
### Fan Control
|
|
||||||
|
|
||||||
Software-controlled via `thermald` -> `fan_controller.py` -> panda USB -> PWM. Target temp 70°C, PI+feedforward controller. See Standstill Power Saving section for standstill-aware clamps.
|
|
||||||
|
|
||||||
## Boot Sequence
|
|
||||||
|
|
||||||
```
|
|
||||||
Power On
|
|
||||||
-> systemd: comma.service (runs as comma user)
|
|
||||||
-> /usr/comma/comma.sh (waits for Weston, handles factory reset)
|
|
||||||
-> /data/continue.sh (exec bridge to openpilot)
|
|
||||||
-> /data/openpilot/launch_openpilot.sh
|
|
||||||
-> Kills other instances of itself and manager.py
|
|
||||||
-> Runs on_start.sh (logo, reverse SSH)
|
|
||||||
-> exec launch_chffrplus.sh
|
|
||||||
-> Sources launch_env.sh (thread counts, AGNOS_VERSION)
|
|
||||||
-> Runs agnos_init (marks boot slot, GPU perms, checks OS update)
|
|
||||||
-> Sets PYTHONPATH, symlinks /data/pythonpath
|
|
||||||
-> Runs build.py if no `prebuilt` marker
|
|
||||||
-> Launches selfdrive/manager/manager.py
|
|
||||||
-> manager_init() sets default params
|
|
||||||
-> ensure_running() loop starts all managed processes
|
|
||||||
```
|
|
||||||
|
|
||||||
## Openpilot Architecture
|
|
||||||
|
|
||||||
### Process Manager
|
|
||||||
|
|
||||||
`selfdrive/manager/manager.py` orchestrates all processes defined in `selfdrive/manager/process_config.py`.
|
|
||||||
|
|
||||||
### Always-Running Processes (offroad + onroad)
|
|
||||||
|
|
||||||
- `thermald` — thermal management and fan control
|
|
||||||
- `pandad` — panda CAN bus interface
|
|
||||||
- `ui` — Qt-based onroad/offroad UI
|
|
||||||
- `deleter` — storage cleanup (9 GB threshold)
|
|
||||||
- `statsd`, `timed`, `logmessaged`, `tombstoned` — telemetry/logging
|
|
||||||
- `manage_athenad` — comma cloud connectivity
|
|
||||||
- `fleet_manager`, `frogpilot_process` — FrogPilot additions
|
|
||||||
|
|
||||||
### Onroad-Only Processes (when driving)
|
|
||||||
|
|
||||||
- `controlsd` — main vehicle control loop
|
|
||||||
- `plannerd` — path planning
|
|
||||||
- `radard` — radar processing
|
|
||||||
- `modeld` — driving model inference (throttled to 1fps at standstill)
|
|
||||||
- `dmonitoringmodeld` — driver monitoring model (throttled to 1fps at standstill)
|
|
||||||
- `locationd`, `calibrationd`, `paramsd`, `torqued` — localization and calibration
|
|
||||||
- `sensord` — IMU/sensor data
|
|
||||||
- `soundd` — alert sounds
|
|
||||||
- `camerad` — camera capture
|
|
||||||
- `loggerd` — CAN/sensor log recording (video encoding disabled)
|
|
||||||
|
|
||||||
### ClearPilot Processes
|
|
||||||
|
|
||||||
- `dashcamd` — raw camera dashcam recording (always runs; manages its own trip lifecycle)
|
|
||||||
|
|
||||||
### GPS
|
|
||||||
|
|
||||||
- Device has **no u-blox chip** (`/dev/ttyHS0` does not exist) — `ubloxd`/`pigeond` never start
|
|
||||||
- GPS hardware is a **Quectel EC25 LTE modem** (USB, `lsusb: 2c7c:0125`) with built-in GPS
|
|
||||||
- GPS is accessed via AT commands through `mmcli`: `mmcli -m any --command='AT+QGPSLOC=2'`
|
|
||||||
- **`qcomgpsd`** (original openpilot process) uses the modem's diag interface which is broken on this device — the diag recv loop blocks forever after setup. Commented out.
|
|
||||||
- **`system/clearpilot/gpsd.py`** is the replacement — polls GPS via AT commands at 1Hz, publishes `gpsLocation` cereal messages
|
|
||||||
- GPS data flows: `gpsd` → `gpsLocation` → `locationd` → `liveLocationKalman` → `timed` (sets system clock)
|
|
||||||
- `locationd` checks `UbloxAvailable` param (false on this device) to subscribe to `gpsLocation` instead of `gpsLocationExternal`
|
|
||||||
- `mmcli` returns `response: '...'` wrapper — `at_cmd()` strips it before parsing (fixed)
|
|
||||||
- GPS antenna power must be enabled via GPIO: `gpio_set(GPIO.GNSS_PWR_EN, True)`
|
|
||||||
- System `/usr/sbin/gpsd` daemon may respawn and interfere — should be disabled or killed
|
|
||||||
|
|
||||||
### Telemetry
|
|
||||||
|
|
||||||
- **Client**: `selfdrive/clearpilot/telemetry.py` — `tlog(group, data)` sends JSON over ZMQ PUSH
|
|
||||||
- **Collector**: `selfdrive/clearpilot/telemetryd.py` — diffs against previous state, writes changed values to CSV
|
|
||||||
- **Toggle**: `TelemetryEnabled` memory param, controlled from Debug panel in ClearPilot menu
|
|
||||||
- **Auto-disable**: disabled on every manager start; disabled if `/data` free < 5GB
|
|
||||||
- **Hyundai CAN-FD data**: logged from `selfdrive/car/hyundai/carstate.py` `update_canfd()` — groups: `car`, `cruise`, `speed_limit`, `buttons`
|
|
||||||
- **GPS data**: logged directly by telemetryd via cereal `gpsLocation` subscription at 1Hz — group: `gps` (latitude, longitude, speed, altitude, bearing, accuracy)
|
|
||||||
- **CSV location**: `/data/log2/current/telemetry.csv` (or session directory)
|
|
||||||
- **Onroad overlay**: when telemetry enabled, status bar shows temp, fan %, model FPS, and STANDSTILL indicator
|
|
||||||
- **Speed limit**: processed by `selfdrive/clearpilot/speed_logic.py` (SpeedState class), converts m/s to display units, writes to memory params. Cruise warning signs appear when cruise set speed exceeds speed limit by threshold (10 mph if limit >= 50, 7 mph if < 50) or is 5+ mph under. Ding sound plays when warning sign appears or speed limit changes while visible (30s cooldown)
|
|
||||||
|
|
||||||
### Key Dependencies
|
|
||||||
|
|
||||||
- **Python 3.11** (via pyenv) with: numpy, casadi, onnx/onnxruntime, pycapnp, pyzmq, sentry-sdk, sympy, Cython
|
|
||||||
- **capnp (Cap'n Proto)** — IPC message serialization between all processes
|
|
||||||
- **ZeroMQ** — IPC transport layer
|
|
||||||
- **Qt 5** — UI framework (with WebEngine available but not used for rotation reasons)
|
|
||||||
- **OpenMAX (OMX)** — hardware video encoding
|
|
||||||
- **libavformat** — MP4 container muxing
|
|
||||||
- **libyuv** — color space conversion
|
|
||||||
- **SCons** — build system for native C++ components
|
|
||||||
@@ -1,49 +0,0 @@
|
|||||||
# Dashcam Project
|
|
||||||
|
|
||||||
## Status
|
|
||||||
|
|
||||||
### Completed (2026-04-11)
|
|
||||||
|
|
||||||
- Disabled comma training data video encoding (`encoderd`) — CAN/sensor logs still recorded
|
|
||||||
- Re-enabled FrogPilot OMX screen recorder (H.264 MP4, 1440x720, 2Mbps, hardware encoded)
|
|
||||||
- Auto-start/stop recording tied to car ignition (`scene.started`)
|
|
||||||
- `ScreenRecorderDebug` param for bench testing without car connected
|
|
||||||
- Hidden all recorder UI elements — invisible to driver
|
|
||||||
- Videos saved to `/data/media/0/videos/YYYYMMDD-HHMMSS.mp4`, 3-minute segments
|
|
||||||
- Deleter updated: 9 GB free space threshold, rotates oldest videos first
|
|
||||||
- Cleaned up offroad UI: replaced stock home screen with grid launcher (Settings + Dashcam buttons)
|
|
||||||
|
|
||||||
### Next: Dashcam Footage Viewer
|
|
||||||
|
|
||||||
Build a native Qt widget accessible from the offroad home screen "Dashcam" button.
|
|
||||||
|
|
||||||
**Requirements:**
|
|
||||||
- List MP4 files from `/data/media/0/videos/` sorted newest first
|
|
||||||
- Tap a file to play it back using Qt Multimedia (`QMediaPlayer` + `QVideoWidget`)
|
|
||||||
- Only accessible when offroad (car in park or off)
|
|
||||||
- Back button to return to offroad home
|
|
||||||
- No rotation hacks needed — native Qt widget in existing UI tree handles rotation correctly
|
|
||||||
|
|
||||||
**Architecture:**
|
|
||||||
- New widget class (e.g. `DashcamViewer`) added to `selfdrive/ui/qt/`
|
|
||||||
- Wire into `HomeWindow`'s `QStackedLayout` alongside `home`, `onroad`, `ready`, `driver_view`
|
|
||||||
- Dashcam button in `OffroadHome` switches `slayout` to the viewer
|
|
||||||
- Viewer has a file list view and a playback view (sub-stacked layout)
|
|
||||||
- Back button returns to `OffroadHome`
|
|
||||||
- Build: add to `qt_src` list in `selfdrive/ui/SConscript`, link `Qt5Multimedia`
|
|
||||||
|
|
||||||
**Previous webview attempts (abandoned):**
|
|
||||||
- Brian tried QWebEngineView for browser-based playback but the WebEngine subprocess renders independently of Qt's widget tree
|
|
||||||
- Screen rotation (`view.rotate(90)`, Wayland `wl_surface_set_buffer_transform`) did not work for WebEngine content
|
|
||||||
- Native Qt widget approach avoids this problem entirely
|
|
||||||
|
|
||||||
## Key Files
|
|
||||||
|
|
||||||
| File | Role |
|
|
||||||
|------|------|
|
|
||||||
| `selfdrive/frogpilot/screenrecorder/screenrecorder.cc` | Recording logic, auto-start/stop |
|
|
||||||
| `selfdrive/frogpilot/screenrecorder/omx_encoder.cc` | OMX H.264 hardware encoder |
|
|
||||||
| `selfdrive/ui/qt/onroad.cc` | Timer driving frame capture |
|
|
||||||
| `selfdrive/ui/qt/home.cc` | Offroad home with Dashcam button |
|
|
||||||
| `system/loggerd/deleter.py` | Storage rotation |
|
|
||||||
| `/data/media/0/videos/` | Video output directory |
|
|
||||||
@@ -1,46 +0,0 @@
|
|||||||
# ClearPilot — Feature Goals
|
|
||||||
|
|
||||||
Each goal below will be discussed in detail before implementation. Background and specifics to be provided by Brian when we get to each item.
|
|
||||||
|
|
||||||
## Dashcam
|
|
||||||
|
|
||||||
- [ ] **Dashcam viewer** — on-screen Qt widget for browsing and playing back recorded footage from the offroad home screen (Dashcam button already placed). See `DASHCAM_PROJECT.md` for architecture notes.
|
|
||||||
- [ ] **Dashcam uploader** — upload footage to a remote server or cloud storage
|
|
||||||
- [ ] **GPS + speed overlay on dashcam footage** — embed GPS coordinates and vehicle speed into the video stream or as metadata
|
|
||||||
- [ ] **Dashcam footage archive** — option to mark a trip's footage as archived (kept in storage but hidden from the main UI)
|
|
||||||
- [ ] **Suspend dashcam / route recording** — on-screen setting to pause recording for a trip and delete footage of the current trip so far (privacy mode)
|
|
||||||
|
|
||||||
## Driving Alerts & Safety
|
|
||||||
|
|
||||||
- [ ] **Chirp on speed change and over speed limit** — audible alert when speed limit changes or vehicle exceeds the limit
|
|
||||||
- [ ] **Warn on traffic standstill ahead** — alert when approaching cars ahead too quickly (closing distance warning)
|
|
||||||
- [ ] **On-screen current speed limit** — display the speed limit as reported by the car's CAN data
|
|
||||||
- [ ] **Fix on-screen speed value for MPH** — correct the speed display to use the proper value for MPH conversion
|
|
||||||
|
|
||||||
## Cruise Control & Driving State
|
|
||||||
|
|
||||||
- [ ] **Auto-set speed via CAN bus** — simulate pressing speed up/down buttons on CAN bus to automatically set cruise to the correct speed via UI interaction (stretch goal)
|
|
||||||
- [ ] **Fix engaged-while-braking state sync** — if openpilot is engaged while brakes are pressed, the system thinks it's active but the car isn't actually in cruise control, causing a sync error that should be recoverable
|
|
||||||
- [ ] **Fix resume-cruise lateral mode bug** — pressing resume cruise control (rather than enable) causes the car to enter a state where it thinks it's in always-on lateral mode and disables driver monitoring
|
|
||||||
- [ ] **Lateral assist in turn lanes** — keep lateral assist active when using turn signal in a turn lane (at low/turning speeds) as opposed to cruising speeds, where lateral currently disengages
|
|
||||||
|
|
||||||
## Driver Monitoring
|
|
||||||
|
|
||||||
- [ ] **Disable driver monitoring on demand** — add a technique to disable DM for 2 minutes via a button or gesture
|
|
||||||
- [ ] **Hands-on-wheel mode** — add a setting requiring the driver to keep hands on the wheel (configurable via settings)
|
|
||||||
|
|
||||||
## UI Modes & Display
|
|
||||||
|
|
||||||
- [ ] **Curves-only UI mode** — show only on-screen curve/path depictions without the camera feed (reduces visual clutter, saves processing)
|
|
||||||
- [ ] **Night mode auto-display-off** — turn off display if device starts at night (determine sunset for current location/datetime or use ambient light levels from car sensors)
|
|
||||||
- [ ] **Update boot/offroad splash logos** — replace the red pac-man ghost with a blue pac-man ghost for boot and offroad full-screen splash
|
|
||||||
- [ ] **Dashcam-only reboot mode** — on-screen option to reboot into a mode that provides no driver assist (reverts to stock OEM lane assist) but keeps dashcam running. For lending the car to friends who shouldn't use comma's driving features.
|
|
||||||
|
|
||||||
## Connectivity & Data
|
|
||||||
|
|
||||||
- [ ] **Offroad weather report screen** — weather display accessible from the offroad home grid (depends on internet connection)
|
|
||||||
- [ ] **Fix GPS tracking** — GPS tracking feature currently broken, processes commented out in process_config
|
|
||||||
|
|
||||||
## Vehicle-Specific (Hyundai Tucson HDA2)
|
|
||||||
|
|
||||||
- [ ] **Warn if panoramic roof is open** — if possible to intercept window/roof state from CAN bus, warn when the top roof is left open when the car is turned off
|
|
||||||
@@ -121,7 +121,6 @@ def objcopy(source, target, env, for_signature):
|
|||||||
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
||||||
|
|
||||||
# Common autogenerated includes
|
# Common autogenerated includes
|
||||||
os.makedirs("obj", exist_ok=True)
|
|
||||||
git_ver = get_version(BUILDER, BUILD_TYPE)
|
git_ver = get_version(BUILDER, BUILD_TYPE)
|
||||||
with open("obj/gitversion.h", "w") as f:
|
with open("obj/gitversion.h", "w") as f:
|
||||||
f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
|
f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
|
||||||
|
|||||||
@@ -1,38 +0,0 @@
|
|||||||
#!/usr/bin/bash
|
|
||||||
# CLEARPILOT: build-only mode — compile without starting manager.
|
|
||||||
# On failure: shows error on screen (non-blocking) and exits nonzero with stderr output.
|
|
||||||
# On success: exits 0, does not start manager.
|
|
||||||
#
|
|
||||||
# Usage: su - comma -c "bash /data/openpilot/build_only.sh"
|
|
||||||
|
|
||||||
BASEDIR="/data/openpilot"
|
|
||||||
|
|
||||||
# Fix ownership — we edit as root, openpilot builds/runs as comma
|
|
||||||
sudo chown -R comma:comma "$BASEDIR"
|
|
||||||
|
|
||||||
# Kill stale error displays and any running manager/launch/managed processes
|
|
||||||
pkill -9 -f "selfdrive/ui/text" 2>/dev/null
|
|
||||||
pkill -9 -f 'launch_openpilot.sh' 2>/dev/null
|
|
||||||
pkill -9 -f 'launch_chffrplus.sh' 2>/dev/null
|
|
||||||
pkill -9 -f 'python.*manager.py' 2>/dev/null
|
|
||||||
pkill -9 -f 'selfdrive\.' 2>/dev/null
|
|
||||||
pkill -9 -f 'system\.' 2>/dev/null
|
|
||||||
pkill -9 -f './ui' 2>/dev/null
|
|
||||||
sleep 1
|
|
||||||
|
|
||||||
source "$BASEDIR/launch_env.sh"
|
|
||||||
|
|
||||||
ln -sfn "$BASEDIR" /data/pythonpath
|
|
||||||
export PYTHONPATH="$BASEDIR"
|
|
||||||
|
|
||||||
# Hardware init (GPU perms)
|
|
||||||
sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
|
|
||||||
sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
|
|
||||||
|
|
||||||
# Preflight: create dirs git can't track
|
|
||||||
source "$BASEDIR/build_preflight.sh"
|
|
||||||
|
|
||||||
cd "$BASEDIR/selfdrive/manager"
|
|
||||||
rm -f "$BASEDIR/prebuilt"
|
|
||||||
|
|
||||||
BUILD_ONLY=1 exec ./build.py
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
#!/usr/bin/bash
|
|
||||||
# CLEARPILOT: build preflight — create directories and fix state that
|
|
||||||
# git cannot track but the build requires. Called by build_only.sh and
|
|
||||||
# launch_chffrplus.sh before scons runs.
|
|
||||||
|
|
||||||
BASEDIR="${BASEDIR:-/data/openpilot}"
|
|
||||||
|
|
||||||
# SConscript files write generated headers into obj/ directories at
|
|
||||||
# parse time — these must exist before scons starts.
|
|
||||||
mkdir -p "$BASEDIR/body/board/obj"
|
|
||||||
mkdir -p "$BASEDIR/panda/board/obj"
|
|
||||||
@@ -12,9 +12,6 @@ struct FrogPilotCarControl @0x81c2f05a394cf4af {
|
|||||||
alwaysOnLateral @0 :Bool;
|
alwaysOnLateral @0 :Bool;
|
||||||
speedLimitChanged @1 :Bool;
|
speedLimitChanged @1 :Bool;
|
||||||
trafficModeActive @2 :Bool;
|
trafficModeActive @2 :Bool;
|
||||||
# CLEARPILOT: migrated from paramsMemory to avoid file-read syscalls in modeld/UI/carcontroller
|
|
||||||
latRequested @3 :Bool; # controlsd's request to enable lat before ramp-up delay
|
|
||||||
noLatLaneChange @4 :Bool; # lat is temporarily suppressed during a lane change
|
|
||||||
}
|
}
|
||||||
|
|
||||||
struct FrogPilotCarState @0xaedffd8f31e7b55d {
|
struct FrogPilotCarState @0xaedffd8f31e7b55d {
|
||||||
|
|||||||
+3
-3
@@ -30,7 +30,7 @@ services: dict[str, tuple] = {
|
|||||||
"temperatureSensor": (True, 2., 200),
|
"temperatureSensor": (True, 2., 200),
|
||||||
"temperatureSensor2": (True, 2., 200),
|
"temperatureSensor2": (True, 2., 200),
|
||||||
"gpsNMEA": (True, 9.),
|
"gpsNMEA": (True, 9.),
|
||||||
"deviceState": (True, 5., 1), # CLEARPILOT: 5Hz — thermald decimates pandaStates (10Hz) every 2 ticks
|
"deviceState": (True, 2., 1),
|
||||||
"can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
|
"can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
|
||||||
"controlsState": (True, 100., 10),
|
"controlsState": (True, 100., 10),
|
||||||
"pandaStates": (True, 10., 1),
|
"pandaStates": (True, 10., 1),
|
||||||
@@ -50,7 +50,7 @@ services: dict[str, tuple] = {
|
|||||||
"longitudinalPlan": (True, 20., 5),
|
"longitudinalPlan": (True, 20., 5),
|
||||||
"procLog": (True, 0.5, 15),
|
"procLog": (True, 0.5, 15),
|
||||||
"gpsLocationExternal": (True, 10., 10),
|
"gpsLocationExternal": (True, 10., 10),
|
||||||
"gpsLocation": (True, 2., 1), # CLEARPILOT: 2Hz (was 1Hz) — gpsd polls at 2Hz
|
"gpsLocation": (True, 1., 1),
|
||||||
"ubloxGnss": (True, 10.),
|
"ubloxGnss": (True, 10.),
|
||||||
"qcomGnss": (True, 2.),
|
"qcomGnss": (True, 2.),
|
||||||
"gnssMeasurements": (True, 10., 10),
|
"gnssMeasurements": (True, 10., 10),
|
||||||
@@ -70,7 +70,7 @@ services: dict[str, tuple] = {
|
|||||||
"wideRoadEncodeIdx": (False, 20., 1),
|
"wideRoadEncodeIdx": (False, 20., 1),
|
||||||
"wideRoadCameraState": (True, 20., 20),
|
"wideRoadCameraState": (True, 20., 20),
|
||||||
"modelV2": (True, 20., 40),
|
"modelV2": (True, 20., 40),
|
||||||
"managerState": (True, 5., 1), # CLEARPILOT: 5Hz — gated by deviceState arrival (see thermald)
|
"managerState": (True, 2., 1),
|
||||||
"uploaderState": (True, 0., 1),
|
"uploaderState": (True, 0., 1),
|
||||||
"navInstruction": (True, 1., 10),
|
"navInstruction": (True, 1., 10),
|
||||||
"navRoute": (True, 0.),
|
"navRoute": (True, 0.),
|
||||||
|
|||||||
+5
-32
@@ -109,9 +109,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"CurrentBootlog", PERSISTENT},
|
{"CurrentBootlog", PERSISTENT},
|
||||||
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"DashcamFrames", PERSISTENT},
|
|
||||||
{"DashcamState", PERSISTENT},
|
|
||||||
{"DashcamShutdown", CLEAR_ON_MANAGER_START},
|
|
||||||
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"DisablePowerDown", PERSISTENT},
|
{"DisablePowerDown", PERSISTENT},
|
||||||
{"DisableUpdates", PERSISTENT},
|
{"DisableUpdates", PERSISTENT},
|
||||||
@@ -161,7 +158,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"LastUpdateTime", PERSISTENT},
|
{"LastUpdateTime", PERSISTENT},
|
||||||
{"LiveParameters", PERSISTENT},
|
{"LiveParameters", PERSISTENT},
|
||||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||||
{"LogDirInitialized", CLEAR_ON_MANAGER_START},
|
|
||||||
{"LongitudinalPersonality", PERSISTENT},
|
{"LongitudinalPersonality", PERSISTENT},
|
||||||
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
@@ -193,18 +189,12 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||||
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"RouteCount", PERSISTENT},
|
{"RouteCount", PERSISTENT},
|
||||||
{"ShutdownTouchReset", PERSISTENT},
|
|
||||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||||
{"SshEnabled", PERSISTENT},
|
{"SshEnabled", PERSISTENT},
|
||||||
{"TermsVersion", PERSISTENT},
|
{"TermsVersion", PERSISTENT},
|
||||||
{"TelemetryEnabled", PERSISTENT},
|
|
||||||
{"Timezone", PERSISTENT},
|
{"Timezone", PERSISTENT},
|
||||||
{"TrainingVersion", PERSISTENT},
|
{"TrainingVersion", PERSISTENT},
|
||||||
{"ModelFps", PERSISTENT},
|
|
||||||
{"ModelStandby", PERSISTENT},
|
|
||||||
{"ModelStandbyTs", PERSISTENT},
|
|
||||||
{"UbloxAvailable", PERSISTENT},
|
{"UbloxAvailable", PERSISTENT},
|
||||||
{"VpnEnabled", PERSISTENT},
|
|
||||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||||
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
|
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
|
||||||
{"UpdaterAvailableBranches", PERSISTENT},
|
{"UpdaterAvailableBranches", PERSISTENT},
|
||||||
@@ -220,13 +210,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
|
|
||||||
// FrogPilot parameters
|
// FrogPilot parameters
|
||||||
{"AccelerationPath", PERSISTENT},
|
{"AccelerationPath", PERSISTENT},
|
||||||
{"BenchCruiseActive", CLEAR_ON_MANAGER_START},
|
|
||||||
{"BenchCruiseSpeed", CLEAR_ON_MANAGER_START},
|
|
||||||
{"ClpUiState", CLEAR_ON_MANAGER_START},
|
|
||||||
{"BenchEngaged", CLEAR_ON_MANAGER_START},
|
|
||||||
{"BenchGear", CLEAR_ON_MANAGER_START},
|
|
||||||
{"BenchSpeed", CLEAR_ON_MANAGER_START},
|
|
||||||
{"BenchSpeedLimit", CLEAR_ON_MANAGER_START},
|
|
||||||
{"AccelerationProfile", PERSISTENT},
|
{"AccelerationProfile", PERSISTENT},
|
||||||
{"AdjacentPath", PERSISTENT},
|
{"AdjacentPath", PERSISTENT},
|
||||||
{"AdjacentPathMetrics", PERSISTENT},
|
{"AdjacentPathMetrics", PERSISTENT},
|
||||||
@@ -249,27 +232,17 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"CarMake", PERSISTENT},
|
{"CarMake", PERSISTENT},
|
||||||
{"CarModel", PERSISTENT},
|
{"CarModel", PERSISTENT},
|
||||||
|
|
||||||
|
{"CarCruiseDisplayActual", PERSISTENT},
|
||||||
{"CarSpeedLimit", PERSISTENT},
|
{"CarSpeedLimit", PERSISTENT},
|
||||||
|
|
||||||
{"CarSpeedLimitWarning", PERSISTENT},
|
{"CarSpeedLimitWarning", PERSISTENT},
|
||||||
{"CarSpeedLimitLiteral", PERSISTENT},
|
{"CarSpeedLimitLiteral", PERSISTENT},
|
||||||
{"CarIsMetric", PERSISTENT},
|
|
||||||
|
|
||||||
{"ClearpilotSpeedDisplay", PERSISTENT},
|
|
||||||
{"ClearpilotSpeedLimitDisplay", PERSISTENT},
|
|
||||||
{"ClearpilotHasSpeed", PERSISTENT},
|
|
||||||
{"ClearpilotIsMetric", PERSISTENT},
|
|
||||||
{"ClearpilotSpeedUnit", PERSISTENT},
|
|
||||||
{"ClearpilotCruiseWarning", PERSISTENT},
|
|
||||||
{"ClearpilotCruiseWarningSpeed", PERSISTENT},
|
|
||||||
{"ClearpilotPlayDing", PERSISTENT},
|
|
||||||
|
|
||||||
// {"SpeedLimitLatDesired", PERSISTENT},
|
// {"SpeedLimitLatDesired", PERSISTENT},
|
||||||
// {"SpeedLimitVTSC", PERSISTENT},
|
// {"SpeedLimitVTSC", PERSISTENT},
|
||||||
|
|
||||||
{"CPTLkasButtonAction", PERSISTENT},
|
{"CPTLkasButtonAction", PERSISTENT},
|
||||||
{"IsDaylight", CLEAR_ON_MANAGER_START},
|
{"ScreenDisplayMode", PERSISTENT},
|
||||||
{"ScreenDisplayMode", CLEAR_ON_MANAGER_START},
|
|
||||||
|
|
||||||
{"RadarDist", PERSISTENT},
|
{"RadarDist", PERSISTENT},
|
||||||
{"ModelDist", PERSISTENT},
|
{"ModelDist", PERSISTENT},
|
||||||
@@ -290,7 +263,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"CEStopLights", PERSISTENT},
|
{"CEStopLights", PERSISTENT},
|
||||||
{"CEStopLightsLead", PERSISTENT},
|
{"CEStopLightsLead", PERSISTENT},
|
||||||
{"Compass", PERSISTENT},
|
{"Compass", PERSISTENT},
|
||||||
{"ClearpilotShowHealthMetrics", PERSISTENT},
|
|
||||||
{"ConditionalExperimental", PERSISTENT},
|
{"ConditionalExperimental", PERSISTENT},
|
||||||
{"CrosstrekTorque", PERSISTENT},
|
{"CrosstrekTorque", PERSISTENT},
|
||||||
{"CurrentHolidayTheme", PERSISTENT},
|
{"CurrentHolidayTheme", PERSISTENT},
|
||||||
@@ -444,7 +416,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"ScreenBrightnessOnroad", PERSISTENT},
|
{"ScreenBrightnessOnroad", PERSISTENT},
|
||||||
{"ScreenManagement", PERSISTENT},
|
{"ScreenManagement", PERSISTENT},
|
||||||
{"ScreenRecorder", PERSISTENT},
|
{"ScreenRecorder", PERSISTENT},
|
||||||
{"ScreenRecorderDebug", PERSISTENT},
|
|
||||||
{"ScreenTimeout", PERSISTENT},
|
{"ScreenTimeout", PERSISTENT},
|
||||||
{"ScreenTimeoutOnroad", PERSISTENT},
|
{"ScreenTimeoutOnroad", PERSISTENT},
|
||||||
{"SearchInput", PERSISTENT},
|
{"SearchInput", PERSISTENT},
|
||||||
@@ -508,6 +479,8 @@ std::unordered_map<std::string, uint32_t> keys = {
|
|||||||
{"WheelIcon", PERSISTENT},
|
{"WheelIcon", PERSISTENT},
|
||||||
{"WheelSpeed", PERSISTENT},
|
{"WheelSpeed", PERSISTENT},
|
||||||
|
|
||||||
|
// Clearpilot
|
||||||
|
{"no_lat_lane_change", PERSISTENT},
|
||||||
};
|
};
|
||||||
|
|
||||||
} // namespace
|
} // namespace
|
||||||
|
|||||||
@@ -79,15 +79,9 @@ function launch {
|
|||||||
agnos_init
|
agnos_init
|
||||||
fi
|
fi
|
||||||
|
|
||||||
# CLEARPILOT: kill stale error display from previous build/run
|
|
||||||
pkill -f "selfdrive/ui/text" 2>/dev/null
|
|
||||||
|
|
||||||
# write tmux scrollback to a file
|
# write tmux scrollback to a file
|
||||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||||
|
|
||||||
# Preflight: create dirs git can't track
|
|
||||||
source "$DIR/build_preflight.sh"
|
|
||||||
|
|
||||||
# start manager
|
# start manager
|
||||||
cd selfdrive/manager
|
cd selfdrive/manager
|
||||||
if [ ! -f $DIR/prebuilt ]; then
|
if [ ! -f $DIR/prebuilt ]; then
|
||||||
|
|||||||
@@ -1,32 +1,5 @@
|
|||||||
#!/usr/bin/bash
|
#!/usr/bin/bash
|
||||||
|
|
||||||
# Kill other instances of this script, launch chain, and all managed processes
|
|
||||||
for pid in $(pgrep -f 'launch_openpilot.sh' | grep -v $$); do
|
|
||||||
kill -9 "$pid" 2>/dev/null
|
|
||||||
done
|
|
||||||
for pid in $(pgrep -f 'launch_chffrplus.sh' | grep -v $$); do
|
|
||||||
kill -9 "$pid" 2>/dev/null
|
|
||||||
done
|
|
||||||
pkill -9 -f 'python.*manager.py' 2>/dev/null
|
|
||||||
# Kill all processes started by the manager (run as comma user, in openpilot tree)
|
|
||||||
pkill -9 -f 'selfdrive\.' 2>/dev/null
|
|
||||||
pkill -9 -f 'system\.' 2>/dev/null
|
|
||||||
pkill -9 -f './ui' 2>/dev/null
|
|
||||||
pkill -9 -f 'selfdrive/ui/text' 2>/dev/null
|
|
||||||
sleep 1
|
|
||||||
|
|
||||||
bash /data/openpilot/system/clearpilot/on_start.sh
|
bash /data/openpilot/system/clearpilot/on_start.sh
|
||||||
|
|
||||||
# CLEARPILOT: start VPN monitor (kills previous instances, runs as root)
|
|
||||||
sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'
|
|
||||||
|
|
||||||
# CLEARPILOT: start nice monitor (keeps claude at nice 19)
|
|
||||||
sudo bash -c 'nohup /data/openpilot/system/clearpilot/nice-monitor.sh > /dev/null 2>&1 &'
|
|
||||||
|
|
||||||
# CLEARPILOT: pass --bench flag through to manager via env var
|
|
||||||
if [ "$1" = "--bench" ]; then
|
|
||||||
export BENCH_MODE=1
|
|
||||||
fi
|
|
||||||
|
|
||||||
cd /data/openpilot
|
|
||||||
exec ./launch_chffrplus.sh
|
exec ./launch_chffrplus.sh
|
||||||
|
|||||||
@@ -1,7 +1,17 @@
|
|||||||
-----
|
-----
|
||||||
|
|
||||||
- screen off on lkas
|
- fix debug notice message
|
||||||
|
- screen mode 1 = no UI, screen mode 2 = off
|
||||||
- speed limit change chirp on cruise
|
- speed limit change chirp on cruise
|
||||||
|
- fix always on detection, change message
|
||||||
|
|
||||||
|
-----
|
||||||
|
|
||||||
|
- Better debugger and data recorder
|
||||||
|
- Represent distance to lead car on primary UI
|
||||||
|
- Start testing for alert when stopped traffic and approaching > 31 mph
|
||||||
|
- or not enough time to slow at 31
|
||||||
|
- special experimental mode override?
|
||||||
|
|
||||||
-----
|
-----
|
||||||
|
|
||||||
@@ -11,6 +21,7 @@
|
|||||||
- better turning logic
|
- better turning logic
|
||||||
- new settings UI
|
- new settings UI
|
||||||
- experimental mode
|
- experimental mode
|
||||||
|
- resume from stop
|
||||||
|
|
||||||
------------
|
------------
|
||||||
|
|
||||||
|
|||||||
@@ -166,7 +166,6 @@ Export('base_project_f4', 'base_project_h7', 'build_project')
|
|||||||
|
|
||||||
|
|
||||||
# Common autogenerated includes
|
# Common autogenerated includes
|
||||||
os.makedirs("board/obj", exist_ok=True)
|
|
||||||
with open("board/obj/gitversion.h", "w") as f:
|
with open("board/obj/gitversion.h", "w") as f:
|
||||||
f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
|
f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
|
||||||
|
|
||||||
|
|||||||
@@ -3,5 +3,4 @@ SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
|
|||||||
SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
|
SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
|
||||||
SConscript(['locationd/SConscript'])
|
SConscript(['locationd/SConscript'])
|
||||||
SConscript(['modeld/SConscript'])
|
SConscript(['modeld/SConscript'])
|
||||||
SConscript(['ui/SConscript'])
|
SConscript(['ui/SConscript'])
|
||||||
SConscript(['clearpilot/SConscript'])
|
|
||||||
@@ -32,9 +32,7 @@ def main():
|
|||||||
continue
|
continue
|
||||||
|
|
||||||
cloudlog.info("starting athena daemon")
|
cloudlog.info("starting athena daemon")
|
||||||
from openpilot.selfdrive.manager.process import _log_dir
|
proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
|
||||||
log_path = _log_dir + "/athenad.log"
|
|
||||||
proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad', log_path))
|
|
||||||
proc.start()
|
proc.start()
|
||||||
proc.join()
|
proc.join()
|
||||||
cloudlog.event("athenad exited", exitcode=proc.exitcode)
|
cloudlog.event("athenad exited", exitcode=proc.exitcode)
|
||||||
|
|||||||
@@ -8,6 +8,7 @@ from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
|
|||||||
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
|
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
|
||||||
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
|
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
|
||||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||||
|
from openpilot.common.params import Params
|
||||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||||
|
|
||||||
@@ -56,7 +57,6 @@ class CarController(CarControllerBase):
|
|||||||
self.car_fingerprint = CP.carFingerprint
|
self.car_fingerprint = CP.carFingerprint
|
||||||
self.last_button_frame = 0
|
self.last_button_frame = 0
|
||||||
|
|
||||||
|
|
||||||
def update(self, CC, CS, now_nanos, frogpilot_variables):
|
def update(self, CC, CS, now_nanos, frogpilot_variables):
|
||||||
actuators = CC.actuators
|
actuators = CC.actuators
|
||||||
hud_control = CC.hudControl
|
hud_control = CC.hudControl
|
||||||
@@ -112,9 +112,7 @@ class CarController(CarControllerBase):
|
|||||||
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
|
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
|
||||||
|
|
||||||
# steering control
|
# steering control
|
||||||
# CLEARPILOT: no_lat_lane_change comes via frogpilot_variables (set by controlsd in-process)
|
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
|
||||||
no_lat_lane_change = int(getattr(frogpilot_variables, 'no_lat_lane_change', False))
|
|
||||||
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, no_lat_lane_change))
|
|
||||||
|
|
||||||
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
|
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
|
||||||
if self.frame % 5 == 0 and hda2:
|
if self.frame % 5 == 0 and hda2:
|
||||||
|
|||||||
@@ -420,59 +420,6 @@ class CarState(CarStateBase):
|
|||||||
# self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
|
# self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
|
||||||
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
|
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
|
||||||
|
|
||||||
# CLEARPILOT: CAN-FD telemetry — preserved but disabled. Re-enable by uncommenting (also restore the import).
|
|
||||||
# from openpilot.selfdrive.clearpilot.telemetry import tlog
|
|
||||||
#
|
|
||||||
# speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
|
|
||||||
# scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
|
|
||||||
# cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
|
|
||||||
#
|
|
||||||
# tlog("car", {
|
|
||||||
# "vEgo": round(ret.vEgo, 3),
|
|
||||||
# "vEgoRaw": round(ret.vEgoRaw, 3),
|
|
||||||
# "aEgo": round(ret.aEgo, 3),
|
|
||||||
# "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
|
|
||||||
# "gear": str(ret.gearShifter),
|
|
||||||
# "brakePressed": ret.brakePressed,
|
|
||||||
# "gasPressed": ret.gasPressed,
|
|
||||||
# "standstill": ret.standstill,
|
|
||||||
# "leftBlinker": ret.leftBlinker,
|
|
||||||
# "rightBlinker": ret.rightBlinker,
|
|
||||||
# })
|
|
||||||
#
|
|
||||||
# tlog("cruise", {
|
|
||||||
# "enabled": ret.cruiseState.enabled,
|
|
||||||
# "available": ret.cruiseState.available,
|
|
||||||
# "speed": round(ret.cruiseState.speed, 3),
|
|
||||||
# "standstill": ret.cruiseState.standstill,
|
|
||||||
# "accFaulted": ret.accFaulted,
|
|
||||||
# "ACCMode": scc.get("ACCMode", 0),
|
|
||||||
# "VSetDis": scc.get("VSetDis", 0),
|
|
||||||
# "aReqRaw": round(scc.get("aReqRaw", 0), 3),
|
|
||||||
# "aReqValue": round(scc.get("aReqValue", 0), 3),
|
|
||||||
# "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
|
|
||||||
# "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
|
|
||||||
# })
|
|
||||||
#
|
|
||||||
# tlog("speed_limit", {
|
|
||||||
# "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
|
|
||||||
# "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
|
|
||||||
# "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
|
|
||||||
# "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
|
|
||||||
# "CHIME_1": cluster.get("CHIME_1", 0),
|
|
||||||
# "CHIME_2": cluster.get("CHIME_2", 0),
|
|
||||||
# "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
|
|
||||||
# "calculated": self.calculate_speed_limit(cp, cp_cam),
|
|
||||||
# "is_metric": self.is_metric,
|
|
||||||
# })
|
|
||||||
#
|
|
||||||
# tlog("buttons", {
|
|
||||||
# "cruise_button": self.cruise_buttons[-1],
|
|
||||||
# "main_button": self.main_buttons[-1],
|
|
||||||
# "lkas_enabled": self.lkas_enabled,
|
|
||||||
# "main_enabled": self.main_enabled,
|
|
||||||
# })
|
|
||||||
|
|
||||||
return ret
|
return ret
|
||||||
|
|
||||||
def get_can_parser(self, CP):
|
def get_can_parser(self, CP):
|
||||||
|
|||||||
@@ -2,6 +2,7 @@ from openpilot.common.numpy_fast import clip
|
|||||||
from openpilot.selfdrive.car import CanBusBase
|
from openpilot.selfdrive.car import CanBusBase
|
||||||
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
|
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
|
||||||
|
|
||||||
|
from openpilot.common.params import Params
|
||||||
|
|
||||||
class CanBus(CanBusBase):
|
class CanBus(CanBusBase):
|
||||||
def __init__(self, CP, hda2=None, fingerprint=None) -> None:
|
def __init__(self, CP, hda2=None, fingerprint=None) -> None:
|
||||||
@@ -35,9 +36,12 @@ class CanBus(CanBusBase):
|
|||||||
return self._cam
|
return self._cam
|
||||||
|
|
||||||
|
|
||||||
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, no_lat_lane_change=0):
|
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
|
||||||
# CLEARPILOT: no_lat_lane_change is passed in by the caller so we can hoist
|
|
||||||
# the Params read out of the 100Hz hot path (was ~5% of carcontroller time)
|
# Im sure there is a better way to do this
|
||||||
|
params_memory = Params("/dev/shm/params")
|
||||||
|
no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)
|
||||||
|
|
||||||
ret = []
|
ret = []
|
||||||
|
|
||||||
values = {
|
values = {
|
||||||
@@ -126,7 +130,9 @@ def create_buttons(packer, CP, CAN, cnt, btn):
|
|||||||
|
|
||||||
def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
|
def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
|
||||||
return
|
return
|
||||||
|
params_memory = Params("/dev/shm/params")
|
||||||
|
CarCruiseDisplayActual = params_memory.get_float("CarCruiseDisplayActual")
|
||||||
|
|
||||||
values = {
|
values = {
|
||||||
"COUNTER": cnt,
|
"COUNTER": cnt,
|
||||||
"NEW_SIGNAL_1": 0.0,
|
"NEW_SIGNAL_1": 0.0,
|
||||||
|
|||||||
@@ -1,16 +0,0 @@
|
|||||||
Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
|
|
||||||
|
|
||||||
clearpilot_env = env.Clone()
|
|
||||||
clearpilot_env['CPPPATH'] += ['#selfdrive/frogpilot/screenrecorder/openmax/include/']
|
|
||||||
# Disable --as-needed so static lib ordering doesn't matter
|
|
||||||
clearpilot_env['LINKFLAGS'] = [f for f in clearpilot_env.get('LINKFLAGS', []) if f != '-Wl,--as-needed']
|
|
||||||
|
|
||||||
if arch == "larch64":
|
|
||||||
omx_obj = File('#selfdrive/frogpilot/screenrecorder/omx_encoder.o')
|
|
||||||
clearpilot_env.Program(
|
|
||||||
'dashcamd',
|
|
||||||
['dashcamd.cc', omx_obj],
|
|
||||||
LIBS=[common, 'json11', cereal, visionipc, messaging,
|
|
||||||
'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread',
|
|
||||||
'OmxCore', 'avformat', 'avcodec', 'avutil', 'yuv']
|
|
||||||
)
|
|
||||||
@@ -1,147 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
ClearPilot bench command tool. Sets bench params and queries UI state.
|
|
||||||
|
|
||||||
Usage:
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd gear D
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd speed 20
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd cruise 55
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd cruiseactive 0|1|2 (0=disabled, 1=active, 2=paused)
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd engaged 1
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd ding (trigger speed limit ding sound)
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd debugbutton (simulate LKAS debug button press)
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd dump
|
|
||||||
python3 -m selfdrive.clearpilot.bench_cmd wait_ready
|
|
||||||
"""
|
|
||||||
import os
|
|
||||||
import subprocess
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
import zmq
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
|
|
||||||
|
|
||||||
def check_ui_process():
|
|
||||||
"""Check if UI process is running and healthy. Returns error string or None if OK."""
|
|
||||||
try:
|
|
||||||
result = subprocess.run(["pgrep", "-a", "-f", "./ui"], capture_output=True, text=True)
|
|
||||||
if result.returncode != 0:
|
|
||||||
return "ERROR: UI process not running"
|
|
||||||
# Get the PID and check its uptime
|
|
||||||
for line in result.stdout.strip().split("\n"):
|
|
||||||
parts = line.split(None, 1)
|
|
||||||
if len(parts) >= 2 and "./ui" in parts[1]:
|
|
||||||
pid = parts[0]
|
|
||||||
try:
|
|
||||||
stat = os.stat(f"/proc/{pid}")
|
|
||||||
uptime = time.time() - stat.st_mtime
|
|
||||||
if uptime < 5:
|
|
||||||
return f"ERROR: UI process (pid {pid}) uptime {uptime:.1f}s — likely crash looping. Check: tail /data/log2/$(ls -t /data/log2/ | head -1)/session.log"
|
|
||||||
except FileNotFoundError:
|
|
||||||
return "ERROR: UI process disappeared"
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
return None
|
|
||||||
|
|
||||||
|
|
||||||
def ui_dump():
|
|
||||||
ctx = zmq.Context()
|
|
||||||
sock = ctx.socket(zmq.REQ)
|
|
||||||
sock.setsockopt(zmq.RCVTIMEO, 2000)
|
|
||||||
sock.connect("ipc:///tmp/clearpilot_ui_rpc")
|
|
||||||
sock.send_string("dump")
|
|
||||||
try:
|
|
||||||
return sock.recv_string()
|
|
||||||
except zmq.Again:
|
|
||||||
return None
|
|
||||||
finally:
|
|
||||||
sock.close()
|
|
||||||
ctx.term()
|
|
||||||
|
|
||||||
|
|
||||||
def wait_ready(timeout=20):
|
|
||||||
"""Wait until the UI shows ReadyWindow, up to timeout seconds."""
|
|
||||||
start = time.time()
|
|
||||||
while time.time() - start < timeout:
|
|
||||||
dump = ui_dump()
|
|
||||||
if dump and "ReadyWindow" in dump:
|
|
||||||
# Check it's actually visible
|
|
||||||
for line in dump.split("\n"):
|
|
||||||
if "ReadyWindow" in line and "vis=Y" in line:
|
|
||||||
print("UI ready (ReadyWindow visible)")
|
|
||||||
return True
|
|
||||||
time.sleep(1)
|
|
||||||
print(f"ERROR: UI not ready after {timeout}s")
|
|
||||||
if dump:
|
|
||||||
print(dump)
|
|
||||||
return False
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
if len(sys.argv) < 2:
|
|
||||||
print(__doc__)
|
|
||||||
return
|
|
||||||
|
|
||||||
cmd = sys.argv[1].lower()
|
|
||||||
params = Params("/dev/shm/params")
|
|
||||||
|
|
||||||
param_map = {
|
|
||||||
"gear": "BenchGear",
|
|
||||||
"speed": "BenchSpeed",
|
|
||||||
"speedlimit": "BenchSpeedLimit",
|
|
||||||
"cruise": "BenchCruiseSpeed",
|
|
||||||
"cruiseactive": "BenchCruiseActive",
|
|
||||||
"engaged": "BenchEngaged",
|
|
||||||
}
|
|
||||||
|
|
||||||
if cmd == "dump":
|
|
||||||
ui_status = check_ui_process()
|
|
||||||
if ui_status:
|
|
||||||
print(ui_status)
|
|
||||||
else:
|
|
||||||
result = ui_dump()
|
|
||||||
if result:
|
|
||||||
print(result)
|
|
||||||
else:
|
|
||||||
print("ERROR: UI not responding")
|
|
||||||
|
|
||||||
elif cmd == "wait_ready":
|
|
||||||
wait_ready()
|
|
||||||
|
|
||||||
elif cmd == "ding":
|
|
||||||
params.put("ClearpilotPlayDing", "1")
|
|
||||||
print("Ding triggered")
|
|
||||||
|
|
||||||
elif cmd == "debugbutton":
|
|
||||||
# Simulate LKAS debug button — same state machine as controlsd.clearpilot_state_control()
|
|
||||||
current = params.get_int("ScreenDisplayMode")
|
|
||||||
gear = (params.get("BenchGear") or b"P").decode().strip().upper()
|
|
||||||
in_drive = gear in ("D", "S", "L")
|
|
||||||
|
|
||||||
if in_drive:
|
|
||||||
transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
|
|
||||||
new_mode = transitions.get(current, 0)
|
|
||||||
else:
|
|
||||||
new_mode = 0 if current == 3 else 3
|
|
||||||
|
|
||||||
params.put_int("ScreenDisplayMode", new_mode)
|
|
||||||
mode_names = {0: "auto-normal", 1: "auto-nightrider", 2: "normal", 3: "screen-off", 4: "nightrider"}
|
|
||||||
print(f"ScreenDisplayMode: {current} ({mode_names.get(current, '?')}) → {new_mode} ({mode_names.get(new_mode, '?')})"
|
|
||||||
f" [gear={gear}, in_drive={in_drive}]")
|
|
||||||
|
|
||||||
elif cmd in param_map:
|
|
||||||
if len(sys.argv) < 3:
|
|
||||||
print(f"Usage: bench_cmd {cmd} <value>")
|
|
||||||
return
|
|
||||||
value = sys.argv[2]
|
|
||||||
params.put(param_map[cmd], value)
|
|
||||||
print(f"{param_map[cmd]} = {value}")
|
|
||||||
|
|
||||||
else:
|
|
||||||
print(f"Unknown command: {cmd}")
|
|
||||||
print(__doc__)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
@@ -1,137 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
ClearPilot bench onroad simulator.
|
|
||||||
|
|
||||||
Publishes fake messages to make the UI go onroad and display
|
|
||||||
configurable vehicle state. Control values via params in /dev/shm/params:
|
|
||||||
|
|
||||||
BenchSpeed - vehicle speed in mph (default: 0)
|
|
||||||
BenchSpeedLimit - speed limit in mph (default: 0, 0=hidden)
|
|
||||||
BenchCruiseSpeed - cruise set speed in mph (default: 0, 0=not set)
|
|
||||||
BenchCruiseActive - 0=disabled, 1=active, 2=paused/standstill (default: 0)
|
|
||||||
BenchGear - P, D, R, N (default: P)
|
|
||||||
BenchEngaged - 0 or 1, cruise engaged (default: 0)
|
|
||||||
|
|
||||||
Usage:
|
|
||||||
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_onroad"
|
|
||||||
|
|
||||||
To stop: Ctrl+C or kill the process. UI returns to offroad.
|
|
||||||
"""
|
|
||||||
import time
|
|
||||||
|
|
||||||
import cereal.messaging as messaging
|
|
||||||
from cereal import log, car
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
from openpilot.common.conversions import Conversions as CV
|
|
||||||
from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
params = Params()
|
|
||||||
params_mem = Params("/dev/shm/params")
|
|
||||||
|
|
||||||
# Set defaults
|
|
||||||
params_mem.put("BenchSpeed", "0")
|
|
||||||
params_mem.put("BenchSpeedLimit", "0")
|
|
||||||
params_mem.put("BenchCruiseSpeed", "0")
|
|
||||||
params_mem.put("BenchCruiseActive", "0")
|
|
||||||
params_mem.put("BenchGear", "P")
|
|
||||||
params_mem.put("BenchEngaged", "0")
|
|
||||||
|
|
||||||
# ClearPilot speed processing
|
|
||||||
speed_state = SpeedState()
|
|
||||||
|
|
||||||
# thermald handles deviceState (reads our fake pandaStates for ignition)
|
|
||||||
pm = messaging.PubMaster([
|
|
||||||
"pandaStates", "carState", "controlsState",
|
|
||||||
"driverMonitoringState", "liveCalibration",
|
|
||||||
])
|
|
||||||
|
|
||||||
print("Bench onroad simulator started")
|
|
||||||
print("Set values in /dev/shm/params/d/Bench*")
|
|
||||||
print(" BenchSpeed=0 BenchSpeedLimit=0 BenchCruiseSpeed=0 BenchGear=P BenchEngaged=0")
|
|
||||||
|
|
||||||
gear_map = {
|
|
||||||
"P": car.CarState.GearShifter.park,
|
|
||||||
"D": car.CarState.GearShifter.drive,
|
|
||||||
"R": car.CarState.GearShifter.reverse,
|
|
||||||
"N": car.CarState.GearShifter.neutral,
|
|
||||||
}
|
|
||||||
|
|
||||||
frame = 0
|
|
||||||
try:
|
|
||||||
while True:
|
|
||||||
# Read bench params
|
|
||||||
speed_mph = float((params_mem.get("BenchSpeed", encoding="utf-8") or "0").strip())
|
|
||||||
speed_limit_mph = float((params_mem.get("BenchSpeedLimit", encoding="utf-8") or "0").strip())
|
|
||||||
cruise_mph = float((params_mem.get("BenchCruiseSpeed", encoding="utf-8") or "0").strip())
|
|
||||||
gear_str = (params_mem.get("BenchGear", encoding="utf-8") or "P").strip().upper()
|
|
||||||
cruise_active_str = (params_mem.get("BenchCruiseActive", encoding="utf-8") or "0").strip()
|
|
||||||
engaged = (params_mem.get("BenchEngaged", encoding="utf-8") or "0").strip() == "1"
|
|
||||||
|
|
||||||
speed_ms = speed_mph * CV.MPH_TO_MS
|
|
||||||
speed_limit_ms = speed_limit_mph * CV.MPH_TO_MS
|
|
||||||
cruise_ms = cruise_mph * CV.MPH_TO_MS
|
|
||||||
gear = gear_map.get(gear_str, car.CarState.GearShifter.park)
|
|
||||||
|
|
||||||
# Cruise state: 0=disabled, 1=active, 2=paused
|
|
||||||
cruise_active = cruise_active_str == "1"
|
|
||||||
cruise_standstill = cruise_active_str == "2"
|
|
||||||
|
|
||||||
# ClearPilot speed processing (~2 Hz at 10 Hz loop)
|
|
||||||
if frame % 5 == 0:
|
|
||||||
has_speed = speed_mph > 0
|
|
||||||
speed_state.update(speed_ms, has_speed, speed_limit_ms, is_metric=False,
|
|
||||||
cruise_speed_ms=cruise_ms, cruise_active=cruise_active or cruise_standstill,
|
|
||||||
cruise_standstill=cruise_standstill)
|
|
||||||
|
|
||||||
# pandaStates — 10 Hz (thermald reads ignition from this)
|
|
||||||
if frame % 1 == 0:
|
|
||||||
dat = messaging.new_message("pandaStates", 1)
|
|
||||||
dat.pandaStates[0].ignitionLine = True
|
|
||||||
dat.pandaStates[0].pandaType = log.PandaState.PandaType.tres
|
|
||||||
pm.send("pandaStates", dat)
|
|
||||||
|
|
||||||
# carState — 10 Hz
|
|
||||||
dat = messaging.new_message("carState")
|
|
||||||
cs = dat.carState
|
|
||||||
cs.vEgo = speed_ms
|
|
||||||
cs.vEgoCluster = speed_ms
|
|
||||||
cs.gearShifter = gear
|
|
||||||
cs.standstill = speed_ms < 0.1
|
|
||||||
cs.cruiseState.available = True
|
|
||||||
cs.cruiseState.enabled = engaged
|
|
||||||
cs.cruiseState.speed = cruise_mph * CV.MPH_TO_MS if cruise_mph > 0 else 0
|
|
||||||
pm.send("carState", dat)
|
|
||||||
|
|
||||||
# controlsState — 10 Hz
|
|
||||||
dat = messaging.new_message("controlsState")
|
|
||||||
ctl = dat.controlsState
|
|
||||||
ctl.vCruise = cruise_mph * 1.60934 if cruise_mph > 0 else 255 # km/h or 255=not set
|
|
||||||
ctl.vCruiseCluster = ctl.vCruise
|
|
||||||
ctl.enabled = engaged
|
|
||||||
ctl.active = engaged
|
|
||||||
pm.send("controlsState", dat)
|
|
||||||
|
|
||||||
# driverMonitoringState — low freq
|
|
||||||
if frame % 10 == 0:
|
|
||||||
dat = messaging.new_message("driverMonitoringState")
|
|
||||||
dat.driverMonitoringState.isActiveMode = True
|
|
||||||
pm.send("driverMonitoringState", dat)
|
|
||||||
|
|
||||||
# liveCalibration — low freq
|
|
||||||
if frame % 50 == 0:
|
|
||||||
dat = messaging.new_message("liveCalibration")
|
|
||||||
dat.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
|
|
||||||
dat.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
|
|
||||||
pm.send("liveCalibration", dat)
|
|
||||||
|
|
||||||
frame += 1
|
|
||||||
time.sleep(0.1) # 10 Hz base loop
|
|
||||||
|
|
||||||
except KeyboardInterrupt:
|
|
||||||
print("\nBench simulator stopped")
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
Binary file not shown.
@@ -1,409 +0,0 @@
|
|||||||
/*
|
|
||||||
* CLEARPILOT dashcamd — records raw camera footage to MP4 using OMX H.264 hardware encoder.
|
|
||||||
*
|
|
||||||
* Connects to camerad via VisionIPC, receives NV12 frames, and feeds them directly
|
|
||||||
* to the Qualcomm OMX encoder. Produces 3-minute MP4 segments organized by trip.
|
|
||||||
*
|
|
||||||
* Trip directory structure:
|
|
||||||
* /data/media/0/videos/YYYYMMDD-HHMMSS/ (trip directory, named at trip start)
|
|
||||||
* YYYYMMDD-HHMMSS.mp4 (3-minute segments)
|
|
||||||
* YYYYMMDD-HHMMSS.srt (GPS subtitle sidecar)
|
|
||||||
*
|
|
||||||
* Trip lifecycle state machine:
|
|
||||||
*
|
|
||||||
* WAITING:
|
|
||||||
* - Process starts in this state
|
|
||||||
* - Waits for valid system time (year >= 2024) AND car in drive gear
|
|
||||||
* - Transitions to RECORDING when both conditions met
|
|
||||||
*
|
|
||||||
* RECORDING:
|
|
||||||
* - Actively encoding frames, car is in drive
|
|
||||||
* - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
|
|
||||||
*
|
|
||||||
* IDLE_TIMEOUT:
|
|
||||||
* - Car left drive, still recording with timer running
|
|
||||||
* - Car re-enters drive → cancel timer → RECORDING
|
|
||||||
* - Timer expires → close trip → WAITING
|
|
||||||
* - Ignition off → close trip → WAITING
|
|
||||||
*
|
|
||||||
* Graceful shutdown (DashcamShutdown param):
|
|
||||||
* - thermald sets DashcamShutdown="1" before device power-off
|
|
||||||
* - dashcamd closes current segment, acks, exits
|
|
||||||
*
|
|
||||||
* Published params (memory, every 5s):
|
|
||||||
* - DashcamState: "waiting" or "recording"
|
|
||||||
* - DashcamFrames: per-trip encoded frame count (resets each trip)
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <cstdio>
|
|
||||||
#include <ctime>
|
|
||||||
#include <string>
|
|
||||||
#include <errno.h>
|
|
||||||
#include <signal.h>
|
|
||||||
#include <sched.h>
|
|
||||||
#include <execinfo.h>
|
|
||||||
#include <sys/stat.h>
|
|
||||||
#include <sys/resource.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
|
|
||||||
#include "cereal/messaging/messaging.h"
|
|
||||||
#include "cereal/visionipc/visionipc_client.h"
|
|
||||||
#include "common/params.h"
|
|
||||||
#include "common/timing.h"
|
|
||||||
#include "common/swaglog.h"
|
|
||||||
#include "common/util.h"
|
|
||||||
#include "selfdrive/frogpilot/screenrecorder/omx_encoder.h"
|
|
||||||
|
|
||||||
const std::string VIDEOS_BASE = "/data/media/0/videos";
|
|
||||||
const int SEGMENT_SECONDS = 180; // 3 minutes
|
|
||||||
const int SOURCE_FPS = 20;
|
|
||||||
const int CAMERA_FPS = 10;
|
|
||||||
const int FRAMES_PER_SEGMENT = SEGMENT_SECONDS * CAMERA_FPS;
|
|
||||||
const int BITRATE = 2500 * 1024; // 2500 kbps
|
|
||||||
const double IDLE_TIMEOUT_SECONDS = 600.0; // 10 minutes
|
|
||||||
|
|
||||||
ExitHandler do_exit;
|
|
||||||
|
|
||||||
enum TripState {
|
|
||||||
WAITING, // no trip, waiting for valid time + drive gear
|
|
||||||
RECORDING, // actively recording, car in drive
|
|
||||||
IDLE_TIMEOUT, // car left drive, recording with 10-min timer
|
|
||||||
};
|
|
||||||
|
|
||||||
static std::string make_timestamp() {
|
|
||||||
char buf[64];
|
|
||||||
time_t t = time(NULL);
|
|
||||||
struct tm tm = *localtime(&t);
|
|
||||||
snprintf(buf, sizeof(buf), "%04d%02d%02d-%02d%02d%02d",
|
|
||||||
tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
|
|
||||||
tm.tm_hour, tm.tm_min, tm.tm_sec);
|
|
||||||
return std::string(buf);
|
|
||||||
}
|
|
||||||
|
|
||||||
static bool system_time_valid() {
|
|
||||||
time_t t = time(NULL);
|
|
||||||
struct tm tm = *gmtime(&t);
|
|
||||||
return (tm.tm_year + 1900) >= 2024;
|
|
||||||
}
|
|
||||||
|
|
||||||
static std::string make_utc_timestamp() {
|
|
||||||
char buf[32];
|
|
||||||
time_t t = time(NULL);
|
|
||||||
struct tm tm = *gmtime(&t);
|
|
||||||
snprintf(buf, sizeof(buf), "%04d-%02d-%02d %02d:%02d:%02d UTC",
|
|
||||||
tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
|
|
||||||
tm.tm_hour, tm.tm_min, tm.tm_sec);
|
|
||||||
return std::string(buf);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Format SRT timestamp: HH:MM:SS,mmm
|
|
||||||
static std::string srt_time(int seconds) {
|
|
||||||
int h = seconds / 3600;
|
|
||||||
int m = (seconds % 3600) / 60;
|
|
||||||
int s = seconds % 60;
|
|
||||||
char buf[16];
|
|
||||||
snprintf(buf, sizeof(buf), "%02d:%02d:%02d,000", h, m, s);
|
|
||||||
return std::string(buf);
|
|
||||||
}
|
|
||||||
|
|
||||||
static void crash_handler(int sig) {
|
|
||||||
FILE *f = fopen("/tmp/dashcamd_crash.log", "w");
|
|
||||||
if (f) {
|
|
||||||
fprintf(f, "CRASH: signal %d\n", sig);
|
|
||||||
void *bt[30];
|
|
||||||
int n = backtrace(bt, 30);
|
|
||||||
backtrace_symbols_fd(bt, n, fileno(f));
|
|
||||||
fclose(f);
|
|
||||||
}
|
|
||||||
_exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
int main(int argc, char *argv[]) {
|
|
||||||
signal(SIGSEGV, crash_handler);
|
|
||||||
signal(SIGABRT, crash_handler);
|
|
||||||
setpriority(PRIO_PROCESS, 0, -10);
|
|
||||||
|
|
||||||
// CLEARPILOT: pin to cores 0-3 (little cluster). Avoids cache/memory-bandwidth
|
|
||||||
// contention with the RT-pinned processes on the big cluster:
|
|
||||||
// core 4 = controlsd, core 5 = plannerd/radard, core 7 = modeld.
|
|
||||||
// OMX offloads actual H.264 work to hardware, so the main thread just copies
|
|
||||||
// frames and muxes MP4 — fine on the little cluster.
|
|
||||||
cpu_set_t mask;
|
|
||||||
CPU_ZERO(&mask);
|
|
||||||
for (int i = 0; i < 4; i++) CPU_SET(i, &mask);
|
|
||||||
if (sched_setaffinity(0, sizeof(mask), &mask) != 0) {
|
|
||||||
LOGW("dashcamd: sched_setaffinity failed (%d), continuing unpinned", errno);
|
|
||||||
} else {
|
|
||||||
LOGW("dashcamd: pinned to cores 0-3");
|
|
||||||
}
|
|
||||||
|
|
||||||
// Ensure base output directory exists
|
|
||||||
mkdir(VIDEOS_BASE.c_str(), 0755);
|
|
||||||
|
|
||||||
LOGW("dashcamd: started, connecting to camerad road stream");
|
|
||||||
VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
|
|
||||||
while (!do_exit && !vipc.connect(false)) {
|
|
||||||
usleep(100000);
|
|
||||||
}
|
|
||||||
if (do_exit) return 0;
|
|
||||||
LOGW("dashcamd: vipc connected, waiting for valid frame");
|
|
||||||
|
|
||||||
// Wait for a frame with valid dimensions (camerad may still be initializing)
|
|
||||||
VisionBuf *init_buf = nullptr;
|
|
||||||
while (!do_exit) {
|
|
||||||
init_buf = vipc.recv();
|
|
||||||
if (init_buf != nullptr && init_buf->width > 0 && init_buf->height > 0) break;
|
|
||||||
usleep(100000);
|
|
||||||
}
|
|
||||||
if (do_exit) return 0;
|
|
||||||
|
|
||||||
int width = init_buf->width;
|
|
||||||
int height = init_buf->height;
|
|
||||||
int y_stride = init_buf->stride;
|
|
||||||
int uv_stride = y_stride;
|
|
||||||
LOGW("dashcamd: first valid frame %dx%d stride=%d", width, height, y_stride);
|
|
||||||
|
|
||||||
// Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
|
|
||||||
SubMaster sm({"carState", "deviceState", "gpsLocation"});
|
|
||||||
Params params;
|
|
||||||
Params params_memory("/dev/shm/params");
|
|
||||||
|
|
||||||
// Trip state
|
|
||||||
TripState state = WAITING;
|
|
||||||
OmxEncoder *encoder = nullptr;
|
|
||||||
std::string trip_dir;
|
|
||||||
int frame_count = 0; // per-segment (for rotation)
|
|
||||||
int trip_frames = 0; // per-trip (published to params)
|
|
||||||
int recv_count = 0;
|
|
||||||
uint64_t segment_start_ts = 0;
|
|
||||||
double idle_timer_start = 0.0;
|
|
||||||
|
|
||||||
// SRT subtitle state
|
|
||||||
FILE *srt_file = nullptr;
|
|
||||||
int srt_index = 0;
|
|
||||||
int srt_segment_sec = 0;
|
|
||||||
double last_srt_write = 0;
|
|
||||||
|
|
||||||
// Ignition tracking
|
|
||||||
bool prev_started = false;
|
|
||||||
bool started_initialized = false;
|
|
||||||
|
|
||||||
// Param publish throttle
|
|
||||||
int param_check_counter = 0;
|
|
||||||
double last_param_write = 0;
|
|
||||||
|
|
||||||
// Publish initial state
|
|
||||||
params_memory.put("DashcamState", "waiting");
|
|
||||||
params_memory.put("DashcamFrames", "0");
|
|
||||||
|
|
||||||
LOGW("dashcamd: entering main loop in WAITING state");
|
|
||||||
|
|
||||||
// Helper: start a new trip
|
|
||||||
auto start_new_trip = [&]() {
|
|
||||||
trip_dir = VIDEOS_BASE + "/" + make_timestamp();
|
|
||||||
mkdir(trip_dir.c_str(), 0755);
|
|
||||||
LOGW("dashcamd: new trip %s", trip_dir.c_str());
|
|
||||||
|
|
||||||
encoder = new OmxEncoder(trip_dir.c_str(), width, height, CAMERA_FPS, BITRATE);
|
|
||||||
|
|
||||||
std::string seg_name = make_timestamp();
|
|
||||||
LOGW("dashcamd: opening segment %s", seg_name.c_str());
|
|
||||||
encoder->encoder_open((seg_name + ".mp4").c_str());
|
|
||||||
|
|
||||||
std::string srt_path = trip_dir + "/" + seg_name + ".srt";
|
|
||||||
srt_file = fopen(srt_path.c_str(), "w");
|
|
||||||
srt_index = 0;
|
|
||||||
srt_segment_sec = 0;
|
|
||||||
last_srt_write = 0;
|
|
||||||
|
|
||||||
frame_count = 0;
|
|
||||||
trip_frames = 0;
|
|
||||||
segment_start_ts = nanos_since_boot();
|
|
||||||
state = RECORDING;
|
|
||||||
|
|
||||||
params_memory.put("DashcamState", "recording");
|
|
||||||
params_memory.put("DashcamFrames", "0");
|
|
||||||
};
|
|
||||||
|
|
||||||
// Helper: close current trip
|
|
||||||
auto close_trip = [&]() {
|
|
||||||
if (srt_file) { fclose(srt_file); srt_file = nullptr; }
|
|
||||||
if (encoder) {
|
|
||||||
encoder->encoder_close();
|
|
||||||
LOGW("dashcamd: segment closed");
|
|
||||||
delete encoder;
|
|
||||||
encoder = nullptr;
|
|
||||||
}
|
|
||||||
state = WAITING;
|
|
||||||
frame_count = 0;
|
|
||||||
trip_frames = 0;
|
|
||||||
idle_timer_start = 0.0;
|
|
||||||
LOGW("dashcamd: trip ended, returning to WAITING");
|
|
||||||
|
|
||||||
params_memory.put("DashcamState", "waiting");
|
|
||||||
params_memory.put("DashcamFrames", "0");
|
|
||||||
};
|
|
||||||
|
|
||||||
while (!do_exit) {
|
|
||||||
VisionBuf *buf = vipc.recv();
|
|
||||||
if (buf == nullptr) continue;
|
|
||||||
|
|
||||||
// Skip frames to match target FPS (SOURCE_FPS -> CAMERA_FPS)
|
|
||||||
recv_count++;
|
|
||||||
if (SOURCE_FPS > CAMERA_FPS && (recv_count % (SOURCE_FPS / CAMERA_FPS)) != 0) continue;
|
|
||||||
|
|
||||||
sm.update(0);
|
|
||||||
double now = nanos_since_boot() / 1e9;
|
|
||||||
|
|
||||||
// Read vehicle state
|
|
||||||
bool started = sm.valid("deviceState") &&
|
|
||||||
sm["deviceState"].getDeviceState().getStarted();
|
|
||||||
auto gear = sm.valid("carState") ?
|
|
||||||
sm["carState"].getCarState().getGearShifter() :
|
|
||||||
cereal::CarState::GearShifter::UNKNOWN;
|
|
||||||
bool in_drive = (gear == cereal::CarState::GearShifter::DRIVE ||
|
|
||||||
gear == cereal::CarState::GearShifter::SPORT ||
|
|
||||||
gear == cereal::CarState::GearShifter::LOW ||
|
|
||||||
gear == cereal::CarState::GearShifter::MANUMATIC);
|
|
||||||
|
|
||||||
// Detect ignition off → close any active trip
|
|
||||||
if (started_initialized && prev_started && !started) {
|
|
||||||
LOGW("dashcamd: ignition off");
|
|
||||||
if (state == RECORDING || state == IDLE_TIMEOUT) {
|
|
||||||
close_trip();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
prev_started = started;
|
|
||||||
started_initialized = true;
|
|
||||||
|
|
||||||
// Check for graceful shutdown request (every ~1 second)
|
|
||||||
if (++param_check_counter >= CAMERA_FPS) {
|
|
||||||
param_check_counter = 0;
|
|
||||||
if (params_memory.getBool("DashcamShutdown")) {
|
|
||||||
LOGW("dashcamd: shutdown requested");
|
|
||||||
if (state == RECORDING || state == IDLE_TIMEOUT) {
|
|
||||||
close_trip();
|
|
||||||
}
|
|
||||||
params_memory.putBool("DashcamShutdown", false);
|
|
||||||
LOGW("dashcamd: shutdown ack sent, exiting");
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// State machine
|
|
||||||
switch (state) {
|
|
||||||
case WAITING: {
|
|
||||||
bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
|
|
||||||
if (in_drive && system_time_valid() && has_gps) {
|
|
||||||
start_new_trip();
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
case RECORDING:
|
|
||||||
if (!in_drive) {
|
|
||||||
idle_timer_start = now;
|
|
||||||
state = IDLE_TIMEOUT;
|
|
||||||
LOGW("dashcamd: car left drive, starting 10-min idle timer");
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case IDLE_TIMEOUT:
|
|
||||||
if (in_drive) {
|
|
||||||
idle_timer_start = 0.0;
|
|
||||||
state = RECORDING;
|
|
||||||
LOGW("dashcamd: back in drive, resuming trip");
|
|
||||||
} else if ((now - idle_timer_start) >= IDLE_TIMEOUT_SECONDS) {
|
|
||||||
LOGW("dashcamd: idle timeout expired");
|
|
||||||
close_trip();
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Only encode frames when we have an active recording
|
|
||||||
if (state != RECORDING && state != IDLE_TIMEOUT) continue;
|
|
||||||
|
|
||||||
// Segment rotation
|
|
||||||
if (frame_count >= FRAMES_PER_SEGMENT) {
|
|
||||||
if (srt_file) { fclose(srt_file); srt_file = nullptr; }
|
|
||||||
encoder->encoder_close();
|
|
||||||
|
|
||||||
std::string seg_name = make_timestamp();
|
|
||||||
LOGW("dashcamd: opening segment %s", seg_name.c_str());
|
|
||||||
encoder->encoder_open((seg_name + ".mp4").c_str());
|
|
||||||
|
|
||||||
std::string srt_path = trip_dir + "/" + seg_name + ".srt";
|
|
||||||
srt_file = fopen(srt_path.c_str(), "w");
|
|
||||||
srt_index = 0;
|
|
||||||
srt_segment_sec = 0;
|
|
||||||
last_srt_write = 0;
|
|
||||||
|
|
||||||
frame_count = 0;
|
|
||||||
segment_start_ts = nanos_since_boot();
|
|
||||||
}
|
|
||||||
|
|
||||||
uint64_t ts = nanos_since_boot() - segment_start_ts;
|
|
||||||
|
|
||||||
// Validate buffer before encoding
|
|
||||||
if (buf->y == nullptr || buf->uv == nullptr || buf->width == 0 || buf->height == 0) {
|
|
||||||
LOGE("dashcamd: invalid frame buf y=%p uv=%p %zux%zu, skipping", buf->y, buf->uv, buf->width, buf->height);
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Feed NV12 frame directly to OMX encoder
|
|
||||||
encoder->encode_frame_nv12(buf->y, y_stride, buf->uv, uv_stride, width, height, ts);
|
|
||||||
frame_count++;
|
|
||||||
trip_frames++;
|
|
||||||
|
|
||||||
// Publish state every 5 seconds
|
|
||||||
if (now - last_param_write >= 5.0) {
|
|
||||||
params_memory.put("DashcamFrames", std::to_string(trip_frames));
|
|
||||||
last_param_write = now;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Write GPS subtitle at most once per second
|
|
||||||
if (srt_file && (now - last_srt_write) >= 1.0) {
|
|
||||||
last_srt_write = now;
|
|
||||||
srt_index++;
|
|
||||||
|
|
||||||
double lat = 0, lon = 0, speed_ms = 0;
|
|
||||||
bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
|
|
||||||
if (has_gps) {
|
|
||||||
auto gps = sm["gpsLocation"].getGpsLocation();
|
|
||||||
lat = gps.getLatitude();
|
|
||||||
lon = gps.getLongitude();
|
|
||||||
speed_ms = gps.getSpeed();
|
|
||||||
}
|
|
||||||
|
|
||||||
double speed_mph = speed_ms * 2.23694;
|
|
||||||
std::string utc = make_utc_timestamp();
|
|
||||||
std::string t_start = srt_time(srt_segment_sec);
|
|
||||||
std::string t_end = srt_time(srt_segment_sec + 1);
|
|
||||||
srt_segment_sec++;
|
|
||||||
|
|
||||||
if (has_gps) {
|
|
||||||
const char *deg = "\xC2\xB0"; // UTF-8 degree sign
|
|
||||||
fprintf(srt_file, "%d\n%s --> %s\n%.0f MPH | %.4f%s%c %.4f%s%c | %s\n\n",
|
|
||||||
srt_index, t_start.c_str(), t_end.c_str(),
|
|
||||||
speed_mph,
|
|
||||||
std::abs(lat), deg, lat >= 0 ? 'N' : 'S',
|
|
||||||
std::abs(lon), deg, lon >= 0 ? 'E' : 'W',
|
|
||||||
utc.c_str());
|
|
||||||
} else {
|
|
||||||
fprintf(srt_file, "%d\n%s --> %s\nNo GPS | %s\n\n",
|
|
||||||
srt_index, t_start.c_str(), t_end.c_str(), utc.c_str());
|
|
||||||
}
|
|
||||||
fflush(srt_file);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Clean exit
|
|
||||||
if (state == RECORDING || state == IDLE_TIMEOUT) {
|
|
||||||
close_trip();
|
|
||||||
}
|
|
||||||
params_memory.put("DashcamState", "stopped");
|
|
||||||
params_memory.put("DashcamFrames", "0");
|
|
||||||
LOGW("dashcamd: stopped");
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@@ -1,121 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
CLEARPILOT dashcamd — records raw camera footage to MP4 using hardware H.264 encoder.
|
|
||||||
|
|
||||||
Connects directly to camerad via VisionIPC, receives NV12 frames, and pipes them
|
|
||||||
to ffmpeg's h264_v4l2m2m encoder. Produces 3-minute MP4 segments in /data/media/0/videos/.
|
|
||||||
|
|
||||||
This replaces the FrogPilot screen recorder approach (QWidget::grab -> OMX) with a
|
|
||||||
direct camera capture that works regardless of UI state (screen off, alternate modes, etc).
|
|
||||||
"""
|
|
||||||
import os
|
|
||||||
import time
|
|
||||||
import subprocess
|
|
||||||
import signal
|
|
||||||
from pathlib import Path
|
|
||||||
from datetime import datetime
|
|
||||||
|
|
||||||
from cereal.visionipc import VisionIpcClient, VisionStreamType
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
from openpilot.common.swaglog import cloudlog
|
|
||||||
from openpilot.selfdrive import sentry
|
|
||||||
|
|
||||||
PROCESS_NAME = "selfdrive.clearpilot.dashcamd"
|
|
||||||
VIDEOS_DIR = "/data/media/0/videos"
|
|
||||||
SEGMENT_SECONDS = 180 # 3 minutes
|
|
||||||
CAMERA_FPS = 20
|
|
||||||
FRAMES_PER_SEGMENT = SEGMENT_SECONDS * CAMERA_FPS
|
|
||||||
|
|
||||||
|
|
||||||
def make_filename():
|
|
||||||
return datetime.now().strftime("%Y%m%d-%H%M%S") + ".mp4"
|
|
||||||
|
|
||||||
|
|
||||||
def open_encoder(width, height, filepath):
|
|
||||||
"""Start an ffmpeg subprocess that accepts raw NV12 on stdin and writes MP4."""
|
|
||||||
cmd = [
|
|
||||||
"ffmpeg", "-y", "-nostdin", "-loglevel", "error",
|
|
||||||
"-f", "rawvideo",
|
|
||||||
"-pix_fmt", "nv12",
|
|
||||||
"-s", f"{width}x{height}",
|
|
||||||
"-r", str(CAMERA_FPS),
|
|
||||||
"-i", "pipe:0",
|
|
||||||
"-c:v", "h264_v4l2m2m",
|
|
||||||
"-b:v", "4M",
|
|
||||||
"-f", "mp4",
|
|
||||||
"-movflags", "+faststart",
|
|
||||||
filepath,
|
|
||||||
]
|
|
||||||
return subprocess.Popen(cmd, stdin=subprocess.PIPE)
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
sentry.set_tag("daemon", PROCESS_NAME)
|
|
||||||
cloudlog.bind(daemon=PROCESS_NAME)
|
|
||||||
|
|
||||||
os.makedirs(VIDEOS_DIR, exist_ok=True)
|
|
||||||
|
|
||||||
params = Params()
|
|
||||||
|
|
||||||
# Connect to camerad road stream
|
|
||||||
cloudlog.info("dashcamd: connecting to camerad road stream")
|
|
||||||
vipc = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, False)
|
|
||||||
while not vipc.connect(False):
|
|
||||||
time.sleep(0.1)
|
|
||||||
|
|
||||||
width, height = vipc.width, vipc.height
|
|
||||||
# NV12 frame: Y plane (w*h) + UV plane (w*h/2)
|
|
||||||
frame_size = width * height * 3 // 2
|
|
||||||
cloudlog.info(f"dashcamd: connected, {width}x{height}, frame_size={frame_size}")
|
|
||||||
|
|
||||||
frame_count = 0
|
|
||||||
encoder = None
|
|
||||||
lock_path = None
|
|
||||||
|
|
||||||
try:
|
|
||||||
while True:
|
|
||||||
buf = vipc.recv()
|
|
||||||
if buf is None:
|
|
||||||
continue
|
|
||||||
|
|
||||||
# Start new segment if needed
|
|
||||||
if encoder is None or frame_count >= FRAMES_PER_SEGMENT:
|
|
||||||
# Close previous segment
|
|
||||||
if encoder is not None:
|
|
||||||
encoder.stdin.close()
|
|
||||||
encoder.wait()
|
|
||||||
if lock_path and os.path.exists(lock_path):
|
|
||||||
os.remove(lock_path)
|
|
||||||
cloudlog.info(f"dashcamd: closed segment, {frame_count} frames")
|
|
||||||
|
|
||||||
# Open new segment
|
|
||||||
filename = make_filename()
|
|
||||||
filepath = os.path.join(VIDEOS_DIR, filename)
|
|
||||||
lock_path = filepath + ".lock"
|
|
||||||
Path(lock_path).touch()
|
|
||||||
|
|
||||||
cloudlog.info(f"dashcamd: opening segment {filename}")
|
|
||||||
encoder = open_encoder(width, height, filepath)
|
|
||||||
frame_count = 0
|
|
||||||
|
|
||||||
# Write raw NV12 frame to ffmpeg stdin
|
|
||||||
try:
|
|
||||||
encoder.stdin.write(buf.data[:frame_size])
|
|
||||||
frame_count += 1
|
|
||||||
except BrokenPipeError:
|
|
||||||
cloudlog.error("dashcamd: encoder pipe broken, restarting segment")
|
|
||||||
encoder = None
|
|
||||||
|
|
||||||
except (KeyboardInterrupt, SystemExit):
|
|
||||||
pass
|
|
||||||
finally:
|
|
||||||
if encoder is not None:
|
|
||||||
encoder.stdin.close()
|
|
||||||
encoder.wait()
|
|
||||||
if lock_path and os.path.exists(lock_path):
|
|
||||||
os.remove(lock_path)
|
|
||||||
cloudlog.info("dashcamd: stopped")
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
Binary file not shown.
@@ -1,114 +0,0 @@
|
|||||||
"""
|
|
||||||
ClearPilot speed processing module.
|
|
||||||
|
|
||||||
Shared logic for converting raw speed and speed limit data into display-ready
|
|
||||||
values. Called from controlsd (live mode) and bench_onroad (bench mode).
|
|
||||||
|
|
||||||
Reads raw inputs, converts to display units (mph or kph based on car's CAN
|
|
||||||
unit setting), detects speed limit changes, and writes results to params_memory
|
|
||||||
for the onroad UI to read.
|
|
||||||
"""
|
|
||||||
import math
|
|
||||||
import time
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
from openpilot.common.conversions import Conversions as CV
|
|
||||||
|
|
||||||
|
|
||||||
class SpeedState:
|
|
||||||
def __init__(self):
|
|
||||||
self.params_memory = Params("/dev/shm/params")
|
|
||||||
self.prev_speed_limit = 0
|
|
||||||
|
|
||||||
# Ding state tracking
|
|
||||||
self.last_ding_time = 0.0
|
|
||||||
self.prev_warning = ""
|
|
||||||
self.prev_warning_speed_limit = 0
|
|
||||||
|
|
||||||
# Cache last-written param values — each put() is mkstemp+fsync+flock+rename.
|
|
||||||
# Sentinel None so the first call always writes.
|
|
||||||
self._w_has_speed = None
|
|
||||||
self._w_speed_display = None
|
|
||||||
self._w_speed_limit_display = None
|
|
||||||
self._w_speed_unit = None
|
|
||||||
self._w_is_metric = None
|
|
||||||
self._w_cruise_warning = None
|
|
||||||
self._w_cruise_warning_speed = None
|
|
||||||
|
|
||||||
def _put_if_changed(self, key, value, attr):
|
|
||||||
if getattr(self, attr) != value:
|
|
||||||
self.params_memory.put(key, value)
|
|
||||||
setattr(self, attr, value)
|
|
||||||
|
|
||||||
def update(self, speed_ms: float, has_speed: bool, speed_limit_ms: float, is_metric: bool,
|
|
||||||
cruise_speed_ms: float = 0.0, cruise_active: bool = False, cruise_standstill: bool = False):
|
|
||||||
"""
|
|
||||||
Convert raw m/s values to display-ready strings and write to params_memory.
|
|
||||||
"""
|
|
||||||
now = time.monotonic()
|
|
||||||
|
|
||||||
if is_metric:
|
|
||||||
speed_display = speed_ms * CV.MS_TO_KPH
|
|
||||||
speed_limit_display = speed_limit_ms * CV.MS_TO_KPH
|
|
||||||
cruise_display = cruise_speed_ms * CV.MS_TO_KPH
|
|
||||||
unit = "km/h"
|
|
||||||
else:
|
|
||||||
speed_display = speed_ms * CV.MS_TO_MPH
|
|
||||||
speed_limit_display = speed_limit_ms * CV.MS_TO_MPH
|
|
||||||
cruise_display = cruise_speed_ms * CV.MS_TO_MPH
|
|
||||||
unit = "mph"
|
|
||||||
|
|
||||||
speed_int = int(math.floor(speed_display))
|
|
||||||
speed_limit_int = int(round(speed_limit_display))
|
|
||||||
cruise_int = int(round(cruise_display))
|
|
||||||
|
|
||||||
self.prev_speed_limit = speed_limit_int
|
|
||||||
|
|
||||||
# Write display-ready values to params_memory (gated on change)
|
|
||||||
self._put_if_changed("ClearpilotHasSpeed", "1" if has_speed and speed_int > 0 else "0", "_w_has_speed")
|
|
||||||
self._put_if_changed("ClearpilotSpeedDisplay", str(speed_int) if has_speed and speed_int > 0 else "", "_w_speed_display")
|
|
||||||
self._put_if_changed("ClearpilotSpeedLimitDisplay", str(speed_limit_int) if speed_limit_int > 0 else "0", "_w_speed_limit_display")
|
|
||||||
self._put_if_changed("ClearpilotSpeedUnit", unit, "_w_speed_unit")
|
|
||||||
self._put_if_changed("ClearpilotIsMetric", "1" if is_metric else "0", "_w_is_metric")
|
|
||||||
|
|
||||||
# Cruise warning logic
|
|
||||||
warning = ""
|
|
||||||
warning_speed = ""
|
|
||||||
cruise_engaged = cruise_active and not cruise_standstill
|
|
||||||
|
|
||||||
if speed_limit_int >= 20 and cruise_engaged and cruise_int > 0:
|
|
||||||
# Tiers (warning fires at >= limit + threshold):
|
|
||||||
# limit >= 50: +9 over ok, warn at +10 (e.g. 60 → warn at 70)
|
|
||||||
# limit 26-49: +6 over ok, warn at +7 (e.g. 35 → warn at 42)
|
|
||||||
# limit <= 25: +8 over ok, warn at +9 (e.g. 25 → warn at 34, so 33 is ok)
|
|
||||||
if speed_limit_int >= 50:
|
|
||||||
over_threshold = 10
|
|
||||||
elif speed_limit_int <= 25:
|
|
||||||
over_threshold = 9
|
|
||||||
else:
|
|
||||||
over_threshold = 7
|
|
||||||
if cruise_int >= speed_limit_int + over_threshold:
|
|
||||||
warning = "over"
|
|
||||||
warning_speed = str(cruise_int)
|
|
||||||
elif cruise_int <= speed_limit_int - 5:
|
|
||||||
warning = "under"
|
|
||||||
warning_speed = str(cruise_int)
|
|
||||||
|
|
||||||
self._put_if_changed("ClearpilotCruiseWarning", warning, "_w_cruise_warning")
|
|
||||||
self._put_if_changed("ClearpilotCruiseWarningSpeed", warning_speed, "_w_cruise_warning_speed")
|
|
||||||
|
|
||||||
# Ding logic: play when warning sign appears or speed limit changes while visible
|
|
||||||
should_ding = False
|
|
||||||
if warning:
|
|
||||||
if not self.prev_warning:
|
|
||||||
# Warning sign just appeared
|
|
||||||
should_ding = True
|
|
||||||
elif speed_limit_int != self.prev_warning_speed_limit:
|
|
||||||
# Speed limit changed while warning sign is visible
|
|
||||||
should_ding = True
|
|
||||||
|
|
||||||
if should_ding and now - self.last_ding_time >= 30:
|
|
||||||
self.params_memory.put("ClearpilotPlayDing", "1")
|
|
||||||
self.last_ding_time = now
|
|
||||||
|
|
||||||
self.prev_warning = warning
|
|
||||||
self.prev_warning_speed_limit = speed_limit_int if warning else 0
|
|
||||||
@@ -1,53 +0,0 @@
|
|||||||
"""
|
|
||||||
ClearPilot telemetry client library.
|
|
||||||
|
|
||||||
Usage from any process:
|
|
||||||
from openpilot.selfdrive.clearpilot.telemetry import tlog
|
|
||||||
tlog("canbus", {"speed": 45.2, "speed_limit": 60})
|
|
||||||
|
|
||||||
Sends JSON packets over ZMQ PUSH to telemetryd, which diffs and writes CSV.
|
|
||||||
Only sends when TelemetryEnabled memory param is set — zero cost when disabled.
|
|
||||||
"""
|
|
||||||
import json
|
|
||||||
import os
|
|
||||||
import time
|
|
||||||
import zmq
|
|
||||||
|
|
||||||
TELEMETRY_SOCK = "ipc:///tmp/clearpilot_telemetry"
|
|
||||||
_PARAM_PATH = "/dev/shm/params/d/TelemetryEnabled"
|
|
||||||
|
|
||||||
_ctx = None
|
|
||||||
_sock = None
|
|
||||||
_last_check = 0
|
|
||||||
_enabled = False
|
|
||||||
|
|
||||||
|
|
||||||
def tlog(group: str, data: dict):
|
|
||||||
"""Log a telemetry packet. Only changed values will be written to CSV by telemetryd."""
|
|
||||||
global _ctx, _sock, _last_check, _enabled
|
|
||||||
|
|
||||||
# Check param at most once per second to avoid filesystem overhead
|
|
||||||
now = time.monotonic()
|
|
||||||
if now - _last_check > 1.0:
|
|
||||||
_last_check = now
|
|
||||||
try:
|
|
||||||
with open(_PARAM_PATH, 'r') as f:
|
|
||||||
_enabled = f.read().strip() == "1"
|
|
||||||
except (FileNotFoundError, IOError):
|
|
||||||
_enabled = False
|
|
||||||
|
|
||||||
if not _enabled:
|
|
||||||
return
|
|
||||||
|
|
||||||
if _sock is None:
|
|
||||||
_ctx = zmq.Context.instance()
|
|
||||||
_sock = _ctx.socket(zmq.PUSH)
|
|
||||||
_sock.setsockopt(zmq.LINGER, 0)
|
|
||||||
_sock.setsockopt(zmq.SNDHWM, 100)
|
|
||||||
_sock.connect(TELEMETRY_SOCK)
|
|
||||||
|
|
||||||
msg = json.dumps({"ts": time.time(), "group": group, "data": data})
|
|
||||||
try:
|
|
||||||
_sock.send_string(msg, zmq.NOBLOCK)
|
|
||||||
except zmq.Again:
|
|
||||||
pass # drop if collector isn't running or queue full
|
|
||||||
@@ -1,147 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
ClearPilot telemetry collector.
|
|
||||||
|
|
||||||
Receives telemetry packets from any process via ZMQ, diffs against previous
|
|
||||||
state per group, and writes only changed values to CSV.
|
|
||||||
|
|
||||||
Controlled by TelemetryEnabled param — when toggled on, the first packet
|
|
||||||
from each group writes all values (full dump). When toggled off, stops writing.
|
|
||||||
|
|
||||||
CSV format: timestamp,group,key,value
|
|
||||||
"""
|
|
||||||
import csv
|
|
||||||
import json
|
|
||||||
import os
|
|
||||||
import shutil
|
|
||||||
import time
|
|
||||||
import zmq
|
|
||||||
|
|
||||||
import cereal.messaging as messaging
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
from openpilot.selfdrive.clearpilot.telemetry import TELEMETRY_SOCK
|
|
||||||
from openpilot.selfdrive.manager.process import _log_dir, session_log
|
|
||||||
|
|
||||||
MIN_DISK_FREE_GB = 5
|
|
||||||
DISK_CHECK_INTERVAL = 10 # seconds
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
params = Params("/dev/shm/params")
|
|
||||||
ctx = zmq.Context.instance()
|
|
||||||
sock = ctx.socket(zmq.PULL)
|
|
||||||
sock.setsockopt(zmq.RCVHWM, 1000)
|
|
||||||
sock.bind(TELEMETRY_SOCK)
|
|
||||||
|
|
||||||
# GPS subscriber for location telemetry
|
|
||||||
sm = messaging.SubMaster(['gpsLocation'])
|
|
||||||
last_gps_log = 0
|
|
||||||
|
|
||||||
csv_path = os.path.join(_log_dir, "telemetry.csv")
|
|
||||||
state: dict[str, dict] = {} # group -> {key: last_value}
|
|
||||||
was_enabled = False
|
|
||||||
writer = None
|
|
||||||
f = None
|
|
||||||
last_disk_check = 0
|
|
||||||
|
|
||||||
while True:
|
|
||||||
# Check enable state every iteration (cheap param read)
|
|
||||||
enabled = params.get("TelemetryEnabled") == b"1"
|
|
||||||
|
|
||||||
# Check disk space every 10 seconds while enabled
|
|
||||||
if enabled and (time.monotonic() - last_disk_check) > DISK_CHECK_INTERVAL:
|
|
||||||
last_disk_check = time.monotonic()
|
|
||||||
disk = shutil.disk_usage("/data")
|
|
||||||
free_gb = disk.free / (1024 ** 3)
|
|
||||||
if free_gb < MIN_DISK_FREE_GB:
|
|
||||||
session_log.warning("telemetry disabled: disk free %.1f GB < %d GB", free_gb, MIN_DISK_FREE_GB)
|
|
||||||
params.put("TelemetryEnabled", "0")
|
|
||||||
enabled = False
|
|
||||||
|
|
||||||
# Toggled on: open CSV, clear state so first packet is a full dump
|
|
||||||
if enabled and not was_enabled:
|
|
||||||
f = open(csv_path, "a", newline="")
|
|
||||||
writer = csv.writer(f)
|
|
||||||
if os.path.getsize(csv_path) == 0:
|
|
||||||
writer.writerow(["timestamp", "group", "key", "value"])
|
|
||||||
state.clear() # force full dump on first packet per group
|
|
||||||
f.flush()
|
|
||||||
|
|
||||||
# Toggled off: close file
|
|
||||||
if not enabled and was_enabled:
|
|
||||||
if f:
|
|
||||||
f.close()
|
|
||||||
f = None
|
|
||||||
writer = None
|
|
||||||
|
|
||||||
was_enabled = enabled
|
|
||||||
|
|
||||||
# GPS telemetry at most 1Hz — fed through the same diff logic
|
|
||||||
if enabled and writer is not None:
|
|
||||||
sm.update(0)
|
|
||||||
now = time.monotonic()
|
|
||||||
if sm.updated['gpsLocation'] and (now - last_gps_log) >= 1.0:
|
|
||||||
gps = sm['gpsLocation']
|
|
||||||
gps_data = {
|
|
||||||
"latitude": f"{gps.latitude:.7f}",
|
|
||||||
"longitude": f"{gps.longitude:.7f}",
|
|
||||||
"speed": f"{gps.speed:.2f}",
|
|
||||||
"altitude": f"{gps.altitude:.1f}",
|
|
||||||
"bearing": f"{gps.bearingDeg:.1f}",
|
|
||||||
"accuracy": f"{gps.accuracy:.1f}",
|
|
||||||
}
|
|
||||||
ts = time.time()
|
|
||||||
if "gps" not in state:
|
|
||||||
state["gps"] = {}
|
|
||||||
prev_gps = state["gps"]
|
|
||||||
gps_changed = False
|
|
||||||
for key, value in gps_data.items():
|
|
||||||
if key not in prev_gps or prev_gps[key] != value:
|
|
||||||
writer.writerow([f"{ts:.6f}", "gps", key, value])
|
|
||||||
prev_gps[key] = value
|
|
||||||
gps_changed = True
|
|
||||||
if gps_changed:
|
|
||||||
f.flush()
|
|
||||||
last_gps_log = now
|
|
||||||
|
|
||||||
# Always drain the socket (even when disabled) to avoid backpressure
|
|
||||||
try:
|
|
||||||
raw = sock.recv_string(zmq.NOBLOCK)
|
|
||||||
except zmq.Again:
|
|
||||||
time.sleep(0.01)
|
|
||||||
continue
|
|
||||||
except zmq.ZMQError:
|
|
||||||
time.sleep(0.01)
|
|
||||||
continue
|
|
||||||
|
|
||||||
if not enabled or writer is None:
|
|
||||||
continue
|
|
||||||
|
|
||||||
try:
|
|
||||||
pkt = json.loads(raw)
|
|
||||||
except json.JSONDecodeError:
|
|
||||||
continue
|
|
||||||
|
|
||||||
ts = pkt.get("ts", 0)
|
|
||||||
group = pkt.get("group", "")
|
|
||||||
data = pkt.get("data", {})
|
|
||||||
|
|
||||||
if group not in state:
|
|
||||||
state[group] = {}
|
|
||||||
|
|
||||||
prev = state[group]
|
|
||||||
changed = False
|
|
||||||
|
|
||||||
for key, value in data.items():
|
|
||||||
str_val = str(value)
|
|
||||||
if key not in prev or prev[key] != str_val:
|
|
||||||
writer.writerow([f"{ts:.6f}", group, key, str_val])
|
|
||||||
prev[key] = str_val
|
|
||||||
changed = True
|
|
||||||
|
|
||||||
if changed:
|
|
||||||
f.flush()
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
Regular → Executable
BIN
Binary file not shown.
|
Before Width: | Height: | Size: 2.5 KiB After Width: | Height: | Size: 1.4 KiB |
Binary file not shown.
Regular → Executable
BIN
Binary file not shown.
|
Before Width: | Height: | Size: 1.4 KiB After Width: | Height: | Size: 35 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 50 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 50 KiB |
Regular → Executable
BIN
Binary file not shown.
|
Before Width: | Height: | Size: 7.5 KiB After Width: | Height: | Size: 24 KiB |
Regular → Executable
BIN
Binary file not shown.
|
Before Width: | Height: | Size: 24 KiB After Width: | Height: | Size: 53 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 3.4 KiB |
@@ -1,12 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""Query the UI process for its current widget tree. Usage: python3 -m selfdrive.clearpilot.ui_dump"""
|
|
||||||
import zmq
|
|
||||||
ctx = zmq.Context()
|
|
||||||
sock = ctx.socket(zmq.REQ)
|
|
||||||
sock.setsockopt(zmq.RCVTIMEO, 2000)
|
|
||||||
sock.connect("ipc:///tmp/clearpilot_ui_rpc")
|
|
||||||
sock.send_string("dump")
|
|
||||||
try:
|
|
||||||
print(sock.recv_string())
|
|
||||||
except zmq.Again:
|
|
||||||
print("ERROR: UI not responding (timeout)")
|
|
||||||
@@ -39,9 +39,6 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CRUIS
|
|||||||
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
|
from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
|
||||||
from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
|
from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
|
||||||
|
|
||||||
# CLEARPILOT: UI plumbing for ScreenDisplayMode and the speed/cruise-warning overlay
|
|
||||||
from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
|
|
||||||
|
|
||||||
SOFT_DISABLE_TIME = 3 # seconds
|
SOFT_DISABLE_TIME = 3 # seconds
|
||||||
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
|
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
|
||||||
LANE_DEPARTURE_THRESHOLD = 0.1
|
LANE_DEPARTURE_THRESHOLD = 0.1
|
||||||
@@ -80,14 +77,7 @@ class Controls:
|
|||||||
self.params_storage = Params("/persist/params")
|
self.params_storage = Params("/persist/params")
|
||||||
|
|
||||||
self.params_memory.put_bool("CPTLkasButtonAction", False)
|
self.params_memory.put_bool("CPTLkasButtonAction", False)
|
||||||
# CLEARPILOT: ScreenDisplayMode is an int (5-state machine: 0..4); UI reads it via getInt
|
self.params_memory.put_bool("ScreenDisplayMode", 0)
|
||||||
self.params_memory.put_int("ScreenDisplayMode", 0)
|
|
||||||
|
|
||||||
# CLEARPILOT: speed/cruise-warning overlay state, ticked at ~2Hz from clearpilot_state_control
|
|
||||||
self.speed_state = SpeedState()
|
|
||||||
self.speed_state_frame = 0
|
|
||||||
# CLEARPILOT: edge tracking for park->drive auto-wake of screen
|
|
||||||
self.was_driving_gear = False
|
|
||||||
|
|
||||||
self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
|
self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
|
||||||
|
|
||||||
@@ -117,8 +107,8 @@ class Controls:
|
|||||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
|
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
|
||||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||||
'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
|
'testJoystick', 'frogpilotPlan'] + self.camera_packets + self.sensor_packets,
|
||||||
ignore_alive=ignore + ['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'], ignore_valid=['testJoystick', 'gpsLocation'],
|
ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
|
||||||
frequency=int(1/DT_CTRL))
|
frequency=int(1/DT_CTRL))
|
||||||
|
|
||||||
self.joystick_mode = self.params.get_bool("JoystickDebugMode")
|
self.joystick_mode = self.params.get_bool("JoystickDebugMode")
|
||||||
@@ -687,11 +677,8 @@ class Controls:
|
|||||||
if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
|
if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
|
||||||
CC.latActive = False
|
CC.latActive = False
|
||||||
self.params_memory.put_bool("no_lat_lane_change", True)
|
self.params_memory.put_bool("no_lat_lane_change", True)
|
||||||
# CLEARPILOT: hyundai carcontroller reads this off frogpilot_variables (not Params) — keep both in sync
|
|
||||||
self.frogpilot_variables.no_lat_lane_change = True
|
|
||||||
else:
|
else:
|
||||||
self.params_memory.put_bool("no_lat_lane_change", False)
|
self.params_memory.put_bool("no_lat_lane_change", False)
|
||||||
self.frogpilot_variables.no_lat_lane_change = False
|
|
||||||
|
|
||||||
if CS.leftBlinker or CS.rightBlinker:
|
if CS.leftBlinker or CS.rightBlinker:
|
||||||
self.last_blinker_frame = self.sm.frame
|
self.last_blinker_frame = self.sm.frame
|
||||||
@@ -1254,44 +1241,24 @@ class Controls:
|
|||||||
# self.events.add(EventName.clpDebug)
|
# self.events.add(EventName.clpDebug)
|
||||||
|
|
||||||
def clearpilot_state_control(self, CC, CS):
|
def clearpilot_state_control(self, CC, CS):
|
||||||
# CLEARPILOT: pure UI plumbing — does not modify CC/actuators. Maintains
|
|
||||||
# ScreenDisplayMode (5-state machine driven by the LFA/debug button + gear
|
|
||||||
# edges) and ticks the speed/cruise-warning overlay at ~2Hz.
|
|
||||||
driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park,
|
|
||||||
GearShifter.reverse, GearShifter.unknown)
|
|
||||||
|
|
||||||
# Auto-wake screen when shifting into drive from screen-off
|
|
||||||
if driving_gear and not self.was_driving_gear:
|
|
||||||
if self.params_memory.get_int("ScreenDisplayMode") == 3:
|
|
||||||
self.params_memory.put_int("ScreenDisplayMode", 0)
|
|
||||||
self.was_driving_gear = driving_gear
|
|
||||||
|
|
||||||
# LFA/debug button cycles ScreenDisplayMode. Onroad and offroad use
|
|
||||||
# different transition tables.
|
|
||||||
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
|
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
|
||||||
current = self.params_memory.get_int("ScreenDisplayMode")
|
|
||||||
if driving_gear:
|
# Uncomment for debug testing.
|
||||||
# Onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto via button)
|
# if self.params_memory.get_bool("CPTLkasButtonAction"):
|
||||||
transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
|
# self.params_memory.put_bool("CPTLkasButtonAction", False)
|
||||||
new_mode = transitions.get(current, 0)
|
# else:
|
||||||
else:
|
# self.params_memory.put_bool("CPTLkasButtonAction", True)
|
||||||
# Not in drive: anything except 3 → 3 (screen off), state 3 → 0 (auto)
|
|
||||||
new_mode = 0 if current == 3 else 3
|
# Rotate display mode. These are mostly used in the frontend ui app.
|
||||||
self.params_memory.put_int("ScreenDisplayMode", new_mode)
|
max_display_mode = 2
|
||||||
|
current_display_mode = self.params_memory.get_int("ScreenDisplayMode")
|
||||||
|
current_display_mode = current_display_mode + 1
|
||||||
|
if current_display_mode > max_display_mode:
|
||||||
|
current_display_mode = 0
|
||||||
|
self.params_memory.put_int("ScreenDisplayMode", current_display_mode)
|
||||||
|
|
||||||
# Speed/cruise-warning overlay tick (~2Hz at 100Hz loop)
|
# Leftovers
|
||||||
self.speed_state_frame += 1
|
# self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
|
||||||
if self.speed_state_frame % 50 == 0:
|
|
||||||
gps = self.sm['gpsLocation']
|
|
||||||
has_gps = self.sm.valid['gpsLocation'] and gps.hasFix
|
|
||||||
speed_ms = gps.speed if has_gps else 0.0
|
|
||||||
speed_limit_ms = self.params_memory.get_float("CarSpeedLimit") or 0.0
|
|
||||||
is_metric = self.is_metric
|
|
||||||
cruise_speed_ms = CS.cruiseState.speed
|
|
||||||
cruise_active = CS.cruiseState.enabled
|
|
||||||
cruise_standstill = CS.cruiseState.standstill
|
|
||||||
self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
|
|
||||||
cruise_speed_ms, cruise_active, cruise_standstill)
|
|
||||||
return CC
|
return CC
|
||||||
|
|
||||||
def main():
|
def main():
|
||||||
|
|||||||
Regular → Executable
@@ -35,19 +35,120 @@ int ABGRToNV12(const uint8_t* src_abgr,
|
|||||||
int halfwidth = (width + 1) >> 1;
|
int halfwidth = (width + 1) >> 1;
|
||||||
void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr,
|
void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr,
|
||||||
uint8_t* dst_u, uint8_t* dst_v, int width) =
|
uint8_t* dst_u, uint8_t* dst_v, int width) =
|
||||||
ABGRToUVRow_NEON;
|
ABGRToUVRow_C;
|
||||||
void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) =
|
void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) =
|
||||||
ABGRToYRow_NEON;
|
ABGRToYRow_C;
|
||||||
void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_NEON;
|
void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_C;
|
||||||
if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) {
|
if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) {
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
if (height < 0) {
|
if (height < 0) { // Negative height means invert the image.
|
||||||
height = -height;
|
height = -height;
|
||||||
src_abgr = src_abgr + (height - 1) * src_stride_abgr;
|
src_abgr = src_abgr + (height - 1) * src_stride_abgr;
|
||||||
src_stride_abgr = -src_stride_abgr;
|
src_stride_abgr = -src_stride_abgr;
|
||||||
|
}
|
||||||
|
#if defined(HAS_ABGRTOYROW_SSSE3) && defined(HAS_ABGRTOUVROW_SSSE3)
|
||||||
|
if (TestCpuFlag(kCpuHasSSSE3)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_Any_SSSE3;
|
||||||
|
ABGRToYRow = ABGRToYRow_Any_SSSE3;
|
||||||
|
if (IS_ALIGNED(width, 16)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_SSSE3;
|
||||||
|
ABGRToYRow = ABGRToYRow_SSSE3;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_ABGRTOYROW_AVX2) && defined(HAS_ABGRTOUVROW_AVX2)
|
||||||
|
if (TestCpuFlag(kCpuHasAVX2)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_Any_AVX2;
|
||||||
|
ABGRToYRow = ABGRToYRow_Any_AVX2;
|
||||||
|
if (IS_ALIGNED(width, 32)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_AVX2;
|
||||||
|
ABGRToYRow = ABGRToYRow_AVX2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_ABGRTOYROW_NEON)
|
||||||
|
if (TestCpuFlag(kCpuHasNEON)) {
|
||||||
|
ABGRToYRow = ABGRToYRow_Any_NEON;
|
||||||
|
if (IS_ALIGNED(width, 8)) {
|
||||||
|
ABGRToYRow = ABGRToYRow_NEON;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_ABGRTOUVROW_NEON)
|
||||||
|
if (TestCpuFlag(kCpuHasNEON)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_Any_NEON;
|
||||||
|
if (IS_ALIGNED(width, 16)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_NEON;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_ABGRTOYROW_MMI) && defined(HAS_ABGRTOUVROW_MMI)
|
||||||
|
if (TestCpuFlag(kCpuHasMMI)) {
|
||||||
|
ABGRToYRow = ABGRToYRow_Any_MMI;
|
||||||
|
ABGRToUVRow = ABGRToUVRow_Any_MMI;
|
||||||
|
if (IS_ALIGNED(width, 8)) {
|
||||||
|
ABGRToYRow = ABGRToYRow_MMI;
|
||||||
|
}
|
||||||
|
if (IS_ALIGNED(width, 16)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_MMI;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_ABGRTOYROW_MSA) && defined(HAS_ABGRTOUVROW_MSA)
|
||||||
|
if (TestCpuFlag(kCpuHasMSA)) {
|
||||||
|
ABGRToYRow = ABGRToYRow_Any_MSA;
|
||||||
|
ABGRToUVRow = ABGRToUVRow_Any_MSA;
|
||||||
|
if (IS_ALIGNED(width, 16)) {
|
||||||
|
ABGRToYRow = ABGRToYRow_MSA;
|
||||||
|
}
|
||||||
|
if (IS_ALIGNED(width, 32)) {
|
||||||
|
ABGRToUVRow = ABGRToUVRow_MSA;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_MERGEUVROW_SSE2)
|
||||||
|
if (TestCpuFlag(kCpuHasSSE2)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_Any_SSE2;
|
||||||
|
if (IS_ALIGNED(halfwidth, 16)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_SSE2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_MERGEUVROW_AVX2)
|
||||||
|
if (TestCpuFlag(kCpuHasAVX2)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_Any_AVX2;
|
||||||
|
if (IS_ALIGNED(halfwidth, 32)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_AVX2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_MERGEUVROW_NEON)
|
||||||
|
if (TestCpuFlag(kCpuHasNEON)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_Any_NEON;
|
||||||
|
if (IS_ALIGNED(halfwidth, 16)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_NEON;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_MERGEUVROW_MMI)
|
||||||
|
if (TestCpuFlag(kCpuHasMMI)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_Any_MMI;
|
||||||
|
if (IS_ALIGNED(halfwidth, 8)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_MMI;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#if defined(HAS_MERGEUVROW_MSA)
|
||||||
|
if (TestCpuFlag(kCpuHasMSA)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_Any_MSA;
|
||||||
|
if (IS_ALIGNED(halfwidth, 16)) {
|
||||||
|
MergeUVRow_ = MergeUVRow_MSA;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif
|
||||||
{
|
{
|
||||||
|
// Allocate a rows of uv.
|
||||||
align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2);
|
align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2);
|
||||||
uint8_t* row_v = row_u + ((halfwidth + 31) & ~31);
|
uint8_t* row_v = row_u + ((halfwidth + 31) & ~31);
|
||||||
|
|
||||||
@@ -81,9 +182,9 @@ extern ExitHandler do_exit;
|
|||||||
// ***** OMX callback functions *****
|
// ***** OMX callback functions *****
|
||||||
|
|
||||||
void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
|
void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
|
||||||
std::unique_lock lk(state_lock);
|
std::unique_lock lk(this->state_lock);
|
||||||
while (state != state_) {
|
while (this->state != state_) {
|
||||||
state_cv.wait(lk);
|
this->state_cv.wait(lk);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -135,203 +236,270 @@ static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused))
|
|||||||
static const char* omx_color_fomat_name(uint32_t format) {
|
static const char* omx_color_fomat_name(uint32_t format) {
|
||||||
switch (format) {
|
switch (format) {
|
||||||
case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
|
case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
|
||||||
|
case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
|
||||||
|
case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
|
||||||
|
case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
|
||||||
|
case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
|
||||||
|
case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
|
||||||
|
case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
|
||||||
|
case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
|
||||||
|
case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
|
||||||
|
case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
|
||||||
|
case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
|
||||||
|
case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
|
||||||
|
case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
|
||||||
|
case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
|
||||||
|
case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
|
||||||
|
case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
|
||||||
|
case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
|
||||||
|
case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
|
||||||
|
case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar";
|
||||||
|
case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar";
|
||||||
|
case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar";
|
||||||
case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
|
case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
|
||||||
|
case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
|
||||||
|
case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar";
|
||||||
|
case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
|
||||||
|
case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
|
||||||
|
case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
|
||||||
|
case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
|
||||||
|
case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
|
||||||
|
case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
|
||||||
|
case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
|
||||||
|
case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
|
||||||
|
case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
|
||||||
|
case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
|
||||||
|
case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
|
||||||
|
case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
|
||||||
|
case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
|
||||||
|
case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
|
||||||
|
case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
|
||||||
|
case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar";
|
||||||
|
case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar";
|
||||||
|
case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
|
||||||
|
case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
|
||||||
|
case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
|
||||||
|
|
||||||
|
case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque";
|
||||||
|
case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar";
|
||||||
|
case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar";
|
||||||
|
case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
|
||||||
|
case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled";
|
||||||
case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
|
case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
|
||||||
|
|
||||||
|
case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka";
|
||||||
|
case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka";
|
||||||
|
case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView";
|
||||||
|
case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed";
|
||||||
case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
|
case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
|
||||||
default: return "unkn";
|
case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed";
|
||||||
|
|
||||||
|
default:
|
||||||
|
return "unkn";
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
// ***** encoder functions *****
|
// ***** encoder functions *****
|
||||||
|
|
||||||
OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) {
|
OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale) {
|
||||||
this->path = path;
|
this->path = path;
|
||||||
this->width = width;
|
this->width = width;
|
||||||
this->height = height;
|
this->height = height;
|
||||||
this->fps = fps;
|
this->fps = fps;
|
||||||
|
this->remuxing = !h265;
|
||||||
|
|
||||||
OMX_ERRORTYPE err = OMX_Init();
|
this->downscale = downscale;
|
||||||
if (err != OMX_ErrorNone) {
|
if (this->downscale) {
|
||||||
LOGE("OMX_Init failed: %x", err);
|
this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
|
||||||
return;
|
this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
|
||||||
|
this->v_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
|
||||||
}
|
}
|
||||||
|
|
||||||
OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc");
|
auto component = (OMX_STRING)(h265 ? "OMX.qcom.video.encoder.hevc" : "OMX.qcom.video.encoder.avc");
|
||||||
err = OMX_GetHandle(&handle, component, this, &omx_callbacks);
|
int err = OMX_GetHandle(&this->handle, component, this, &omx_callbacks);
|
||||||
if (err != OMX_ErrorNone) {
|
if (err != OMX_ErrorNone) {
|
||||||
LOGE("Error getting codec: %x", err);
|
LOGE("error getting codec: %x", err);
|
||||||
OMX_Deinit();
|
|
||||||
return;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// setup input port
|
// setup input port
|
||||||
|
|
||||||
OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
|
OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
|
||||||
in_port.nSize = sizeof(in_port);
|
in_port.nSize = sizeof(in_port);
|
||||||
in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
|
in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
|
||||||
OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
|
OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
|
||||||
|
|
||||||
in_port.format.video.nFrameWidth = width;
|
in_port.format.video.nFrameWidth = this->width;
|
||||||
in_port.format.video.nFrameHeight = height;
|
in_port.format.video.nFrameHeight = this->height;
|
||||||
in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
|
in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
|
||||||
in_port.format.video.nSliceHeight = height;
|
in_port.format.video.nSliceHeight = this->height;
|
||||||
in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
|
in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
|
||||||
in_port.format.video.xFramerate = (fps * 65536);
|
in_port.format.video.xFramerate = (this->fps * 65536);
|
||||||
in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
|
in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
|
||||||
in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
|
in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
|
||||||
|
|
||||||
OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
|
OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
|
||||||
OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
|
OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
|
||||||
in_buf_headers.resize(in_port.nBufferCountActual);
|
this->in_buf_headers.resize(in_port.nBufferCountActual);
|
||||||
|
|
||||||
// setup output port
|
// setup output port
|
||||||
OMX_PARAM_PORTDEFINITIONTYPE out_port;
|
|
||||||
memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE));
|
OMX_PARAM_PORTDEFINITIONTYPE out_port = {0};
|
||||||
out_port.nSize = sizeof(out_port);
|
out_port.nSize = sizeof(out_port);
|
||||||
out_port.nVersion.s.nVersionMajor = 1;
|
|
||||||
out_port.nVersion.s.nVersionMinor = 0;
|
|
||||||
out_port.nVersion.s.nRevision = 0;
|
|
||||||
out_port.nVersion.s.nStep = 0;
|
|
||||||
out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
||||||
|
OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port));
|
||||||
OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port);
|
out_port.format.video.nFrameWidth = this->width;
|
||||||
if (error != OMX_ErrorNone) {
|
out_port.format.video.nFrameHeight = this->height;
|
||||||
LOGE("Error getting output port parameters: 0x%08x", error);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
out_port.format.video.nFrameWidth = width;
|
|
||||||
out_port.format.video.nFrameHeight = height;
|
|
||||||
out_port.format.video.xFramerate = 0;
|
out_port.format.video.xFramerate = 0;
|
||||||
out_port.format.video.nBitrate = bitrate;
|
out_port.format.video.nBitrate = bitrate;
|
||||||
out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
|
if (h265) {
|
||||||
|
out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC;
|
||||||
|
} else {
|
||||||
|
out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
|
||||||
|
}
|
||||||
out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
|
out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
|
||||||
|
|
||||||
error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
|
OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
|
||||||
if (error != OMX_ErrorNone) {
|
|
||||||
LOGE("Error setting output port parameters: 0x%08x", error);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
|
OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
|
||||||
if (error != OMX_ErrorNone) {
|
this->out_buf_headers.resize(out_port.nBufferCountActual);
|
||||||
LOGE("Error getting updated output port parameters: 0x%08x", error);
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
out_buf_headers.resize(out_port.nBufferCountActual);
|
|
||||||
|
|
||||||
OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
|
OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
|
||||||
bitrate_type.nSize = sizeof(bitrate_type);
|
bitrate_type.nSize = sizeof(bitrate_type);
|
||||||
bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
||||||
OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
|
OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
|
||||||
bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
|
bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
|
||||||
bitrate_type.nTargetBitrate = bitrate;
|
bitrate_type.nTargetBitrate = bitrate;
|
||||||
|
|
||||||
OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
|
OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
|
||||||
|
|
||||||
// setup h264
|
if (h265) {
|
||||||
OMX_VIDEO_PARAM_AVCTYPE avc = {0};
|
// setup HEVC
|
||||||
avc.nSize = sizeof(avc);
|
#ifndef QCOM2
|
||||||
avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
|
||||||
OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc));
|
OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
|
||||||
|
#else
|
||||||
|
OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
|
||||||
|
OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
|
||||||
|
#endif
|
||||||
|
hevc_type.nSize = sizeof(hevc_type);
|
||||||
|
hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
||||||
|
OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
|
||||||
|
|
||||||
avc.nBFrames = 0;
|
hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain;
|
||||||
avc.nPFrames = 15;
|
hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
|
||||||
|
|
||||||
avc.eProfile = OMX_VIDEO_AVCProfileHigh;
|
OMX_CHECK(OMX_SetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
|
||||||
avc.eLevel = OMX_VIDEO_AVCLevel31;
|
} else {
|
||||||
|
// setup h264
|
||||||
|
OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
|
||||||
|
avc.nSize = sizeof(avc);
|
||||||
|
avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
|
||||||
|
OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
|
||||||
|
|
||||||
avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
|
avc.nBFrames = 0;
|
||||||
avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
|
avc.nPFrames = 15;
|
||||||
|
|
||||||
avc.nRefFrames = 1;
|
avc.eProfile = OMX_VIDEO_AVCProfileHigh;
|
||||||
avc.bUseHadamard = OMX_TRUE;
|
avc.eLevel = OMX_VIDEO_AVCLevel31;
|
||||||
avc.bEntropyCodingCABAC = OMX_TRUE;
|
|
||||||
avc.bWeightedPPrediction = OMX_TRUE;
|
|
||||||
avc.bconstIpred = OMX_TRUE;
|
|
||||||
|
|
||||||
OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc));
|
avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
|
||||||
|
avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
|
||||||
|
|
||||||
OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
|
avc.nRefFrames = 1;
|
||||||
|
avc.bUseHadamard = OMX_TRUE;
|
||||||
|
avc.bEntropyCodingCABAC = OMX_TRUE;
|
||||||
|
avc.bWeightedPPrediction = OMX_TRUE;
|
||||||
|
avc.bconstIpred = OMX_TRUE;
|
||||||
|
|
||||||
for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
|
OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
|
||||||
OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize));
|
|
||||||
}
|
}
|
||||||
|
|
||||||
for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
|
OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
|
||||||
OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize));
|
|
||||||
|
for (auto &buf : this->in_buf_headers) {
|
||||||
|
OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_IN, this,
|
||||||
|
in_port.nBufferSize));
|
||||||
|
}
|
||||||
|
|
||||||
|
for (auto &buf : this->out_buf_headers) {
|
||||||
|
OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_OUT, this,
|
||||||
|
out_port.nBufferSize));
|
||||||
}
|
}
|
||||||
|
|
||||||
wait_for_state(OMX_StateIdle);
|
wait_for_state(OMX_StateIdle);
|
||||||
|
|
||||||
OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
|
OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
|
||||||
|
|
||||||
wait_for_state(OMX_StateExecuting);
|
wait_for_state(OMX_StateExecuting);
|
||||||
|
|
||||||
// give omx all the output buffers
|
// give omx all the output buffers
|
||||||
for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
|
for (auto &buf : this->out_buf_headers) {
|
||||||
OMX_CHECK(OMX_FillThisBuffer(handle, buf));
|
OMX_CHECK(OMX_FillThisBuffer(this->handle, buf));
|
||||||
}
|
}
|
||||||
|
|
||||||
// fill the input free queue
|
// fill the input free queue
|
||||||
for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
|
for (auto &buf : this->in_buf_headers) {
|
||||||
free_in.push(buf);
|
this->free_in.push(buf);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) {
|
void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
|
||||||
int err;
|
int err;
|
||||||
uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
|
uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
|
||||||
|
|
||||||
if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
|
if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
|
||||||
if (encoder->codec_config_len < out_buf->nFilledLen) {
|
if (e->codec_config_len < out_buf->nFilledLen) {
|
||||||
encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen);
|
e->codec_config = (uint8_t *)realloc(e->codec_config, out_buf->nFilledLen);
|
||||||
}
|
}
|
||||||
encoder->codec_config_len = out_buf->nFilledLen;
|
e->codec_config_len = out_buf->nFilledLen;
|
||||||
memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen);
|
memcpy(e->codec_config, buf_data, out_buf->nFilledLen);
|
||||||
#ifdef QCOM2
|
#ifdef QCOM2
|
||||||
out_buf->nTimeStamp = 0;
|
out_buf->nTimeStamp = 0;
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
if (encoder->of) {
|
if (e->of) {
|
||||||
fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of);
|
fwrite(buf_data, out_buf->nFilledLen, 1, e->of);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) {
|
if (e->remuxing) {
|
||||||
// extradata will be freed by av_free() in avcodec_free_context()
|
if (!e->wrote_codec_config && e->codec_config_len > 0) {
|
||||||
encoder->out_stream->codecpar->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
|
// extradata will be freed by av_free() in avcodec_free_context()
|
||||||
encoder->out_stream->codecpar->extradata_size = encoder->codec_config_len;
|
e->codec_ctx->extradata = (uint8_t*)av_mallocz(e->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
|
||||||
memcpy(encoder->out_stream->codecpar->extradata, encoder->codec_config, encoder->codec_config_len);
|
e->codec_ctx->extradata_size = e->codec_config_len;
|
||||||
|
memcpy(e->codec_ctx->extradata, e->codec_config, e->codec_config_len);
|
||||||
|
|
||||||
err = avformat_write_header(encoder->ofmt_ctx, NULL);
|
err = avcodec_parameters_from_context(e->out_stream->codecpar, e->codec_ctx);
|
||||||
assert(err >= 0);
|
assert(err >= 0);
|
||||||
|
err = avformat_write_header(e->ofmt_ctx, NULL);
|
||||||
|
assert(err >= 0);
|
||||||
|
|
||||||
encoder->wrote_codec_config = true;
|
e->wrote_codec_config = true;
|
||||||
}
|
|
||||||
|
|
||||||
if (out_buf->nTimeStamp > 0) {
|
|
||||||
// input timestamps are in microseconds
|
|
||||||
AVRational in_timebase = {1, 1000000};
|
|
||||||
|
|
||||||
AVPacket pkt;
|
|
||||||
av_init_packet(&pkt);
|
|
||||||
pkt.data = buf_data;
|
|
||||||
pkt.size = out_buf->nFilledLen;
|
|
||||||
|
|
||||||
enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
|
|
||||||
pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->out_stream->time_base, rnd);
|
|
||||||
pkt.duration = av_rescale_q(1, AVRational{1, encoder->fps}, encoder->out_stream->time_base);
|
|
||||||
|
|
||||||
if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
|
|
||||||
pkt.flags |= AV_PKT_FLAG_KEY;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
err = av_write_frame(encoder->ofmt_ctx, &pkt);
|
if (out_buf->nTimeStamp > 0) {
|
||||||
if (err < 0) { LOGW("ts encoder write issue"); }
|
// input timestamps are in microseconds
|
||||||
|
AVRational in_timebase = {1, 1000000};
|
||||||
|
|
||||||
av_packet_unref(&pkt);
|
AVPacket pkt;
|
||||||
|
av_init_packet(&pkt);
|
||||||
|
pkt.data = buf_data;
|
||||||
|
pkt.size = out_buf->nFilledLen;
|
||||||
|
|
||||||
|
enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
|
||||||
|
pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, e->ofmt_ctx->streams[0]->time_base, rnd);
|
||||||
|
pkt.duration = av_rescale_q(50*1000, in_timebase, e->ofmt_ctx->streams[0]->time_base);
|
||||||
|
|
||||||
|
if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
|
||||||
|
pkt.flags |= AV_PKT_FLAG_KEY;
|
||||||
|
}
|
||||||
|
|
||||||
|
err = av_write_frame(e->ofmt_ctx, &pkt);
|
||||||
|
if (err < 0) { LOGW("ts encoder write issue"); }
|
||||||
|
|
||||||
|
av_free_packet(&pkt);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// give omx back the buffer
|
// give omx back the buffer
|
||||||
@@ -340,186 +508,134 @@ void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_b
|
|||||||
out_buf->nTimeStamp = 0;
|
out_buf->nTimeStamp = 0;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf));
|
OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf));
|
||||||
}
|
}
|
||||||
|
|
||||||
int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) {
|
int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) {
|
||||||
if (!is_open) {
|
int err;
|
||||||
|
if (!this->is_open) {
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
|
||||||
|
// THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
|
||||||
OMX_BUFFERHEADERTYPE* in_buf = nullptr;
|
OMX_BUFFERHEADERTYPE* in_buf = nullptr;
|
||||||
while (!free_in.try_pop(in_buf, 20)) {
|
while (!this->free_in.try_pop(in_buf, 20)) {
|
||||||
if (do_exit) {
|
if (do_exit) {
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
int ret = counter;
|
int ret = this->counter;
|
||||||
|
|
||||||
uint8_t *in_buf_ptr = in_buf->pBuffer;
|
uint8_t *in_buf_ptr = in_buf->pBuffer;
|
||||||
|
|
||||||
uint8_t *in_y_ptr = in_buf_ptr;
|
uint8_t *in_y_ptr = in_buf_ptr;
|
||||||
int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
|
int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
|
||||||
int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
|
int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width);
|
||||||
uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
|
uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height));
|
||||||
|
|
||||||
int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height);
|
err = ABGRToNV12(ptr, this->width*4,
|
||||||
|
in_y_ptr, in_y_stride,
|
||||||
|
in_uv_ptr, in_uv_stride,
|
||||||
|
this->width, this->height);
|
||||||
assert(err == 0);
|
assert(err == 0);
|
||||||
|
|
||||||
in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
|
in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
|
||||||
in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
|
in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
|
||||||
in_buf->nOffset = 0;
|
in_buf->nOffset = 0;
|
||||||
in_buf->nTimeStamp = ts / 1000LL; // OMX_TICKS, in microseconds
|
in_buf->nTimeStamp = ts/1000LL; // OMX_TICKS, in microseconds
|
||||||
last_t = in_buf->nTimeStamp;
|
this->last_t = in_buf->nTimeStamp;
|
||||||
|
|
||||||
OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
|
OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
|
||||||
|
|
||||||
// pump output
|
// pump output
|
||||||
while (true) {
|
while (true) {
|
||||||
OMX_BUFFERHEADERTYPE *out_buf;
|
OMX_BUFFERHEADERTYPE *out_buf;
|
||||||
if (!done_out.try_pop(out_buf)) {
|
if (!this->done_out.try_pop(out_buf)) {
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
handle_out_buf(this, out_buf);
|
handle_out_buf(this, out_buf);
|
||||||
}
|
}
|
||||||
|
|
||||||
dirty = true;
|
this->dirty = true;
|
||||||
|
|
||||||
counter++;
|
this->counter++;
|
||||||
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
|
|
||||||
// CLEARPILOT: encode raw NV12 frames directly (no RGBA conversion needed)
|
|
||||||
int OmxEncoder::encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
|
|
||||||
int in_width, int in_height, uint64_t ts) {
|
|
||||||
if (!is_open) {
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
OMX_BUFFERHEADERTYPE* in_buf = nullptr;
|
|
||||||
while (!free_in.try_pop(in_buf, 20)) {
|
|
||||||
if (do_exit) {
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
int ret = counter;
|
|
||||||
|
|
||||||
uint8_t *in_buf_ptr = in_buf->pBuffer;
|
|
||||||
int venus_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
|
|
||||||
int venus_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
|
|
||||||
uint8_t *dst_y = in_buf_ptr;
|
|
||||||
uint8_t *dst_uv = in_buf_ptr + (venus_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
|
|
||||||
|
|
||||||
// Copy Y plane row by row (source stride may differ from VENUS stride)
|
|
||||||
for (int row = 0; row < in_height; row++) {
|
|
||||||
memcpy(dst_y + row * venus_y_stride, y_ptr + row * y_stride, in_width);
|
|
||||||
}
|
|
||||||
// Copy UV plane row by row
|
|
||||||
int uv_height = in_height / 2;
|
|
||||||
for (int row = 0; row < uv_height; row++) {
|
|
||||||
memcpy(dst_uv + row * venus_uv_stride, uv_ptr + row * uv_stride, in_width);
|
|
||||||
}
|
|
||||||
|
|
||||||
in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
|
|
||||||
in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
|
|
||||||
in_buf->nOffset = 0;
|
|
||||||
in_buf->nTimeStamp = ts / 1000LL;
|
|
||||||
last_t = in_buf->nTimeStamp;
|
|
||||||
|
|
||||||
OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
|
|
||||||
|
|
||||||
while (true) {
|
|
||||||
OMX_BUFFERHEADERTYPE *out_buf;
|
|
||||||
if (!done_out.try_pop(out_buf)) {
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
handle_out_buf(this, out_buf);
|
|
||||||
}
|
|
||||||
|
|
||||||
dirty = true;
|
|
||||||
counter++;
|
|
||||||
|
|
||||||
return ret;
|
return ret;
|
||||||
}
|
}
|
||||||
|
|
||||||
void OmxEncoder::encoder_open(const char* filename) {
|
void OmxEncoder::encoder_open(const char* filename) {
|
||||||
if (!filename || strlen(filename) == 0) {
|
int err;
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (strlen(filename) + path.size() + 2 > sizeof(vid_path)) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
struct stat st = {0};
|
struct stat st = {0};
|
||||||
if (stat(path.c_str(), &st) == -1) {
|
if (stat(this->path.c_str(), &st) == -1) {
|
||||||
if (mkdir(path.c_str(), 0755) == -1) {
|
mkdir(this->path.c_str(), 0755);
|
||||||
return;
|
}
|
||||||
|
|
||||||
|
snprintf(this->vid_path, sizeof(this->vid_path), "%s/%s", this->path.c_str(), filename);
|
||||||
|
printf("encoder_open %s remuxing:%d\n", this->vid_path, this->remuxing);
|
||||||
|
|
||||||
|
if (this->remuxing) {
|
||||||
|
avformat_alloc_output_context2(&this->ofmt_ctx, NULL, NULL, this->vid_path);
|
||||||
|
assert(this->ofmt_ctx);
|
||||||
|
|
||||||
|
this->out_stream = avformat_new_stream(this->ofmt_ctx, NULL);
|
||||||
|
assert(this->out_stream);
|
||||||
|
|
||||||
|
// set codec correctly
|
||||||
|
av_register_all();
|
||||||
|
|
||||||
|
AVCodec *codec = NULL;
|
||||||
|
codec = avcodec_find_encoder(AV_CODEC_ID_H264);
|
||||||
|
assert(codec);
|
||||||
|
|
||||||
|
this->codec_ctx = avcodec_alloc_context3(codec);
|
||||||
|
assert(this->codec_ctx);
|
||||||
|
this->codec_ctx->width = this->width;
|
||||||
|
this->codec_ctx->height = this->height;
|
||||||
|
this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
|
||||||
|
this->codec_ctx->time_base = (AVRational){ 1, this->fps };
|
||||||
|
|
||||||
|
err = avio_open(&this->ofmt_ctx->pb, this->vid_path, AVIO_FLAG_WRITE);
|
||||||
|
assert(err >= 0);
|
||||||
|
|
||||||
|
this->wrote_codec_config = false;
|
||||||
|
} else {
|
||||||
|
this->of = fopen(this->vid_path, "wb");
|
||||||
|
assert(this->of);
|
||||||
|
#ifndef QCOM2
|
||||||
|
if (this->codec_config_len > 0) {
|
||||||
|
fwrite(this->codec_config, this->codec_config_len, 1, this->of);
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename);
|
// create camera lock file
|
||||||
|
snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", this->path.c_str(), filename);
|
||||||
if (avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path) < 0 || !ofmt_ctx) {
|
int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664));
|
||||||
return;
|
assert(lock_fd >= 0);
|
||||||
}
|
|
||||||
|
|
||||||
out_stream = avformat_new_stream(ofmt_ctx, NULL);
|
|
||||||
if (!out_stream) {
|
|
||||||
avformat_free_context(ofmt_ctx);
|
|
||||||
ofmt_ctx = nullptr;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
out_stream->time_base = AVRational{1, fps};
|
|
||||||
|
|
||||||
out_stream->codecpar->codec_id = AV_CODEC_ID_H264;
|
|
||||||
out_stream->codecpar->codec_type = AVMEDIA_TYPE_VIDEO;
|
|
||||||
out_stream->codecpar->width = width;
|
|
||||||
out_stream->codecpar->height = height;
|
|
||||||
|
|
||||||
int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE);
|
|
||||||
if (err < 0) {
|
|
||||||
avformat_free_context(ofmt_ctx);
|
|
||||||
ofmt_ctx = nullptr;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
wrote_codec_config = false;
|
|
||||||
|
|
||||||
snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename);
|
|
||||||
int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664));
|
|
||||||
if (lock_fd < 0) {
|
|
||||||
avio_closep(&ofmt_ctx->pb);
|
|
||||||
avformat_free_context(ofmt_ctx);
|
|
||||||
ofmt_ctx = nullptr;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
close(lock_fd);
|
close(lock_fd);
|
||||||
|
|
||||||
is_open = true;
|
this->is_open = true;
|
||||||
counter = 0;
|
this->counter = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
void OmxEncoder::encoder_close() {
|
void OmxEncoder::encoder_close() {
|
||||||
if (!is_open) return;
|
if (this->is_open) {
|
||||||
|
if (this->dirty) {
|
||||||
|
// drain output only if there could be frames in the encoder
|
||||||
|
|
||||||
if (dirty) {
|
OMX_BUFFERHEADERTYPE* in_buf = this->free_in.pop();
|
||||||
OMX_BUFFERHEADERTYPE* in_buf = free_in.pop();
|
|
||||||
if (in_buf) {
|
|
||||||
in_buf->nFilledLen = 0;
|
in_buf->nFilledLen = 0;
|
||||||
in_buf->nOffset = 0;
|
in_buf->nOffset = 0;
|
||||||
in_buf->nFlags = OMX_BUFFERFLAG_EOS;
|
in_buf->nFlags = OMX_BUFFERFLAG_EOS;
|
||||||
in_buf->nTimeStamp = last_t + 1000000LL / fps;
|
in_buf->nTimeStamp = this->last_t + 1000000LL/this->fps;
|
||||||
|
|
||||||
OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
|
OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
|
||||||
|
|
||||||
while (true) {
|
while (true) {
|
||||||
OMX_BUFFERHEADERTYPE *out_buf = done_out.pop();
|
OMX_BUFFERHEADERTYPE *out_buf = this->done_out.pop();
|
||||||
if (!out_buf) break;
|
|
||||||
|
|
||||||
handle_out_buf(this, out_buf);
|
handle_out_buf(this, out_buf);
|
||||||
|
|
||||||
@@ -527,112 +643,55 @@ void OmxEncoder::encoder_close() {
|
|||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
this->dirty = false;
|
||||||
}
|
}
|
||||||
dirty = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (out_stream) {
|
if (this->remuxing) {
|
||||||
out_stream->nb_frames = counter;
|
av_write_trailer(this->ofmt_ctx);
|
||||||
out_stream->duration = av_rescale_q(counter, AVRational{1, fps}, out_stream->time_base);
|
avcodec_free_context(&this->codec_ctx);
|
||||||
}
|
avio_closep(&this->ofmt_ctx->pb);
|
||||||
|
avformat_free_context(this->ofmt_ctx);
|
||||||
if (ofmt_ctx) {
|
} else {
|
||||||
av_write_trailer(ofmt_ctx);
|
fclose(this->of);
|
||||||
ofmt_ctx->duration = out_stream ? out_stream->duration : 0;
|
this->of = nullptr;
|
||||||
avio_closep(&ofmt_ctx->pb);
|
|
||||||
avformat_free_context(ofmt_ctx);
|
|
||||||
ofmt_ctx = nullptr;
|
|
||||||
out_stream = nullptr;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (lock_path[0] != '\0') {
|
|
||||||
unlink(lock_path);
|
|
||||||
}
|
|
||||||
|
|
||||||
is_open = false;
|
|
||||||
|
|
||||||
// Remux with faststart for streaming/seeking support
|
|
||||||
if (strlen(vid_path) > 0) {
|
|
||||||
char fixed_path[1024];
|
|
||||||
snprintf(fixed_path, sizeof(fixed_path), "%s.fixed.mp4", vid_path);
|
|
||||||
|
|
||||||
char cmd[2048];
|
|
||||||
snprintf(cmd, sizeof(cmd), "ffmpeg -y -i \"%s\" -c copy -movflags +faststart \"%s\" && mv \"%s\" \"%s\"",
|
|
||||||
vid_path, fixed_path, fixed_path, vid_path);
|
|
||||||
|
|
||||||
int ret = system(cmd);
|
|
||||||
if (ret != 0) {
|
|
||||||
LOGW("ffmpeg faststart remux failed with exit code %d", ret);
|
|
||||||
}
|
}
|
||||||
|
unlink(this->lock_path);
|
||||||
}
|
}
|
||||||
|
this->is_open = false;
|
||||||
}
|
}
|
||||||
|
|
||||||
OmxEncoder::~OmxEncoder() {
|
OmxEncoder::~OmxEncoder() {
|
||||||
if (is_open) {
|
assert(!this->is_open);
|
||||||
LOGE("OmxEncoder closed with is_open=true, calling encoder_close()");
|
|
||||||
encoder_close();
|
OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
|
||||||
|
|
||||||
|
wait_for_state(OMX_StateIdle);
|
||||||
|
|
||||||
|
OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL));
|
||||||
|
|
||||||
|
for (auto &buf : this->in_buf_headers) {
|
||||||
|
OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_IN, buf));
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!handle) {
|
for (auto &buf : this->out_buf_headers) {
|
||||||
LOGE("OMX handle is null in destructor, skipping teardown.");
|
OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_OUT, buf));
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
OMX_ERRORTYPE err;
|
|
||||||
|
|
||||||
err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL);
|
|
||||||
if (err != OMX_ErrorNone) {
|
|
||||||
LOGE("Failed to set OMX state to Idle: %x", err);
|
|
||||||
} else {
|
|
||||||
wait_for_state(OMX_StateIdle);
|
|
||||||
}
|
|
||||||
|
|
||||||
err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL);
|
|
||||||
if (err != OMX_ErrorNone) {
|
|
||||||
LOGE("Failed to set OMX state to Loaded: %x", err);
|
|
||||||
}
|
|
||||||
|
|
||||||
for (OMX_BUFFERHEADERTYPE *buf : in_buf_headers) {
|
|
||||||
if (buf) {
|
|
||||||
err = OMX_FreeBuffer(handle, PORT_INDEX_IN, buf);
|
|
||||||
if (err != OMX_ErrorNone) {
|
|
||||||
LOGE("Failed to free input buffer: %x", err);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
for (OMX_BUFFERHEADERTYPE *buf : out_buf_headers) {
|
|
||||||
if (buf) {
|
|
||||||
err = OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf);
|
|
||||||
if (err != OMX_ErrorNone) {
|
|
||||||
LOGE("Failed to free output buffer: %x", err);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
wait_for_state(OMX_StateLoaded);
|
wait_for_state(OMX_StateLoaded);
|
||||||
|
|
||||||
err = OMX_FreeHandle(handle);
|
OMX_CHECK(OMX_FreeHandle(this->handle));
|
||||||
if (err != OMX_ErrorNone) {
|
|
||||||
LOGE("Failed to free OMX handle: %x", err);
|
|
||||||
}
|
|
||||||
|
|
||||||
handle = nullptr;
|
|
||||||
|
|
||||||
err = OMX_Deinit();
|
|
||||||
if (err != OMX_ErrorNone) {
|
|
||||||
LOGE("OMX_Deinit failed: %x", err);
|
|
||||||
}
|
|
||||||
|
|
||||||
OMX_BUFFERHEADERTYPE *out_buf;
|
OMX_BUFFERHEADERTYPE *out_buf;
|
||||||
while (free_in.try_pop(out_buf));
|
while (this->free_in.try_pop(out_buf));
|
||||||
while (done_out.try_pop(out_buf));
|
while (this->done_out.try_pop(out_buf));
|
||||||
|
|
||||||
if (codec_config) {
|
if (this->codec_config) {
|
||||||
free(codec_config);
|
free(this->codec_config);
|
||||||
codec_config = nullptr;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
in_buf_headers.clear();
|
if (this->downscale) {
|
||||||
out_buf_headers.clear();
|
free(this->y_ptr2);
|
||||||
|
free(this->u_ptr2);
|
||||||
|
free(this->v_ptr2);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -12,15 +12,13 @@ extern "C" {
|
|||||||
|
|
||||||
#include "common/queue.h"
|
#include "common/queue.h"
|
||||||
|
|
||||||
// OmxEncoder, lossey codec using hardware H.264
|
// OmxEncoder, lossey codec using hardware hevc
|
||||||
class OmxEncoder {
|
class OmxEncoder {
|
||||||
public:
|
public:
|
||||||
OmxEncoder(const char* path, int width, int height, int fps, int bitrate);
|
OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale);
|
||||||
~OmxEncoder();
|
~OmxEncoder();
|
||||||
|
|
||||||
int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
|
int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
|
||||||
int encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
|
|
||||||
int in_width, int in_height, uint64_t ts);
|
|
||||||
void encoder_open(const char* filename);
|
void encoder_open(const char* filename);
|
||||||
void encoder_close();
|
void encoder_close();
|
||||||
|
|
||||||
@@ -44,26 +42,31 @@ private:
|
|||||||
int counter = 0;
|
int counter = 0;
|
||||||
|
|
||||||
std::string path;
|
std::string path;
|
||||||
FILE *of = nullptr;
|
FILE *of;
|
||||||
|
|
||||||
size_t codec_config_len = 0;
|
size_t codec_config_len;
|
||||||
uint8_t *codec_config = nullptr;
|
uint8_t *codec_config = NULL;
|
||||||
bool wrote_codec_config = false;
|
bool wrote_codec_config;
|
||||||
|
|
||||||
std::mutex state_lock;
|
std::mutex state_lock;
|
||||||
std::condition_variable state_cv;
|
std::condition_variable state_cv;
|
||||||
OMX_STATETYPE state = OMX_StateLoaded;
|
OMX_STATETYPE state = OMX_StateLoaded;
|
||||||
|
|
||||||
OMX_HANDLETYPE handle = nullptr;
|
OMX_HANDLETYPE handle;
|
||||||
|
|
||||||
std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
|
std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
|
||||||
std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
|
std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
|
||||||
|
|
||||||
uint64_t last_t = 0;
|
uint64_t last_t;
|
||||||
|
|
||||||
SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
|
SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
|
||||||
SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
|
SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
|
||||||
|
|
||||||
AVFormatContext *ofmt_ctx = nullptr;
|
AVFormatContext *ofmt_ctx;
|
||||||
AVStream *out_stream = nullptr;
|
AVCodecContext *codec_ctx;
|
||||||
|
AVStream *out_stream;
|
||||||
|
bool remuxing;
|
||||||
|
|
||||||
|
bool downscale;
|
||||||
|
uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
|
||||||
};
|
};
|
||||||
|
|||||||
@@ -27,7 +27,7 @@ ScreenRecorder::ScreenRecorder(QWidget *parent) : QPushButton(parent), image_que
|
|||||||
|
|
||||||
void ScreenRecorder::initializeEncoder() {
|
void ScreenRecorder::initializeEncoder() {
|
||||||
const std::string path = "/data/media/0/videos";
|
const std::string path = "/data/media/0/videos";
|
||||||
encoder = std::make_unique<OmxEncoder>(path.c_str(), recording_width, recording_height, 60, 2 * 1024 * 1024);
|
encoder = std::make_unique<OmxEncoder>(path.c_str(), recording_width, recording_height, 60, 2 * 1024 * 1024, false, false);
|
||||||
}
|
}
|
||||||
|
|
||||||
ScreenRecorder::~ScreenRecorder() {
|
ScreenRecorder::~ScreenRecorder() {
|
||||||
@@ -132,20 +132,13 @@ void ScreenRecorder::stop() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void ScreenRecorder::update_screen() {
|
void ScreenRecorder::update_screen() {
|
||||||
bool car_on = uiState()->scene.started || uiState()->scene.screen_recorder_debug;
|
if (!uiState()->scene.started) {
|
||||||
|
|
||||||
if (!car_on) {
|
|
||||||
if (recording) {
|
if (recording) {
|
||||||
stop();
|
stop();
|
||||||
}
|
}
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
if (!recording) return;
|
||||||
// CLEARPILOT: auto-start recording when car is on (or debug flag set)
|
|
||||||
if (!recording) {
|
|
||||||
start();
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (milliseconds() - started > 1000 * 60 * 3) {
|
if (milliseconds() - started > 1000 * 60 * 3) {
|
||||||
stop();
|
stop();
|
||||||
|
|||||||
Regular → Executable
Regular → Executable
Regular → Executable
Regular → Executable
@@ -1,6 +1,5 @@
|
|||||||
#!/usr/bin/env python3
|
#!/usr/bin/env python3
|
||||||
import os
|
import os
|
||||||
import sys
|
|
||||||
import subprocess
|
import subprocess
|
||||||
from pathlib import Path
|
from pathlib import Path
|
||||||
|
|
||||||
@@ -55,14 +54,6 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
|
|||||||
|
|
||||||
if scons.returncode == 0:
|
if scons.returncode == 0:
|
||||||
Path('/data/openpilot/prebuilt').touch()
|
Path('/data/openpilot/prebuilt').touch()
|
||||||
|
|
||||||
# CLEARPILOT: update prebuilt spinner if the new build is newer
|
|
||||||
new_spinner = Path(BASEDIR) / "selfdrive/ui/_spinner"
|
|
||||||
old_spinner = Path(BASEDIR) / "selfdrive/ui/qt/spinner"
|
|
||||||
if new_spinner.exists() and (not old_spinner.exists() or new_spinner.stat().st_mtime > old_spinner.stat().st_mtime):
|
|
||||||
import shutil
|
|
||||||
shutil.copy2(str(new_spinner), str(old_spinner))
|
|
||||||
|
|
||||||
break
|
break
|
||||||
|
|
||||||
if scons.returncode != 0:
|
if scons.returncode != 0:
|
||||||
@@ -78,13 +69,8 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
|
|||||||
# Show TextWindow
|
# Show TextWindow
|
||||||
spinner.close()
|
spinner.close()
|
||||||
if not os.getenv("CI"):
|
if not os.getenv("CI"):
|
||||||
# CLEARPILOT: BUILD_ONLY mode shows error on screen but doesn't block
|
with TextWindow("openpilot failed to build\n \n" + error_s) as t:
|
||||||
t = TextWindow("openpilot failed to build\n \n" + error_s)
|
|
||||||
if os.getenv("BUILD_ONLY"):
|
|
||||||
print(error_s, file=sys.stderr)
|
|
||||||
else:
|
|
||||||
t.wait_for_exit()
|
t.wait_for_exit()
|
||||||
t.close()
|
|
||||||
exit(1)
|
exit(1)
|
||||||
|
|
||||||
# enforce max cache size
|
# enforce max cache size
|
||||||
|
|||||||
@@ -16,7 +16,7 @@ from openpilot.common.text_window import TextWindow
|
|||||||
from openpilot.common.time import system_time_valid
|
from openpilot.common.time import system_time_valid
|
||||||
from openpilot.system.hardware import HARDWARE, PC
|
from openpilot.system.hardware import HARDWARE, PC
|
||||||
from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
|
from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
|
||||||
from openpilot.selfdrive.manager.process import ensure_running, init_log_dir, update_log_dir_timestamp, session_log
|
from openpilot.selfdrive.manager.process import ensure_running
|
||||||
from openpilot.selfdrive.manager.process_config import managed_processes
|
from openpilot.selfdrive.manager.process_config import managed_processes
|
||||||
from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
|
from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
|
||||||
from openpilot.common.swaglog import cloudlog, add_file_handler
|
from openpilot.common.swaglog import cloudlog, add_file_handler
|
||||||
@@ -51,29 +51,7 @@ def frogpilot_boot_functions(frogpilot_functions):
|
|||||||
except Exception as e:
|
except Exception as e:
|
||||||
print(f"An unexpected error occurred: {e}")
|
print(f"An unexpected error occurred: {e}")
|
||||||
|
|
||||||
def cleanup_old_logs(max_age_days=30):
|
|
||||||
"""CLEARPILOT: delete session log directories older than max_age_days."""
|
|
||||||
import shutil
|
|
||||||
log_base = "/data/log2"
|
|
||||||
if not os.path.exists(log_base):
|
|
||||||
return
|
|
||||||
cutoff = time.time() - (max_age_days * 86400)
|
|
||||||
for entry in os.listdir(log_base):
|
|
||||||
if entry == "current":
|
|
||||||
continue
|
|
||||||
path = os.path.join(log_base, entry)
|
|
||||||
if os.path.isdir(path):
|
|
||||||
if os.path.getmtime(path) < cutoff:
|
|
||||||
try:
|
|
||||||
shutil.rmtree(path)
|
|
||||||
except OSError:
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
def manager_init(frogpilot_functions) -> None:
|
def manager_init(frogpilot_functions) -> None:
|
||||||
init_log_dir()
|
|
||||||
cleanup_old_logs()
|
|
||||||
|
|
||||||
frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
|
frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
|
||||||
frogpilot_boot.start()
|
frogpilot_boot.start()
|
||||||
|
|
||||||
@@ -82,27 +60,6 @@ def manager_init(frogpilot_functions) -> None:
|
|||||||
params = Params()
|
params = Params()
|
||||||
params_storage = Params("/persist/params")
|
params_storage = Params("/persist/params")
|
||||||
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
|
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
|
||||||
|
|
||||||
# CLEARPILOT: always start with telemetry disabled, VPN enabled (memory params)
|
|
||||||
params_memory = Params("/dev/shm/params")
|
|
||||||
params_memory.put("TelemetryEnabled", "0")
|
|
||||||
params_memory.put("VpnEnabled", "1")
|
|
||||||
params_memory.put("DashcamFrames", "0")
|
|
||||||
params_memory.put("DashcamState", "stopped")
|
|
||||||
params_memory.put("DashcamShutdown", "0")
|
|
||||||
params_memory.put("ModelFps", "20")
|
|
||||||
params_memory.put("ModelStandby", "0")
|
|
||||||
params_memory.put("ShutdownTouchReset", "0")
|
|
||||||
params_memory.put("ModelStandbyTs", "0")
|
|
||||||
params_memory.put("CarIsMetric", "0")
|
|
||||||
params_memory.put("ClearpilotSpeedDisplay", "")
|
|
||||||
params_memory.put("ClearpilotSpeedLimitDisplay", "0")
|
|
||||||
params_memory.put("ClearpilotHasSpeed", "0")
|
|
||||||
params_memory.put("ClearpilotIsMetric", "0")
|
|
||||||
params_memory.put("ClearpilotSpeedUnit", "mph")
|
|
||||||
params_memory.put("ClearpilotCruiseWarning", "")
|
|
||||||
params_memory.put("ClearpilotCruiseWarningSpeed", "")
|
|
||||||
params_memory.put("ClearpilotPlayDing", "0")
|
|
||||||
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
|
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
|
||||||
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
||||||
if is_release_branch():
|
if is_release_branch():
|
||||||
@@ -178,7 +135,6 @@ def manager_init(frogpilot_functions) -> None:
|
|||||||
("DisableOpenpilotLongitudinal", "0"),
|
("DisableOpenpilotLongitudinal", "0"),
|
||||||
("DisableVTSCSmoothing", "0"),
|
("DisableVTSCSmoothing", "0"),
|
||||||
("DisengageVolume", "100"),
|
("DisengageVolume", "100"),
|
||||||
("TelemetryEnabled", "0"),
|
|
||||||
("DragonPilotTune", "0"),
|
("DragonPilotTune", "0"),
|
||||||
("DriverCamera", "0"),
|
("DriverCamera", "0"),
|
||||||
("DynamicPathWidth", "0"),
|
("DynamicPathWidth", "0"),
|
||||||
@@ -273,7 +229,6 @@ def manager_init(frogpilot_functions) -> None:
|
|||||||
("ScreenBrightnessOnroad", "101"),
|
("ScreenBrightnessOnroad", "101"),
|
||||||
("ScreenManagement", "1"),
|
("ScreenManagement", "1"),
|
||||||
("ScreenRecorder", "1"),
|
("ScreenRecorder", "1"),
|
||||||
("ScreenRecorderDebug", "1"),
|
|
||||||
("ScreenTimeout", "30"),
|
("ScreenTimeout", "30"),
|
||||||
("ScreenTimeoutOnroad", "30"),
|
("ScreenTimeoutOnroad", "30"),
|
||||||
("SearchInput", "0"),
|
("SearchInput", "0"),
|
||||||
@@ -410,7 +365,6 @@ def manager_thread(frogpilot_functions) -> None:
|
|||||||
cloudlog.bind(daemon="manager")
|
cloudlog.bind(daemon="manager")
|
||||||
cloudlog.info("manager start")
|
cloudlog.info("manager start")
|
||||||
cloudlog.info({"environ": os.environ})
|
cloudlog.info({"environ": os.environ})
|
||||||
session_log.info("manager starting")
|
|
||||||
|
|
||||||
params = Params()
|
params = Params()
|
||||||
params_memory = Params("/dev/shm/params")
|
params_memory = Params("/dev/shm/params")
|
||||||
@@ -420,14 +374,6 @@ def manager_thread(frogpilot_functions) -> None:
|
|||||||
ignore += ["manage_athenad", "uploader"]
|
ignore += ["manage_athenad", "uploader"]
|
||||||
if os.getenv("NOBOARD") is not None:
|
if os.getenv("NOBOARD") is not None:
|
||||||
ignore.append("pandad")
|
ignore.append("pandad")
|
||||||
# CLEARPILOT: bench mode — disable real car processes, enable bench simulator
|
|
||||||
if os.getenv("BENCH_MODE") is not None:
|
|
||||||
ignore += ["pandad", "controlsd", "radard", "plannerd",
|
|
||||||
"calibrationd", "torqued", "paramsd", "locationd", "sensord",
|
|
||||||
"ubloxd", "pigeond", "dmonitoringmodeld", "dmonitoringd",
|
|
||||||
"modeld", "soundd", "loggerd", "micd",
|
|
||||||
"dashcamd"]
|
|
||||||
session_log.info("bench mode enabled")
|
|
||||||
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
|
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
|
||||||
|
|
||||||
sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
|
sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
|
||||||
@@ -449,7 +395,6 @@ def manager_thread(frogpilot_functions) -> None:
|
|||||||
|
|
||||||
if started and not started_prev:
|
if started and not started_prev:
|
||||||
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
|
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
|
||||||
session_log.info("onroad transition")
|
|
||||||
|
|
||||||
if openpilot_crashed:
|
if openpilot_crashed:
|
||||||
os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
|
os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
|
||||||
@@ -457,7 +402,6 @@ def manager_thread(frogpilot_functions) -> None:
|
|||||||
elif not started and started_prev:
|
elif not started and started_prev:
|
||||||
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
||||||
params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
|
||||||
session_log.info("offroad transition")
|
|
||||||
|
|
||||||
# update onroad params, which drives boardd's safety setter thread
|
# update onroad params, which drives boardd's safety setter thread
|
||||||
if started != started_prev:
|
if started != started_prev:
|
||||||
@@ -467,9 +411,6 @@ def manager_thread(frogpilot_functions) -> None:
|
|||||||
|
|
||||||
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
|
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
|
||||||
|
|
||||||
# CLEARPILOT: rename log directory once system time is valid
|
|
||||||
update_log_dir_timestamp()
|
|
||||||
|
|
||||||
running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
|
running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
|
||||||
for p in managed_processes.values() if p.proc)
|
for p in managed_processes.values() if p.proc)
|
||||||
print(running)
|
print(running)
|
||||||
@@ -487,7 +428,6 @@ def manager_thread(frogpilot_functions) -> None:
|
|||||||
shutdown = True
|
shutdown = True
|
||||||
params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
|
params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
|
||||||
cloudlog.warning(f"Shutting down manager - {param} set")
|
cloudlog.warning(f"Shutting down manager - {param} set")
|
||||||
session_log.info("manager shutting down: %s", param)
|
|
||||||
|
|
||||||
if shutdown:
|
if shutdown:
|
||||||
break
|
break
|
||||||
@@ -539,7 +479,6 @@ if __name__ == "__main__":
|
|||||||
except Exception:
|
except Exception:
|
||||||
add_file_handler(cloudlog)
|
add_file_handler(cloudlog)
|
||||||
cloudlog.exception("Manager failed to start")
|
cloudlog.exception("Manager failed to start")
|
||||||
session_log.critical("manager failed to start: %s", traceback.format_exc())
|
|
||||||
|
|
||||||
try:
|
try:
|
||||||
managed_processes['ui'].stop()
|
managed_processes['ui'].stop()
|
||||||
|
|||||||
@@ -2,7 +2,6 @@ import importlib
|
|||||||
import os
|
import os
|
||||||
import signal
|
import signal
|
||||||
import struct
|
import struct
|
||||||
import sys
|
|
||||||
import datetime
|
import datetime
|
||||||
import time
|
import time
|
||||||
import subprocess
|
import subprocess
|
||||||
@@ -18,117 +17,17 @@ import openpilot.selfdrive.sentry as sentry
|
|||||||
from openpilot.common.basedir import BASEDIR
|
from openpilot.common.basedir import BASEDIR
|
||||||
from openpilot.common.params import Params
|
from openpilot.common.params import Params
|
||||||
from openpilot.common.swaglog import cloudlog
|
from openpilot.common.swaglog import cloudlog
|
||||||
from openpilot.common.time import system_time_valid
|
|
||||||
|
|
||||||
WATCHDOG_FN = "/dev/shm/wd_"
|
WATCHDOG_FN = "/dev/shm/wd_"
|
||||||
ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
|
ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
|
||||||
|
|
||||||
# CLEARPILOT: logging directory and session log
|
timestamp = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
|
||||||
# init_log_dir() must be called once from manager_init() before any process starts.
|
_log_dir = f"/data/log2/{timestamp}"
|
||||||
# Until then, _log_dir and session_log are usable but write to a NullHandler.
|
os.makedirs(_log_dir, exist_ok=True)
|
||||||
import logging
|
|
||||||
|
|
||||||
_log_dir = "/data/log2/current"
|
|
||||||
_time_resolved = False
|
|
||||||
_session_handler = None
|
|
||||||
|
|
||||||
session_log = logging.getLogger("clearpilot.session")
|
|
||||||
session_log.setLevel(logging.DEBUG)
|
|
||||||
session_log.addHandler(logging.NullHandler())
|
|
||||||
|
|
||||||
|
|
||||||
def init_log_dir():
|
|
||||||
"""Create /data/log2/current as a real directory for this session.
|
|
||||||
Called once from manager_init(). Previous current (if a real dir) is
|
|
||||||
renamed to a timestamp or boot-monotonic name before we create a fresh one."""
|
|
||||||
global _log_dir, _time_resolved, _session_handler
|
|
||||||
|
|
||||||
log_base = "/data/log2"
|
|
||||||
current = os.path.join(log_base, "current")
|
|
||||||
os.makedirs(log_base, exist_ok=True)
|
|
||||||
|
|
||||||
# If 'current' is a symlink, just remove the symlink
|
|
||||||
if os.path.islink(current):
|
|
||||||
os.unlink(current)
|
|
||||||
# If 'current' is a real directory (leftover from previous session that
|
|
||||||
# never got time-resolved), rename it out of the way
|
|
||||||
elif os.path.isdir(current):
|
|
||||||
# Use mtime of session.log (or the dir itself) for the rename
|
|
||||||
session_file = os.path.join(current, "session.log")
|
|
||||||
mtime = os.path.getmtime(session_file) if os.path.exists(session_file) else os.path.getmtime(current)
|
|
||||||
ts = datetime.datetime.fromtimestamp(mtime).strftime('%Y-%m-%d-%H-%M-%S')
|
|
||||||
dest = os.path.join(log_base, ts)
|
|
||||||
# Avoid collision
|
|
||||||
if os.path.exists(dest):
|
|
||||||
dest = dest + f"-{int(time.monotonic())}"
|
|
||||||
try:
|
|
||||||
os.rename(current, dest)
|
|
||||||
except OSError:
|
|
||||||
pass
|
|
||||||
|
|
||||||
os.makedirs(current, exist_ok=True)
|
|
||||||
_log_dir = current
|
|
||||||
_time_resolved = False
|
|
||||||
|
|
||||||
# Set up session log file handler
|
|
||||||
_session_handler = logging.FileHandler(os.path.join(_log_dir, "session.log"))
|
|
||||||
_session_handler.setFormatter(logging.Formatter("%(asctime)s %(levelname)s %(message)s"))
|
|
||||||
# Remove NullHandler and add file handler
|
|
||||||
session_log.handlers.clear()
|
|
||||||
session_log.addHandler(_session_handler)
|
|
||||||
|
|
||||||
session_log.info("session started, log dir: %s", _log_dir)
|
|
||||||
|
|
||||||
|
|
||||||
def update_log_dir_timestamp():
|
|
||||||
"""Rename /data/log2/current to a real timestamp and replace with a symlink
|
|
||||||
once system time is valid."""
|
|
||||||
global _log_dir, _time_resolved, _session_handler
|
|
||||||
if _time_resolved:
|
|
||||||
return
|
|
||||||
if not system_time_valid():
|
|
||||||
return
|
|
||||||
|
|
||||||
log_base = "/data/log2"
|
|
||||||
current = os.path.join(log_base, "current")
|
|
||||||
ts_name = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
|
|
||||||
new_dir = os.path.join(log_base, ts_name)
|
|
||||||
|
|
||||||
try:
|
|
||||||
os.rename(current, new_dir)
|
|
||||||
# Create symlink: current -> YYYY-MM-DD-HH-MM-SS
|
|
||||||
os.symlink(ts_name, current)
|
|
||||||
_log_dir = new_dir
|
|
||||||
_time_resolved = True
|
|
||||||
# Re-point session log handler (open files follow the inode, but
|
|
||||||
# new opens should go through the symlink — update handler for clarity)
|
|
||||||
session_log.removeHandler(_session_handler)
|
|
||||||
_session_handler.close()
|
|
||||||
_session_handler = logging.FileHandler(os.path.join(_log_dir, "session.log"))
|
|
||||||
_session_handler.setFormatter(logging.Formatter("%(asctime)s %(levelname)s %(message)s"))
|
|
||||||
session_log.addHandler(_session_handler)
|
|
||||||
session_log.info("log directory renamed to %s", _log_dir)
|
|
||||||
|
|
||||||
# Signal via param that the directory has been time-resolved
|
|
||||||
try:
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
Params().put("LogDirInitialized", "1")
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
except OSError:
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
def launcher(proc: str, name: str, log_path: str) -> None:
|
def launcher(proc: str, name: str) -> None:
|
||||||
# CLEARPILOT: redirect stderr to per-process log file
|
|
||||||
try:
|
|
||||||
log_file = open(log_path, 'a')
|
|
||||||
os.dup2(log_file.fileno(), sys.stderr.fileno())
|
|
||||||
os.dup2(log_file.fileno(), sys.stdout.fileno())
|
|
||||||
except Exception as e:
|
|
||||||
print(f"CLEARPILOT: stderr redirect failed for {name}: {e}", file=sys.stderr)
|
|
||||||
|
|
||||||
try:
|
try:
|
||||||
# import the process
|
# import the process
|
||||||
mod = importlib.import_module(proc)
|
mod = importlib.import_module(proc)
|
||||||
@@ -154,17 +53,9 @@ def launcher(proc: str, name: str, log_path: str) -> None:
|
|||||||
raise
|
raise
|
||||||
|
|
||||||
|
|
||||||
def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
|
def nativelauncher(pargs: list[str], cwd: str, name: str) -> None:
|
||||||
os.environ['MANAGER_DAEMON'] = name
|
os.environ['MANAGER_DAEMON'] = name
|
||||||
|
|
||||||
# CLEARPILOT: redirect stderr and stdout to per-process log file
|
|
||||||
try:
|
|
||||||
log_file = open(log_path, 'a')
|
|
||||||
os.dup2(log_file.fileno(), sys.stderr.fileno())
|
|
||||||
os.dup2(log_file.fileno(), sys.stdout.fileno())
|
|
||||||
except Exception as e:
|
|
||||||
print(f"CLEARPILOT: stderr redirect failed for {name}: {e}", file=sys.stderr)
|
|
||||||
|
|
||||||
# exec the process
|
# exec the process
|
||||||
os.chdir(cwd)
|
os.chdir(cwd)
|
||||||
os.execvp(pargs[0], pargs)
|
os.execvp(pargs[0], pargs)
|
||||||
@@ -219,7 +110,6 @@ class ManagerProcess(ABC):
|
|||||||
if dt > self.watchdog_max_dt:
|
if dt > self.watchdog_max_dt:
|
||||||
if (self.watchdog_seen or self.always_watchdog and self.proc.exitcode is not None) and ENABLE_WATCHDOG:
|
if (self.watchdog_seen or self.always_watchdog and self.proc.exitcode is not None) and ENABLE_WATCHDOG:
|
||||||
cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
|
cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
|
||||||
session_log.warning("watchdog timeout for %s (exitcode %s), restarting", self.name, self.proc.exitcode)
|
|
||||||
self.restart()
|
self.restart()
|
||||||
else:
|
else:
|
||||||
self.watchdog_seen = True
|
self.watchdog_seen = True
|
||||||
@@ -249,10 +139,6 @@ class ManagerProcess(ABC):
|
|||||||
|
|
||||||
ret = self.proc.exitcode
|
ret = self.proc.exitcode
|
||||||
cloudlog.info(f"{self.name} is dead with {ret}")
|
cloudlog.info(f"{self.name} is dead with {ret}")
|
||||||
if ret is not None and ret != 0:
|
|
||||||
session_log.error("process %s died with exit code %s", self.name, ret)
|
|
||||||
elif ret == 0:
|
|
||||||
session_log.info("process %s stopped (exit 0)", self.name)
|
|
||||||
|
|
||||||
if self.proc.exitcode is not None:
|
if self.proc.exitcode is not None:
|
||||||
self.shutting_down = False
|
self.shutting_down = False
|
||||||
@@ -312,13 +198,9 @@ class NativeProcess(ManagerProcess):
|
|||||||
global _log_dir
|
global _log_dir
|
||||||
log_path = _log_dir+"/"+self.name+".log"
|
log_path = _log_dir+"/"+self.name+".log"
|
||||||
|
|
||||||
# CLEARPILOT: ensure log file exists even if child redirect fails
|
|
||||||
open(log_path, 'a').close()
|
|
||||||
|
|
||||||
cwd = os.path.join(BASEDIR, self.cwd)
|
cwd = os.path.join(BASEDIR, self.cwd)
|
||||||
cloudlog.info(f"starting process {self.name}")
|
cloudlog.info(f"starting process {self.name}")
|
||||||
session_log.info("starting %s", self.name)
|
self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
|
||||||
self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name, log_path))
|
|
||||||
self.proc.start()
|
self.proc.start()
|
||||||
self.watchdog_seen = False
|
self.watchdog_seen = False
|
||||||
self.shutting_down = False
|
self.shutting_down = False
|
||||||
@@ -349,12 +231,8 @@ class PythonProcess(ManagerProcess):
|
|||||||
|
|
||||||
global _log_dir
|
global _log_dir
|
||||||
log_path = _log_dir+"/"+self.name+".log"
|
log_path = _log_dir+"/"+self.name+".log"
|
||||||
# CLEARPILOT: ensure log file exists even if child redirect fails
|
|
||||||
open(log_path, 'a').close()
|
|
||||||
|
|
||||||
cloudlog.info(f"starting python {self.module}")
|
cloudlog.info(f"starting python {self.module}")
|
||||||
session_log.info("starting %s", self.name)
|
self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
|
||||||
self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name, log_path))
|
|
||||||
self.proc.start()
|
self.proc.start()
|
||||||
self.watchdog_seen = False
|
self.watchdog_seen = False
|
||||||
self.shutting_down = False
|
self.shutting_down = False
|
||||||
@@ -398,7 +276,6 @@ class DaemonProcess(ManagerProcess):
|
|||||||
pass
|
pass
|
||||||
|
|
||||||
cloudlog.info(f"starting daemon {self.name}")
|
cloudlog.info(f"starting daemon {self.name}")
|
||||||
session_log.info("starting daemon %s", self.name)
|
|
||||||
proc = subprocess.Popen(['python', '-m', self.module],
|
proc = subprocess.Popen(['python', '-m', self.module],
|
||||||
stdin=open('/dev/null'),
|
stdin=open('/dev/null'),
|
||||||
stdout=open(log_path, 'a'),
|
stdout=open(log_path, 'a'),
|
||||||
|
|||||||
@@ -7,7 +7,6 @@ from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, Da
|
|||||||
|
|
||||||
|
|
||||||
WEBCAM = os.getenv("USE_WEBCAM") is not None
|
WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||||
BENCH_MODE = os.getenv("BENCH_MODE") is not None
|
|
||||||
|
|
||||||
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
|
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||||
return started or params.get_bool("IsDriverViewEnabled")
|
return started or params.get_bool("IsDriverViewEnabled")
|
||||||
@@ -52,14 +51,10 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
|
|||||||
allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads"))
|
allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads"))
|
||||||
return allow_uploads
|
return allow_uploads
|
||||||
|
|
||||||
# ClearPilot functions
|
|
||||||
def dashcam_should_run(started, params, CP: car.CarParams) -> bool:
|
|
||||||
return True # CLEARPILOT: dashcamd manages its own trip lifecycle
|
|
||||||
|
|
||||||
procs = [
|
procs = [
|
||||||
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
|
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
|
||||||
|
|
||||||
NativeProcess("camerad", "system/camerad", ["./camerad"], always_run),
|
NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
|
||||||
NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
|
NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
|
||||||
NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
|
NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
|
||||||
PythonProcess("logmessaged", "system.logmessaged", allow_logging),
|
PythonProcess("logmessaged", "system.logmessaged", allow_logging),
|
||||||
@@ -67,9 +62,8 @@ procs = [
|
|||||||
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
|
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
|
||||||
|
|
||||||
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
|
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
|
||||||
# CLEARPILOT: disabled video encoding (camera .hevc files) — CAN/sensor logs still recorded via loggerd
|
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
|
||||||
# NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
|
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
|
||||||
# NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
|
|
||||||
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
|
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
|
||||||
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
|
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
|
||||||
#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
|
#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
|
||||||
@@ -84,8 +78,7 @@ procs = [
|
|||||||
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
|
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
|
||||||
PythonProcess("deleter", "system.loggerd.deleter", always_run),
|
PythonProcess("deleter", "system.loggerd.deleter", always_run),
|
||||||
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
|
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
|
||||||
# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), # Fixme
|
||||||
PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
|
|
||||||
# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
|
# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
|
||||||
#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
|
#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
|
||||||
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
|
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
|
||||||
@@ -108,11 +101,6 @@ procs = [
|
|||||||
# FrogPilot processes
|
# FrogPilot processes
|
||||||
PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
|
PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
|
||||||
PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
|
PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
|
||||||
|
|
||||||
# ClearPilot processes
|
|
||||||
NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
|
|
||||||
PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
|
|
||||||
PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
|
|
||||||
]
|
]
|
||||||
|
|
||||||
managed_processes = {p.name: p for p in procs}
|
managed_processes = {p.name: p for p in procs}
|
||||||
@@ -6,11 +6,9 @@ from openpilot.common.numpy_fast import interp
|
|||||||
from openpilot.common.swaglog import cloudlog
|
from openpilot.common.swaglog import cloudlog
|
||||||
from openpilot.selfdrive.controls.lib.pid import PIDController
|
from openpilot.selfdrive.controls.lib.pid import PIDController
|
||||||
|
|
||||||
|
|
||||||
class BaseFanController(ABC):
|
class BaseFanController(ABC):
|
||||||
@abstractmethod
|
@abstractmethod
|
||||||
def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
|
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||||
is_parked: bool = True, cruise_engaged: bool = False) -> int:
|
|
||||||
pass
|
pass
|
||||||
|
|
||||||
|
|
||||||
@@ -22,27 +20,9 @@ class TiciFanController(BaseFanController):
|
|||||||
self.last_ignition = False
|
self.last_ignition = False
|
||||||
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
|
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
|
||||||
|
|
||||||
def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
|
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||||
is_parked: bool = True, cruise_engaged: bool = False) -> int:
|
self.controller.neg_limit = -(100 if ignition else 30)
|
||||||
# CLEARPILOT fan range rules:
|
self.controller.pos_limit = -(30 if ignition else 0)
|
||||||
# parked → 0-100% (full, no floor)
|
|
||||||
# in drive + cruise engaged (any speed, inc standstill) → 30-100%
|
|
||||||
# in drive + cruise off + standstill → 10-100%
|
|
||||||
# in drive + cruise off + moving → 30-100%
|
|
||||||
# In the PID output, neg_limit is how negative it can go (= max fan as %),
|
|
||||||
# pos_limit is how positive (= negative of min fan %).
|
|
||||||
if is_parked:
|
|
||||||
self.controller.neg_limit = -100
|
|
||||||
self.controller.pos_limit = 0
|
|
||||||
elif cruise_engaged:
|
|
||||||
self.controller.neg_limit = -100
|
|
||||||
self.controller.pos_limit = -30
|
|
||||||
elif standstill:
|
|
||||||
self.controller.neg_limit = -100
|
|
||||||
self.controller.pos_limit = -10
|
|
||||||
else:
|
|
||||||
self.controller.neg_limit = -100
|
|
||||||
self.controller.pos_limit = -30
|
|
||||||
|
|
||||||
if ignition != self.last_ignition:
|
if ignition != self.last_ignition:
|
||||||
self.controller.reset()
|
self.controller.reset()
|
||||||
|
|||||||
@@ -36,9 +36,12 @@ class PowerMonitoring:
|
|||||||
# Reset capacity if it's low
|
# Reset capacity if it's low
|
||||||
self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
|
self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
|
||||||
|
|
||||||
# CLEARPILOT: hardcoded 30 minute shutdown timer (not user-configurable)
|
# FrogPilot variables
|
||||||
self.device_shutdown_time = 1800
|
device_management = self.params.get_bool("DeviceManagement")
|
||||||
self.low_voltage_shutdown = VBATT_PAUSE_CHARGING
|
device_shutdown_setting = self.params.get_int("DeviceShutdown") if device_management else 33
|
||||||
|
# If the toggle is set for < 1 hour, configure by 15 minute increments
|
||||||
|
self.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
|
||||||
|
self.low_voltage_shutdown = self.params.get_float("LowVoltageShutdown") if device_management else VBATT_PAUSE_CHARGING
|
||||||
|
|
||||||
# Calculation tick
|
# Calculation tick
|
||||||
def calculate(self, voltage: int | None, ignition: bool):
|
def calculate(self, voltage: int | None, ignition: bool):
|
||||||
@@ -122,13 +125,7 @@ class PowerMonitoring:
|
|||||||
offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
|
offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
|
||||||
should_shutdown |= offroad_time > self.device_shutdown_time
|
should_shutdown |= offroad_time > self.device_shutdown_time
|
||||||
should_shutdown |= low_voltage_shutdown
|
should_shutdown |= low_voltage_shutdown
|
||||||
# CLEARPILOT: removed `car_battery_capacity_uWh <= 0` trigger. That's a virtual
|
should_shutdown |= (self.car_battery_capacity_uWh <= 0)
|
||||||
# capacity counter floor-limited to 3e6 µWh on boot which drains in ~12 min at
|
|
||||||
# typical device power. With a short drive that doesn't fully recharge (charges
|
|
||||||
# at 45W, cap 30e6 µWh = 36 min to full), a quick store stop could trip shutdown
|
|
||||||
# well before the intended 30-min idle timer. The real protection we want here
|
|
||||||
# is the car battery voltage check (kept above) — the virtual counter is now
|
|
||||||
# retained only for telemetry.
|
|
||||||
should_shutdown &= not ignition
|
should_shutdown &= not ignition
|
||||||
should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
|
should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
|
||||||
should_shutdown &= in_car
|
should_shutdown &= in_car
|
||||||
|
|||||||
@@ -10,7 +10,7 @@ from pathlib import Path
|
|||||||
import psutil
|
import psutil
|
||||||
|
|
||||||
import cereal.messaging as messaging
|
import cereal.messaging as messaging
|
||||||
from cereal import car, log
|
from cereal import log
|
||||||
from cereal.services import SERVICE_LIST
|
from cereal.services import SERVICE_LIST
|
||||||
from openpilot.common.dict_helpers import strip_deprecated_keys
|
from openpilot.common.dict_helpers import strip_deprecated_keys
|
||||||
from openpilot.common.filter_simple import FirstOrderFilter
|
from openpilot.common.filter_simple import FirstOrderFilter
|
||||||
@@ -164,7 +164,7 @@ def hw_state_thread(end_event, hw_queue):
|
|||||||
|
|
||||||
def thermald_thread(end_event, hw_queue) -> None:
|
def thermald_thread(end_event, hw_queue) -> None:
|
||||||
pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
|
pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
|
||||||
sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates", "carState"], poll="pandaStates")
|
sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
|
||||||
|
|
||||||
count = 0
|
count = 0
|
||||||
|
|
||||||
@@ -197,9 +197,7 @@ def thermald_thread(end_event, hw_queue) -> None:
|
|||||||
engaged_prev = False
|
engaged_prev = False
|
||||||
|
|
||||||
params = Params()
|
params = Params()
|
||||||
params_memory = Params("/dev/shm/params")
|
|
||||||
power_monitor = PowerMonitoring()
|
power_monitor = PowerMonitoring()
|
||||||
last_touch_reset = "0" # CLEARPILOT: track last seen touch reset value
|
|
||||||
|
|
||||||
HARDWARE.initialize_hardware()
|
HARDWARE.initialize_hardware()
|
||||||
thermal_config = HARDWARE.get_thermal_config()
|
thermal_config = HARDWARE.get_thermal_config()
|
||||||
@@ -292,18 +290,7 @@ def thermald_thread(end_event, hw_queue) -> None:
|
|||||||
msg.deviceState.maxTempC = all_comp_temp
|
msg.deviceState.maxTempC = all_comp_temp
|
||||||
|
|
||||||
if fan_controller is not None:
|
if fan_controller is not None:
|
||||||
# CLEARPILOT: fan rules based on gear (parked vs drive) and cruise-engaged state
|
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
|
||||||
if sm.seen['carState']:
|
|
||||||
cs = sm['carState']
|
|
||||||
standstill = cs.standstill
|
|
||||||
is_parked = cs.gearShifter == car.CarState.GearShifter.park
|
|
||||||
else:
|
|
||||||
standstill = False
|
|
||||||
is_parked = True # default safe: assume parked, no fan floor
|
|
||||||
cruise_engaged = sm['controlsState'].enabled if sm.seen['controlsState'] else False
|
|
||||||
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(
|
|
||||||
all_comp_temp, onroad_conditions["ignition"], standstill,
|
|
||||||
is_parked=is_parked, cruise_engaged=cruise_engaged)
|
|
||||||
|
|
||||||
is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
|
is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
|
||||||
if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
|
if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
|
||||||
@@ -421,26 +408,9 @@ def thermald_thread(end_event, hw_queue) -> None:
|
|||||||
statlog.sample("som_power_draw", som_power_draw)
|
statlog.sample("som_power_draw", som_power_draw)
|
||||||
msg.deviceState.somPowerDrawW = som_power_draw
|
msg.deviceState.somPowerDrawW = som_power_draw
|
||||||
|
|
||||||
# CLEARPILOT: screen tap resets shutdown timer (off_ts) while offroad
|
|
||||||
touch_reset = params_memory.get("ShutdownTouchReset")
|
|
||||||
if touch_reset is not None and touch_reset != last_touch_reset and off_ts is not None:
|
|
||||||
off_ts = time.monotonic()
|
|
||||||
cloudlog.info("shutdown timer reset by screen touch")
|
|
||||||
last_touch_reset = touch_reset
|
|
||||||
|
|
||||||
# Check if we need to shut down
|
# Check if we need to shut down
|
||||||
if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
|
if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
|
||||||
cloudlog.warning(f"shutting device down, offroad since {off_ts}")
|
cloudlog.warning(f"shutting device down, offroad since {off_ts}")
|
||||||
# CLEARPILOT: signal dashcamd to close recording gracefully before power-off
|
|
||||||
params_memory.put_bool("DashcamShutdown", True)
|
|
||||||
deadline = time.monotonic() + 15.0
|
|
||||||
while time.monotonic() < deadline:
|
|
||||||
if not params_memory.get_bool("DashcamShutdown"):
|
|
||||||
cloudlog.info("dashcamd shutdown ack received")
|
|
||||||
break
|
|
||||||
time.sleep(0.5)
|
|
||||||
else:
|
|
||||||
cloudlog.warning("dashcamd shutdown ack timeout, proceeding")
|
|
||||||
params.put_bool("DoShutdown", True)
|
params.put_bool("DoShutdown", True)
|
||||||
|
|
||||||
msg.deviceState.started = started_ts is not None
|
msg.deviceState.started = started_ts is not None
|
||||||
|
|||||||
+12
-3
@@ -39,7 +39,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
|
|||||||
"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
|
"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
|
||||||
"qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
|
"qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
|
||||||
"qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
|
"qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
|
||||||
"../frogpilot/screenrecorder/omx_encoder.cc", # kept for dashcamd .o dependency
|
"../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc",
|
||||||
"qt/ready.cc"]
|
"qt/ready.cc"]
|
||||||
|
|
||||||
# build translation files
|
# build translation files
|
||||||
@@ -77,11 +77,20 @@ qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
|
|||||||
qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
|
qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
|
||||||
|
|
||||||
|
|
||||||
# Clearpilot tools
|
# Clearpilot
|
||||||
|
# Add qtwebengine to build paths
|
||||||
|
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngine"]
|
||||||
|
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngineCore"]
|
||||||
|
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngineWidgets"]
|
||||||
|
qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebChannel"]
|
||||||
|
qt_webengine_libs = qt_libs + ['Qt5WebEngineWidgets']
|
||||||
|
|
||||||
|
# Create clearpilot tools
|
||||||
qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_shell", ["/data/openpilot/system/clearpilot/tools/qt_shell.cc"], LIBS=qt_libs)
|
qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_shell", ["/data/openpilot/system/clearpilot/tools/qt_shell.cc"], LIBS=qt_libs)
|
||||||
|
# qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_webview", ["/data/openpilot/system/clearpilot/tools/qt_webview.cc"], LIBS=qt_webengine_libs)
|
||||||
|
|
||||||
# build main UI
|
# build main UI
|
||||||
qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
|
qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_webengine_libs)
|
||||||
if GetOption('extras'):
|
if GetOption('extras'):
|
||||||
qt_src.remove("main.cc") # replaced by test_runner
|
qt_src.remove("main.cc") # replaced by test_runner
|
||||||
qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
|
qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
|
||||||
|
|||||||
@@ -1,9 +1,4 @@
|
|||||||
#include <sys/resource.h>
|
#include <sys/resource.h>
|
||||||
#include <csignal>
|
|
||||||
#include <cstdio>
|
|
||||||
#include <cstdlib>
|
|
||||||
#include <execinfo.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
|
|
||||||
#include <QApplication>
|
#include <QApplication>
|
||||||
#include <QTranslator>
|
#include <QTranslator>
|
||||||
@@ -13,27 +8,7 @@
|
|||||||
#include "selfdrive/ui/qt/util.h"
|
#include "selfdrive/ui/qt/util.h"
|
||||||
#include "selfdrive/ui/qt/window.h"
|
#include "selfdrive/ui/qt/window.h"
|
||||||
|
|
||||||
// CLEARPILOT: crash handler — prints stack trace to stderr on SIGSEGV/SIGABRT
|
|
||||||
static void crash_handler(int sig) {
|
|
||||||
const char *sig_name = (sig == SIGSEGV) ? "SIGSEGV" : (sig == SIGABRT) ? "SIGABRT" : "SIGNAL";
|
|
||||||
fprintf(stderr, "\n=== CRASH: %s (signal %d) ===\n", sig_name, sig);
|
|
||||||
|
|
||||||
void *frames[64];
|
|
||||||
int count = backtrace(frames, 64);
|
|
||||||
fprintf(stderr, "Backtrace (%d frames):\n", count);
|
|
||||||
backtrace_symbols_fd(frames, count, STDERR_FILENO);
|
|
||||||
fprintf(stderr, "=== END CRASH ===\n");
|
|
||||||
fflush(stderr);
|
|
||||||
|
|
||||||
// Re-raise to get default behavior (core dump / exit)
|
|
||||||
signal(sig, SIG_DFL);
|
|
||||||
raise(sig);
|
|
||||||
}
|
|
||||||
|
|
||||||
int main(int argc, char *argv[]) {
|
int main(int argc, char *argv[]) {
|
||||||
signal(SIGSEGV, crash_handler);
|
|
||||||
signal(SIGABRT, crash_handler);
|
|
||||||
|
|
||||||
setpriority(PRIO_PROCESS, 0, -20);
|
setpriority(PRIO_PROCESS, 0, -20);
|
||||||
|
|
||||||
qInstallMessageHandler(swagLogMessageHandler);
|
qInstallMessageHandler(swagLogMessageHandler);
|
||||||
|
|||||||
+144
-328
@@ -1,20 +1,16 @@
|
|||||||
#include "selfdrive/ui/qt/home.h"
|
#include "selfdrive/ui/qt/home.h"
|
||||||
|
|
||||||
#include <cstdlib>
|
|
||||||
#include <QHBoxLayout>
|
#include <QHBoxLayout>
|
||||||
#include <QMouseEvent>
|
#include <QMouseEvent>
|
||||||
#include <QStackedWidget>
|
#include <QStackedWidget>
|
||||||
#include <QVBoxLayout>
|
#include <QVBoxLayout>
|
||||||
|
|
||||||
#include "common/swaglog.h"
|
#include "selfdrive/ui/qt/offroad/experimental_mode.h"
|
||||||
#include "common/params.h"
|
|
||||||
#include "system/hardware/hw.h"
|
|
||||||
#include "selfdrive/ui/qt/util.h"
|
#include "selfdrive/ui/qt/util.h"
|
||||||
#include "selfdrive/ui/qt/widgets/controls.h"
|
#include "selfdrive/ui/qt/widgets/drive_stats.h"
|
||||||
#include "selfdrive/ui/qt/widgets/input.h"
|
#include "system/hardware/hw.h"
|
||||||
#include "selfdrive/ui/qt/widgets/scrollview.h"
|
|
||||||
#include "selfdrive/ui/qt/network/networking.h"
|
#include <QWebEngineView>
|
||||||
#include "cereal/messaging/messaging.h"
|
|
||||||
|
|
||||||
// HomeWindow: the container for the offroad and onroad UIs
|
// HomeWindow: the container for the offroad and onroad UIs
|
||||||
|
|
||||||
@@ -27,7 +23,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
|
|||||||
main_layout->setSpacing(0);
|
main_layout->setSpacing(0);
|
||||||
|
|
||||||
sidebar = new Sidebar(this);
|
sidebar = new Sidebar(this);
|
||||||
sidebar->setVisible(false);
|
|
||||||
main_layout->addWidget(sidebar);
|
main_layout->addWidget(sidebar);
|
||||||
QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
|
QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
|
||||||
QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::showOnroad);
|
QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::showOnroad);
|
||||||
@@ -35,17 +30,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
|
|||||||
slayout = new QStackedLayout();
|
slayout = new QStackedLayout();
|
||||||
main_layout->addLayout(slayout);
|
main_layout->addLayout(slayout);
|
||||||
|
|
||||||
home = new ClearPilotPanel(this);
|
home = new OffroadHome(this);
|
||||||
QObject::connect(home, &ClearPilotPanel::openSettings, this, &HomeWindow::openSettings);
|
QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
|
||||||
QObject::connect(home, &ClearPilotPanel::openStatus, this, &HomeWindow::openStatus);
|
|
||||||
QObject::connect(home, &ClearPilotPanel::closePanel, [=]() {
|
|
||||||
// Return to splash or onroad depending on state
|
|
||||||
if (uiState()->scene.started) {
|
|
||||||
slayout->setCurrentWidget(onroad);
|
|
||||||
} else {
|
|
||||||
slayout->setCurrentWidget(ready);
|
|
||||||
}
|
|
||||||
});
|
|
||||||
slayout->addWidget(home);
|
slayout->addWidget(home);
|
||||||
|
|
||||||
onroad = new OnroadWindow(this);
|
onroad = new OnroadWindow(this);
|
||||||
@@ -54,8 +40,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
|
|||||||
// CLEARPILOT
|
// CLEARPILOT
|
||||||
ready = new ReadyWindow(this);
|
ready = new ReadyWindow(this);
|
||||||
slayout->addWidget(ready);
|
slayout->addWidget(ready);
|
||||||
slayout->setCurrentWidget(ready); // show splash immediately, not ClearPilotPanel
|
|
||||||
|
|
||||||
driver_view = new DriverViewWindow(this);
|
driver_view = new DriverViewWindow(this);
|
||||||
connect(driver_view, &DriverViewWindow::done, [=] {
|
connect(driver_view, &DriverViewWindow::done, [=] {
|
||||||
showDriverView(false);
|
showDriverView(false);
|
||||||
@@ -81,79 +66,52 @@ void HomeWindow::showSidebar(bool show) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void HomeWindow::updateState(const UIState &s) {
|
void HomeWindow::updateState(const UIState &s) {
|
||||||
|
// const SubMaster &sm = *(s.sm);
|
||||||
if (s.scene.started) {
|
if (s.scene.started) {
|
||||||
showDriverView(s.scene.driver_camera_timer >= 10, true);
|
showDriverView(s.scene.driver_camera_timer >= 10, true);
|
||||||
|
|
||||||
// CLEARPILOT: show splash screen when onroad but in park
|
|
||||||
bool parked = s.scene.parked;
|
|
||||||
int screenMode = paramsMemory.getInt("ScreenDisplayMode");
|
|
||||||
bool nightrider = (screenMode == 1 || screenMode == 4);
|
|
||||||
|
|
||||||
if (parked && !was_parked_onroad) {
|
|
||||||
LOGW("CLP UI: park transition -> showing splash");
|
|
||||||
slayout->setCurrentWidget(ready);
|
|
||||||
// If we were in nightrider mode, switch to screen off
|
|
||||||
if (nightrider) {
|
|
||||||
paramsMemory.putInt("ScreenDisplayMode", 3);
|
|
||||||
}
|
|
||||||
} else if (!parked && was_parked_onroad) {
|
|
||||||
LOGW("CLP UI: drive transition -> showing onroad");
|
|
||||||
slayout->setCurrentWidget(onroad);
|
|
||||||
ready->has_driven = true;
|
|
||||||
}
|
|
||||||
was_parked_onroad = parked;
|
|
||||||
|
|
||||||
// CLEARPILOT: honor display on/off while showing splash in park (normal mode only)
|
|
||||||
if (parked && ready->isVisible()) {
|
|
||||||
if (screenMode == 3) {
|
|
||||||
Hardware::set_display_power(false);
|
|
||||||
} else {
|
|
||||||
Hardware::set_display_power(true);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void HomeWindow::offroadTransition(bool offroad) {
|
void HomeWindow::offroadTransition(bool offroad) {
|
||||||
sidebar->setVisible(false);
|
|
||||||
if (offroad) {
|
if (offroad) {
|
||||||
LOGW("CLP UI: offroad transition -> showing splash");
|
sidebar->setVisible(false);
|
||||||
was_parked_onroad = false;
|
|
||||||
slayout->setCurrentWidget(ready);
|
slayout->setCurrentWidget(ready);
|
||||||
} else {
|
} else {
|
||||||
// CLEARPILOT: start onroad in splash — updateState will switch to
|
sidebar->setVisible(false);
|
||||||
// camera view once the car shifts out of park. Reset has_driven so
|
slayout->setCurrentWidget(onroad);
|
||||||
// fresh ignition shows the READY text (not the post-drive textless splash).
|
|
||||||
LOGW("CLP UI: onroad transition -> showing splash (parked)");
|
|
||||||
was_parked_onroad = true;
|
|
||||||
ready->has_driven = false;
|
|
||||||
slayout->setCurrentWidget(ready);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void HomeWindow::showDriverView(bool show, bool started) {
|
void HomeWindow::showDriverView(bool show, bool started) {
|
||||||
if (show) {
|
if (show) {
|
||||||
LOGW("CLP UI: showDriverView(true) -> driver_view");
|
|
||||||
emit closeSettings();
|
emit closeSettings();
|
||||||
slayout->setCurrentWidget(driver_view);
|
slayout->setCurrentWidget(driver_view);
|
||||||
sidebar->setVisible(false);
|
sidebar->setVisible(show == false);
|
||||||
} else if (!started) {
|
} else {
|
||||||
// Offroad, not started — show home menu
|
if (started) {
|
||||||
slayout->setCurrentWidget(home);
|
slayout->setCurrentWidget(onroad);
|
||||||
sidebar->setVisible(false);
|
sidebar->setVisible(params.getBool("Sidebar"));
|
||||||
|
} else {
|
||||||
|
slayout->setCurrentWidget(home);
|
||||||
|
sidebar->setVisible(show == false);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
// CLEARPILOT: when started, don't touch slayout here —
|
|
||||||
// updateState handles park->splash and drive->onroad transitions
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void HomeWindow::mousePressEvent(QMouseEvent* e) {
|
void HomeWindow::mousePressEvent(QMouseEvent* e) {
|
||||||
// CLEARPILOT: tap from any view goes to ClearPilotPanel
|
// CLEARPILOT todo - tap on main goes straight to settings
|
||||||
if (ready->isVisible() || onroad->isVisible()) {
|
// Unless we click a debug widget.
|
||||||
LOGW("CLP UI: tap -> showing ClearPilotPanel");
|
|
||||||
sidebar->setVisible(false);
|
// CLEARPILOT - click ready shows home
|
||||||
home->resetToGeneral();
|
if (!onroad->isVisible() && ready->isVisible()) {
|
||||||
|
sidebar->setVisible(true);
|
||||||
slayout->setCurrentWidget(home);
|
slayout->setCurrentWidget(home);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Todo: widgets
|
||||||
|
if (onroad->isVisible()) {
|
||||||
|
emit openSettings();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
|
void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
|
||||||
@@ -161,274 +119,132 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
|
|||||||
// const SubMaster &sm = *(uiState()->sm);
|
// const SubMaster &sm = *(uiState()->sm);
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu
|
// OffroadHome: the offroad home page
|
||||||
|
|
||||||
static const char *clpSidebarBtnStyle = R"(
|
OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
|
||||||
QPushButton {
|
QVBoxLayout* main_layout = new QVBoxLayout(this);
|
||||||
color: grey;
|
main_layout->setContentsMargins(40, 40, 40, 40);
|
||||||
border: none;
|
|
||||||
background: none;
|
// top header
|
||||||
font-size: 65px;
|
QHBoxLayout* header_layout = new QHBoxLayout();
|
||||||
font-weight: 500;
|
header_layout->setContentsMargins(0, 0, 0, 0);
|
||||||
|
header_layout->setSpacing(16);
|
||||||
|
|
||||||
|
update_notif = new QPushButton(tr("UPDATE"));
|
||||||
|
update_notif->setVisible(false);
|
||||||
|
update_notif->setStyleSheet("background-color: #364DEF;");
|
||||||
|
QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
|
||||||
|
header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
|
||||||
|
|
||||||
|
alert_notif = new QPushButton();
|
||||||
|
alert_notif->setVisible(false);
|
||||||
|
alert_notif->setStyleSheet("background-color: #E22C2C;");
|
||||||
|
QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
|
||||||
|
header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
|
||||||
|
|
||||||
|
date = new ElidedLabel();
|
||||||
|
header_layout->addWidget(date, 0, Qt::AlignHCenter | Qt::AlignLeft);
|
||||||
|
|
||||||
|
version = new ElidedLabel();
|
||||||
|
header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
|
||||||
|
|
||||||
|
main_layout->addLayout(header_layout);
|
||||||
|
|
||||||
|
// main content
|
||||||
|
main_layout->addSpacing(25);
|
||||||
|
center_layout = new QStackedLayout();
|
||||||
|
|
||||||
|
QWidget *home_widget = new QWidget(this);
|
||||||
|
{
|
||||||
|
QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
|
||||||
|
home_layout->setContentsMargins(0, 0, 0, 0);
|
||||||
|
home_layout->setSpacing(30);
|
||||||
|
|
||||||
|
// // // Create a QWebEngineView
|
||||||
|
// QWebEngineView *web_view = new QWebEngineView();
|
||||||
|
// web_view->load(QUrl("http://fark.com"));
|
||||||
|
|
||||||
|
// // Add the QWebEngineView to the layout
|
||||||
|
// home_layout->addWidget(web_view);
|
||||||
}
|
}
|
||||||
QPushButton:checked {
|
center_layout->addWidget(home_widget);
|
||||||
color: white;
|
|
||||||
}
|
|
||||||
QPushButton:pressed {
|
|
||||||
color: #ADADAD;
|
|
||||||
}
|
|
||||||
)";
|
|
||||||
|
|
||||||
// clpActionBtnStyle removed — no longer used
|
// add update & alerts widgets
|
||||||
|
update_widget = new UpdateAlert();
|
||||||
|
QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
|
||||||
|
center_layout->addWidget(update_widget);
|
||||||
|
alerts_widget = new OffroadAlert();
|
||||||
|
QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
|
||||||
|
center_layout->addWidget(alerts_widget);
|
||||||
|
|
||||||
|
main_layout->addLayout(center_layout, 1);
|
||||||
|
|
||||||
ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
|
// set up refresh timer
|
||||||
// Sidebar
|
timer = new QTimer(this);
|
||||||
QWidget *sidebar_widget = new QWidget;
|
timer->callOnTimeout(this, &OffroadHome::refresh);
|
||||||
QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
|
|
||||||
sidebar_layout->setContentsMargins(50, 50, 100, 50);
|
|
||||||
|
|
||||||
// Close button
|
|
||||||
QPushButton *close_btn = new QPushButton("← Back");
|
|
||||||
close_btn->setStyleSheet(R"(
|
|
||||||
QPushButton {
|
|
||||||
color: white;
|
|
||||||
border-radius: 25px;
|
|
||||||
background: #292929;
|
|
||||||
font-size: 50px;
|
|
||||||
font-weight: 500;
|
|
||||||
}
|
|
||||||
QPushButton:pressed {
|
|
||||||
color: #ADADAD;
|
|
||||||
}
|
|
||||||
)");
|
|
||||||
close_btn->setFixedSize(300, 125);
|
|
||||||
sidebar_layout->addSpacing(10);
|
|
||||||
sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
|
|
||||||
QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closePanel(); });
|
|
||||||
|
|
||||||
// Panel content area
|
|
||||||
panel_widget = new QStackedWidget();
|
|
||||||
|
|
||||||
// ── General panel ──
|
|
||||||
ListWidget *general_panel = new ListWidget(this);
|
|
||||||
general_panel->setContentsMargins(50, 25, 50, 25);
|
|
||||||
|
|
||||||
// Status button
|
|
||||||
auto *status_btn = new ButtonControl("System Status", "VIEW", "");
|
|
||||||
connect(status_btn, &ButtonControl::clicked, [=]() { emit openStatus(); });
|
|
||||||
general_panel->addItem(status_btn);
|
|
||||||
|
|
||||||
// Reset Calibration
|
|
||||||
auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", "");
|
|
||||||
connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, [=]() {
|
|
||||||
QString desc = "openpilot requires the device to be mounted within 4° left or right and "
|
|
||||||
"within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.";
|
|
||||||
std::string calib_bytes = Params().get("CalibrationParams");
|
|
||||||
if (!calib_bytes.empty()) {
|
|
||||||
try {
|
|
||||||
AlignedBuffer aligned_buf;
|
|
||||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
|
|
||||||
auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
|
|
||||||
if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
|
|
||||||
double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
|
|
||||||
double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
|
|
||||||
desc += QString(" Your device is pointed %1° %2 and %3° %4.")
|
|
||||||
.arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
|
|
||||||
QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
|
|
||||||
}
|
|
||||||
} catch (...) {
|
|
||||||
qInfo() << "invalid CalibrationParams";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
qobject_cast<ButtonControl *>(sender())->setDescription(desc);
|
|
||||||
});
|
|
||||||
connect(resetCalibBtn, &ButtonControl::clicked, [=]() {
|
|
||||||
if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", "Reset", this)) {
|
|
||||||
Params().remove("CalibrationParams");
|
|
||||||
Params().remove("LiveTorqueParameters");
|
|
||||||
}
|
|
||||||
});
|
|
||||||
general_panel->addItem(resetCalibBtn);
|
|
||||||
|
|
||||||
// Power buttons
|
|
||||||
QHBoxLayout *power_layout = new QHBoxLayout();
|
|
||||||
power_layout->setSpacing(30);
|
|
||||||
|
|
||||||
QPushButton *reboot_btn = new QPushButton("Reboot");
|
|
||||||
reboot_btn->setObjectName("reboot_btn");
|
|
||||||
power_layout->addWidget(reboot_btn);
|
|
||||||
|
|
||||||
QPushButton *softreboot_btn = new QPushButton("Soft Reboot");
|
|
||||||
softreboot_btn->setObjectName("softreboot_btn");
|
|
||||||
power_layout->addWidget(softreboot_btn);
|
|
||||||
|
|
||||||
QPushButton *poweroff_btn = new QPushButton("Power Off");
|
|
||||||
poweroff_btn->setObjectName("poweroff_btn");
|
|
||||||
power_layout->addWidget(poweroff_btn);
|
|
||||||
|
|
||||||
QObject::connect(reboot_btn, &QPushButton::clicked, [=]() {
|
|
||||||
if (!uiState()->engaged()) {
|
|
||||||
if (ConfirmationDialog::confirm("Are you sure you want to reboot?", "Reboot", this)) {
|
|
||||||
if (!uiState()->engaged()) {
|
|
||||||
Params().putBool("DoReboot", true);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
ConfirmationDialog::alert("Disengage to Reboot", this);
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
QObject::connect(softreboot_btn, &QPushButton::clicked, [=]() {
|
|
||||||
if (!uiState()->engaged()) {
|
|
||||||
if (ConfirmationDialog::confirm("Are you sure you want to soft reboot?", "Soft Reboot", this)) {
|
|
||||||
if (!uiState()->engaged()) {
|
|
||||||
Params().putBool("DoSoftReboot", true);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
ConfirmationDialog::alert("Disengage to Soft Reboot", this);
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
QObject::connect(poweroff_btn, &QPushButton::clicked, [=]() {
|
|
||||||
if (!uiState()->engaged()) {
|
|
||||||
if (ConfirmationDialog::confirm("Are you sure you want to power off?", "Power Off", this)) {
|
|
||||||
if (!uiState()->engaged()) {
|
|
||||||
Params().putBool("DoShutdown", true);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
ConfirmationDialog::alert("Disengage to Power Off", this);
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
general_panel->addItem(power_layout);
|
|
||||||
|
|
||||||
// ── Network panel ──
|
|
||||||
Networking *network_panel = new Networking(this);
|
|
||||||
// Hide APN button — find by searching QPushButton labels inside AdvancedNetworking
|
|
||||||
for (auto *btn : network_panel->findChildren<QPushButton *>()) {
|
|
||||||
if (btn->text().contains("APN", Qt::CaseInsensitive)) {
|
|
||||||
// Hide the parent AbstractControl frame, not just the button
|
|
||||||
if (auto *frame = qobject_cast<QFrame *>(btn->parentWidget())) {
|
|
||||||
frame->setVisible(false);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// ── Dashcam panel ──
|
|
||||||
QWidget *dashcam_panel = new QWidget(this);
|
|
||||||
QVBoxLayout *dash_layout = new QVBoxLayout(dashcam_panel);
|
|
||||||
dash_layout->setContentsMargins(50, 25, 50, 25);
|
|
||||||
QLabel *dash_label = new QLabel("Dashcam viewer coming soon");
|
|
||||||
dash_label->setStyleSheet("color: grey; font-size: 40px;");
|
|
||||||
dash_label->setAlignment(Qt::AlignCenter);
|
|
||||||
dash_layout->addWidget(dash_label);
|
|
||||||
dash_layout->addStretch();
|
|
||||||
|
|
||||||
// ── Debug panel ──
|
|
||||||
ListWidget *debug_panel = new ListWidget(this);
|
|
||||||
debug_panel->setContentsMargins(50, 25, 50, 25);
|
|
||||||
|
|
||||||
auto *telemetry_toggle = new ToggleControl("Telemetry Logging",
|
|
||||||
"Record telemetry data to CSV in the session log directory. "
|
|
||||||
"Captures only changed values for efficiency.", "",
|
|
||||||
Params("/dev/shm/params").getBool("TelemetryEnabled"), this);
|
|
||||||
QObject::connect(telemetry_toggle, &ToggleControl::toggleFlipped, [](bool on) {
|
|
||||||
Params("/dev/shm/params").putBool("TelemetryEnabled", on);
|
|
||||||
});
|
|
||||||
debug_panel->addItem(telemetry_toggle);
|
|
||||||
|
|
||||||
auto *health_metrics_toggle = new ToggleControl("System Health Overlay",
|
|
||||||
"Show controls lag, model frame drops, temperature, CPU, and memory usage "
|
|
||||||
"in the lower-right of the onroad UI. For diagnosing slowdown issues.", "",
|
|
||||||
Params().getBool("ClearpilotShowHealthMetrics"), this);
|
|
||||||
QObject::connect(health_metrics_toggle, &ToggleControl::toggleFlipped, [](bool on) {
|
|
||||||
Params().putBool("ClearpilotShowHealthMetrics", on);
|
|
||||||
});
|
|
||||||
debug_panel->addItem(health_metrics_toggle);
|
|
||||||
|
|
||||||
auto *vpn_toggle = new ToggleControl("VPN",
|
|
||||||
"Connect to vpn.hanson.xyz for remote SSH access. "
|
|
||||||
"Disabling kills the active tunnel and stops reconnection attempts.", "",
|
|
||||||
Params("/dev/shm/params").getBool("VpnEnabled"), this);
|
|
||||||
QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool on) {
|
|
||||||
Params("/dev/shm/params").putBool("VpnEnabled", on);
|
|
||||||
if (on) {
|
|
||||||
std::system("sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'");
|
|
||||||
} else {
|
|
||||||
std::system("sudo pkill -TERM -f vpn-monitor.sh; sudo killall openvpn");
|
|
||||||
}
|
|
||||||
});
|
|
||||||
debug_panel->addItem(vpn_toggle);
|
|
||||||
|
|
||||||
// ── Register panels with sidebar buttons ──
|
|
||||||
QList<QPair<QString, QWidget *>> panels = {
|
|
||||||
{"General", general_panel},
|
|
||||||
{"Network", network_panel},
|
|
||||||
{"Dashcam", dashcam_panel},
|
|
||||||
{"Debug", debug_panel},
|
|
||||||
};
|
|
||||||
|
|
||||||
nav_group = new QButtonGroup(this);
|
|
||||||
nav_group->setExclusive(true);
|
|
||||||
|
|
||||||
for (auto &[name, panel] : panels) {
|
|
||||||
QPushButton *btn = new QPushButton(name);
|
|
||||||
btn->setCheckable(true);
|
|
||||||
btn->setStyleSheet(clpSidebarBtnStyle);
|
|
||||||
btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
|
|
||||||
sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
|
|
||||||
nav_group->addButton(btn);
|
|
||||||
|
|
||||||
// Network panel handles its own scrolling/margins
|
|
||||||
if (name == "Network") {
|
|
||||||
panel_widget->addWidget(panel);
|
|
||||||
QObject::connect(btn, &QPushButton::clicked, [=, w = panel]() {
|
|
||||||
panel_widget->setCurrentWidget(w);
|
|
||||||
});
|
|
||||||
} else {
|
|
||||||
ScrollView *panel_frame = new ScrollView(panel, this);
|
|
||||||
panel_widget->addWidget(panel_frame);
|
|
||||||
QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
|
|
||||||
panel_widget->setCurrentWidget(w);
|
|
||||||
});
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Select General by default
|
|
||||||
nav_group->buttons().first()->setChecked(true);
|
|
||||||
panel_widget->setCurrentIndex(0);
|
|
||||||
|
|
||||||
// Main layout: sidebar + panels
|
|
||||||
QHBoxLayout *main_layout = new QHBoxLayout(this);
|
|
||||||
sidebar_widget->setFixedWidth(500);
|
|
||||||
main_layout->addWidget(sidebar_widget);
|
|
||||||
main_layout->addWidget(panel_widget);
|
|
||||||
|
|
||||||
setStyleSheet(R"(
|
setStyleSheet(R"(
|
||||||
* {
|
* {
|
||||||
color: white;
|
color: white;
|
||||||
font-size: 50px;
|
|
||||||
}
|
}
|
||||||
ClearPilotPanel {
|
OffroadHome {
|
||||||
background-color: black;
|
background-color: black;
|
||||||
}
|
}
|
||||||
QStackedWidget, ScrollView, Networking {
|
OffroadHome > QPushButton {
|
||||||
background-color: #292929;
|
padding: 15px 30px;
|
||||||
border-radius: 30px;
|
border-radius: 5px;
|
||||||
|
font-size: 40px;
|
||||||
|
font-weight: 500;
|
||||||
|
}
|
||||||
|
OffroadHome > QLabel {
|
||||||
|
font-size: 55px;
|
||||||
}
|
}
|
||||||
#softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
|
|
||||||
#softreboot_btn:pressed { background-color: #ffe224; }
|
|
||||||
#reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
|
|
||||||
#reboot_btn:pressed { background-color: #4a4a4a; }
|
|
||||||
#poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
|
|
||||||
#poweroff_btn:pressed { background-color: #FF2424; }
|
|
||||||
)");
|
)");
|
||||||
}
|
}
|
||||||
|
|
||||||
void ClearPilotPanel::resetToGeneral() {
|
/* Refresh data on screen every 5 seconds. */
|
||||||
panel_widget->setCurrentIndex(0);
|
void OffroadHome::showEvent(QShowEvent *event) {
|
||||||
nav_group->buttons().first()->setChecked(true);
|
refresh();
|
||||||
|
timer->start(5 * 1000);
|
||||||
|
}
|
||||||
|
|
||||||
|
void OffroadHome::hideEvent(QHideEvent *event) {
|
||||||
|
timer->stop();
|
||||||
|
}
|
||||||
|
|
||||||
|
void OffroadHome::refresh() {
|
||||||
|
QString model = QString::fromStdString(params.get("ModelName"));
|
||||||
|
|
||||||
|
date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
|
||||||
|
version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model);
|
||||||
|
|
||||||
|
// bool updateAvailable = update_widget->refresh();
|
||||||
|
|
||||||
|
int alerts = alerts_widget->refresh();
|
||||||
|
|
||||||
|
if (alerts > 0 && !alerts_widget->isVisible()) {
|
||||||
|
alerts_widget->setVisible(true);
|
||||||
|
} else if (alerts == 0 && alerts_widget->isVisible()) {
|
||||||
|
alerts_widget->setVisible(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
// pop-up new notification
|
||||||
|
// CLEARPILOT temp disabled update notifications
|
||||||
|
// int idx = center_layout->currentIndex();
|
||||||
|
// if (!updateAvailable && !alerts && false) {
|
||||||
|
// idx = 0;
|
||||||
|
// } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
|
||||||
|
// idx = 1;
|
||||||
|
// } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
|
||||||
|
// idx = 2;
|
||||||
|
// }
|
||||||
|
// center_layout->setCurrentIndex(idx);
|
||||||
|
|
||||||
|
// CLEARPILOT temp disabled update notifications
|
||||||
|
// update_notif->setVisible(updateAvailable);
|
||||||
|
// alert_notif->setVisible(alerts);
|
||||||
|
alert_notif->setVisible(false);
|
||||||
|
if (alerts) {
|
||||||
|
alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
+20
-15
@@ -1,11 +1,9 @@
|
|||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include <QButtonGroup>
|
|
||||||
#include <QFrame>
|
#include <QFrame>
|
||||||
#include <QLabel>
|
#include <QLabel>
|
||||||
#include <QPushButton>
|
#include <QPushButton>
|
||||||
#include <QStackedLayout>
|
#include <QStackedLayout>
|
||||||
#include <QStackedWidget>
|
|
||||||
#include <QTimer>
|
#include <QTimer>
|
||||||
#include <QWidget>
|
#include <QWidget>
|
||||||
|
|
||||||
@@ -18,23 +16,32 @@
|
|||||||
#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
|
#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
|
||||||
#include "selfdrive/ui/ui.h"
|
#include "selfdrive/ui/ui.h"
|
||||||
|
|
||||||
class ClearPilotPanel : public QFrame {
|
class OffroadHome : public QFrame {
|
||||||
Q_OBJECT
|
Q_OBJECT
|
||||||
|
|
||||||
public:
|
public:
|
||||||
explicit ClearPilotPanel(QWidget* parent = 0);
|
explicit OffroadHome(QWidget* parent = 0);
|
||||||
|
|
||||||
signals:
|
signals:
|
||||||
void openSettings(int index = 0, const QString ¶m = "");
|
void openSettings(int index = 0, const QString ¶m = "");
|
||||||
void openStatus();
|
|
||||||
void closePanel();
|
|
||||||
|
|
||||||
public:
|
|
||||||
void resetToGeneral();
|
|
||||||
|
|
||||||
private:
|
private:
|
||||||
QStackedWidget *panel_widget;
|
void showEvent(QShowEvent *event) override;
|
||||||
QButtonGroup *nav_group;
|
void hideEvent(QHideEvent *event) override;
|
||||||
|
void refresh();
|
||||||
|
|
||||||
|
Params params;
|
||||||
|
|
||||||
|
QTimer* timer;
|
||||||
|
ElidedLabel* version;
|
||||||
|
QStackedLayout* center_layout;
|
||||||
|
UpdateAlert *update_widget;
|
||||||
|
OffroadAlert* alerts_widget;
|
||||||
|
QPushButton* alert_notif;
|
||||||
|
QPushButton* update_notif;
|
||||||
|
|
||||||
|
// FrogPilot variables
|
||||||
|
ElidedLabel* date;
|
||||||
};
|
};
|
||||||
|
|
||||||
class HomeWindow : public QWidget {
|
class HomeWindow : public QWidget {
|
||||||
@@ -46,7 +53,6 @@ public:
|
|||||||
|
|
||||||
signals:
|
signals:
|
||||||
void openSettings(int index = 0, const QString ¶m = "");
|
void openSettings(int index = 0, const QString ¶m = "");
|
||||||
void openStatus();
|
|
||||||
void closeSettings();
|
void closeSettings();
|
||||||
|
|
||||||
public slots:
|
public slots:
|
||||||
@@ -61,18 +67,17 @@ protected:
|
|||||||
|
|
||||||
private:
|
private:
|
||||||
Sidebar *sidebar;
|
Sidebar *sidebar;
|
||||||
ClearPilotPanel *home;
|
OffroadHome *home;
|
||||||
OnroadWindow *onroad;
|
OnroadWindow *onroad;
|
||||||
DriverViewWindow *driver_view;
|
DriverViewWindow *driver_view;
|
||||||
QStackedLayout *slayout;
|
QStackedLayout *slayout;
|
||||||
|
|
||||||
// FrogPilot variables
|
// FrogPilot variables
|
||||||
Params params;
|
Params params;
|
||||||
Params paramsMemory{"/dev/shm/params"};
|
|
||||||
|
|
||||||
// CLEARPILOT
|
// CLEARPILOT
|
||||||
|
// bool show_ready;
|
||||||
ReadyWindow *ready;
|
ReadyWindow *ready;
|
||||||
bool was_parked_onroad = false;
|
|
||||||
|
|
||||||
private slots:
|
private slots:
|
||||||
void updateState(const UIState &s);
|
void updateState(const UIState &s);
|
||||||
|
|||||||
+72
-418
@@ -7,7 +7,6 @@
|
|||||||
#include <sstream>
|
#include <sstream>
|
||||||
|
|
||||||
#include <QApplication>
|
#include <QApplication>
|
||||||
#include <QDateTime>
|
|
||||||
#include <QDebug>
|
#include <QDebug>
|
||||||
#include <QMouseEvent>
|
#include <QMouseEvent>
|
||||||
|
|
||||||
@@ -76,13 +75,12 @@ void OnroadWindow::updateState(const UIState &s) {
|
|||||||
alerts->updateAlert(alert);
|
alerts->updateAlert(alert);
|
||||||
|
|
||||||
nvg->updateState(s);
|
nvg->updateState(s);
|
||||||
nvg->update(); // CLEARPILOT: force repaint every frame for HUD elements
|
|
||||||
|
|
||||||
QColor bgColor = bg_colors[s.status];
|
QColor bgColor = bg_colors[s.status];
|
||||||
// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
|
|
||||||
if ((*s.sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange()) {
|
if (paramsMemory.getBool("no_lat_lane_change") == 1 || screenDisplayMode == 2) {
|
||||||
bgColor = bg_colors[STATUS_DISENGAGED];
|
bgColor = bg_colors[STATUS_DISENGAGED];
|
||||||
}
|
}
|
||||||
|
|
||||||
if (bg != bgColor) {
|
if (bg != bgColor) {
|
||||||
bg = bgColor;
|
bg = bgColor;
|
||||||
@@ -178,14 +176,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
|
|||||||
|
|
||||||
void OnroadWindow::paintEvent(QPaintEvent *event) {
|
void OnroadWindow::paintEvent(QPaintEvent *event) {
|
||||||
QPainter p(this);
|
QPainter p(this);
|
||||||
// CLEARPILOT: hide engagement border in nightrider mode
|
p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
|
||||||
int dm = paramsMemory.getInt("ScreenDisplayMode");
|
|
||||||
bool nightrider = (dm == 1 || dm == 4);
|
|
||||||
if (nightrider) {
|
|
||||||
p.fillRect(rect(), Qt::black);
|
|
||||||
} else {
|
|
||||||
p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
|
|
||||||
}
|
|
||||||
|
|
||||||
QString logicsDisplayString = QString();
|
QString logicsDisplayString = QString();
|
||||||
if (scene.show_jerk) {
|
if (scene.show_jerk) {
|
||||||
@@ -225,13 +216,6 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// void OnroadWindow::update_screen_on_off() {
|
|
||||||
// int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
|
|
||||||
// if (screenDisaplayMode == 1) {
|
|
||||||
// // Conditionally off
|
|
||||||
// }
|
|
||||||
// }
|
|
||||||
|
|
||||||
|
|
||||||
// ***** onroad widgets *****
|
// ***** onroad widgets *****
|
||||||
|
|
||||||
@@ -324,7 +308,10 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
|
|||||||
QHBoxLayout *buttons_layout = new QHBoxLayout();
|
QHBoxLayout *buttons_layout = new QHBoxLayout();
|
||||||
buttons_layout->setSpacing(0);
|
buttons_layout->setSpacing(0);
|
||||||
|
|
||||||
// Neokii screen recorder — DISABLED: using dashcamd instead
|
// Neokii screen recorder
|
||||||
|
recorder_btn = new ScreenRecorder(this);
|
||||||
|
recorder_btn->setVisible(false);
|
||||||
|
// buttons_layout->addWidget(recorder_btn);
|
||||||
|
|
||||||
QVBoxLayout *top_right_layout = new QVBoxLayout();
|
QVBoxLayout *top_right_layout = new QVBoxLayout();
|
||||||
top_right_layout->setSpacing(0);
|
top_right_layout->setSpacing(0);
|
||||||
@@ -340,13 +327,24 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
|
|||||||
}
|
}
|
||||||
|
|
||||||
void AnnotatedCameraWidget::updateState(const UIState &s) {
|
void AnnotatedCameraWidget::updateState(const UIState &s) {
|
||||||
|
|
||||||
|
screenDisplayMode = paramsMemory.getInt("ScreenDisplayMode");
|
||||||
|
if (screenDisplayMode == 2 && !alert_is_visible) {
|
||||||
|
// Draw black, filled, full-size rectangle to blank the screen
|
||||||
|
// p.fillRect(0, 0, width(), height(), Qt::black);
|
||||||
|
// p.restore();
|
||||||
|
Hardware::set_display_power(false);
|
||||||
|
return;
|
||||||
|
} else {
|
||||||
|
Hardware::set_display_power(true);
|
||||||
|
}
|
||||||
|
|
||||||
const int SET_SPEED_NA = 255;
|
const int SET_SPEED_NA = 255;
|
||||||
const SubMaster &sm = *(s.sm);
|
const SubMaster &sm = *(s.sm);
|
||||||
|
|
||||||
const bool cs_alive = sm.alive("controlsState");
|
const bool cs_alive = sm.alive("controlsState");
|
||||||
const auto cs = sm["controlsState"].getControlsState();
|
const auto cs = sm["controlsState"].getControlsState();
|
||||||
const auto car_state = sm["carState"].getCarState();
|
const auto car_state = sm["carState"].getCarState();
|
||||||
(void)car_state; // CLEARPILOT: suppress unused warning, will use later
|
|
||||||
|
|
||||||
// Handle older routes where vCruiseCluster is not set
|
// Handle older routes where vCruiseCluster is not set
|
||||||
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
|
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
|
||||||
@@ -356,16 +354,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
|
|||||||
setSpeed *= KM_TO_MILE;
|
setSpeed *= KM_TO_MILE;
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: read speed and speed limit from params (written by speed_logic.py ~2Hz)
|
// Handle older routes where vEgoCluster is not set
|
||||||
clpParamFrame++;
|
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
|
||||||
if (clpParamFrame % 10 == 0) { // ~2Hz at 20Hz UI update rate
|
float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
|
||||||
clpHasSpeed = paramsMemory.get("ClearpilotHasSpeed") == "1";
|
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
|
||||||
clpSpeedDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedDisplay"));
|
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
|
||||||
clpSpeedLimitDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedLimitDisplay"));
|
|
||||||
clpSpeedUnit = QString::fromStdString(paramsMemory.get("ClearpilotSpeedUnit"));
|
|
||||||
clpCruiseWarning = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarning"));
|
|
||||||
clpCruiseWarningSpeed = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarningSpeed"));
|
|
||||||
}
|
|
||||||
|
|
||||||
// auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
|
// auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
|
||||||
// speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
|
// speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
|
||||||
@@ -401,28 +394,9 @@ if (edgeColor != bgColor) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void AnnotatedCameraWidget::drawHud(QPainter &p) {
|
void AnnotatedCameraWidget::drawHud(QPainter &p) {
|
||||||
// CLEARPILOT: display power control based on ScreenDisplayMode
|
// Blank when screenDisplayMode=1
|
||||||
p.save();
|
p.save();
|
||||||
|
|
||||||
if (displayMode == 3 && !alert_is_visible) {
|
|
||||||
Hardware::set_display_power(false);
|
|
||||||
p.restore();
|
|
||||||
return;
|
|
||||||
} else {
|
|
||||||
Hardware::set_display_power(true);
|
|
||||||
}
|
|
||||||
|
|
||||||
// CLEARPILOT: blinking blue circle when telemetry is recording
|
|
||||||
if (paramsMemory.getBool("TelemetryEnabled")) {
|
|
||||||
// Blink: visible for 500ms, hidden for 500ms
|
|
||||||
int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
|
|
||||||
if (phase == 0) {
|
|
||||||
p.setPen(Qt::NoPen);
|
|
||||||
p.setBrush(QColor(30, 100, 220));
|
|
||||||
p.drawEllipse(width() - 150, 50, 100, 100);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Header gradient
|
// Header gradient
|
||||||
QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
|
QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
|
||||||
bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
|
bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
|
||||||
@@ -433,7 +407,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
|
|||||||
|
|
||||||
// QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
|
// QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
|
||||||
// QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
|
// QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
|
||||||
// QString speedStr = QString::number(std::nearbyint(speed));
|
QString speedStr = QString::number(std::nearbyint(speed));
|
||||||
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
|
QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
|
||||||
|
|
||||||
p.restore();
|
p.restore();
|
||||||
@@ -457,21 +431,17 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
|
|||||||
// Todo: lead speed
|
// Todo: lead speed
|
||||||
// Todo: Experimental speed
|
// Todo: Experimental speed
|
||||||
|
|
||||||
// CLEARPILOT: show speed from speed_logic params, hide when no speed or speed=0
|
// // current speed
|
||||||
if (clpHasSpeed && !clpSpeedDisplay.isEmpty() && !scene.hide_speed) {
|
if (!(scene.hide_speed)) {
|
||||||
|
// CLEARPILOT changes to 120 from ~176
|
||||||
|
// Maybe we want to hide this?
|
||||||
p.setFont(InterFont(140, QFont::Bold));
|
p.setFont(InterFont(140, QFont::Bold));
|
||||||
drawText(p, rect().center().x(), 210, clpSpeedDisplay);
|
drawText(p, rect().center().x(), 210, speedStr);
|
||||||
|
// CLEARPILOT changes to 40 from 66
|
||||||
p.setFont(InterFont(50));
|
p.setFont(InterFont(50));
|
||||||
drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
|
drawText(p, rect().center().x(), 290, speedUnit, 200);
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: speed limit sign in lower-left, cruise warning above it
|
|
||||||
drawSpeedLimitSign(p);
|
|
||||||
drawCruiseWarningSign(p);
|
|
||||||
|
|
||||||
// CLEARPILOT: system health metrics in lower-right (debug overlay)
|
|
||||||
drawHealthMetrics(p);
|
|
||||||
|
|
||||||
// Draw FrogPilot widgets
|
// Draw FrogPilot widgets
|
||||||
paintFrogPilotWidgets(p);
|
paintFrogPilotWidgets(p);
|
||||||
}
|
}
|
||||||
@@ -565,164 +535,6 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
|
|
||||||
// Hide when no speed limit or speed limit is 0
|
|
||||||
if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
|
|
||||||
|
|
||||||
p.save();
|
|
||||||
|
|
||||||
const int signW = 189;
|
|
||||||
const int signH = 239;
|
|
||||||
const int margin = 20;
|
|
||||||
const int borderW = 6;
|
|
||||||
const int innerBorderW = 4;
|
|
||||||
const int innerMargin = 10;
|
|
||||||
const int cornerR = 15;
|
|
||||||
|
|
||||||
// Position: 20px from lower-left corner
|
|
||||||
QRect signRect(margin, height() - signH - margin, signW, signH);
|
|
||||||
|
|
||||||
if (nightriderMode) {
|
|
||||||
// Nightrider: black background, light gray-blue border and text
|
|
||||||
QColor borderColor(160, 180, 210);
|
|
||||||
QColor textColor(160, 180, 210);
|
|
||||||
|
|
||||||
// Outer border
|
|
||||||
p.setPen(QPen(borderColor, borderW));
|
|
||||||
p.setBrush(QColor(0, 0, 0, 220));
|
|
||||||
p.drawRoundedRect(signRect, cornerR, cornerR);
|
|
||||||
|
|
||||||
// Inner border
|
|
||||||
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
|
|
||||||
p.setPen(QPen(borderColor, innerBorderW));
|
|
||||||
p.setBrush(Qt::NoBrush);
|
|
||||||
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
|
|
||||||
|
|
||||||
// "SPEED" text
|
|
||||||
p.setPen(textColor);
|
|
||||||
p.setFont(InterFont(30, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
|
|
||||||
|
|
||||||
// "LIMIT" text
|
|
||||||
p.setFont(InterFont(30, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
|
|
||||||
|
|
||||||
// Speed limit number — shifted down ~10% of innerRect height via extra top inset
|
|
||||||
p.setFont(InterFont(90, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
|
|
||||||
} else {
|
|
||||||
// Normal: white background, black border and text
|
|
||||||
QColor borderColor(0, 0, 0);
|
|
||||||
QColor textColor(0, 0, 0);
|
|
||||||
|
|
||||||
// Outer border
|
|
||||||
p.setPen(QPen(borderColor, borderW));
|
|
||||||
p.setBrush(QColor(255, 255, 255, 240));
|
|
||||||
p.drawRoundedRect(signRect, cornerR, cornerR);
|
|
||||||
|
|
||||||
// Inner border
|
|
||||||
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
|
|
||||||
p.setPen(QPen(borderColor, innerBorderW));
|
|
||||||
p.setBrush(Qt::NoBrush);
|
|
||||||
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
|
|
||||||
|
|
||||||
// "SPEED" text
|
|
||||||
p.setPen(textColor);
|
|
||||||
p.setFont(InterFont(30, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
|
|
||||||
|
|
||||||
// "LIMIT" text
|
|
||||||
p.setFont(InterFont(30, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
|
|
||||||
|
|
||||||
// Speed limit number — shifted down ~10% of innerRect height via extra top inset
|
|
||||||
p.setFont(InterFont(90, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
|
|
||||||
}
|
|
||||||
|
|
||||||
p.restore();
|
|
||||||
}
|
|
||||||
|
|
||||||
void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
|
|
||||||
// Only show when there's an active warning and the speed limit sign is visible
|
|
||||||
if (clpCruiseWarning.isEmpty() || clpCruiseWarningSpeed.isEmpty()) return;
|
|
||||||
if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
|
|
||||||
|
|
||||||
bool isOver = (clpCruiseWarning == "over");
|
|
||||||
if (!isOver && clpCruiseWarning != "under") return;
|
|
||||||
|
|
||||||
p.save();
|
|
||||||
|
|
||||||
// Same dimensions as speed limit sign
|
|
||||||
const int signW = 189;
|
|
||||||
const int signH = 239;
|
|
||||||
const int margin = 20;
|
|
||||||
const int borderW = 6;
|
|
||||||
const int innerBorderW = 4;
|
|
||||||
const int innerMargin = 10;
|
|
||||||
const int cornerR = 15;
|
|
||||||
const int gap = 20;
|
|
||||||
|
|
||||||
// Position: directly above the speed limit sign
|
|
||||||
int speedLimitY = height() - signH - margin;
|
|
||||||
QRect signRect(margin, speedLimitY - signH - gap, signW, signH);
|
|
||||||
|
|
||||||
if (nightriderMode) {
|
|
||||||
// Nightrider: black background with colored border/text
|
|
||||||
QColor accentColor = isOver ? QColor(220, 50, 50) : QColor(50, 180, 80);
|
|
||||||
|
|
||||||
p.setPen(QPen(accentColor, borderW));
|
|
||||||
p.setBrush(QColor(0, 0, 0, 220));
|
|
||||||
p.drawRoundedRect(signRect, cornerR, cornerR);
|
|
||||||
|
|
||||||
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
|
|
||||||
p.setPen(QPen(accentColor, innerBorderW));
|
|
||||||
p.setBrush(Qt::NoBrush);
|
|
||||||
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
|
|
||||||
|
|
||||||
// "CRUISE" text
|
|
||||||
p.setPen(accentColor);
|
|
||||||
p.setFont(InterFont(26, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
|
|
||||||
|
|
||||||
// "SET" text
|
|
||||||
p.setFont(InterFont(26, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
|
|
||||||
|
|
||||||
// Cruise speed number
|
|
||||||
p.setFont(InterFont(90, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
|
|
||||||
} else {
|
|
||||||
// Normal: colored background with white border/text
|
|
||||||
QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
|
|
||||||
QColor fgColor(255, 255, 255);
|
|
||||||
|
|
||||||
p.setPen(QPen(fgColor, borderW));
|
|
||||||
p.setBrush(bgColor);
|
|
||||||
p.drawRoundedRect(signRect, cornerR, cornerR);
|
|
||||||
|
|
||||||
QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
|
|
||||||
p.setPen(QPen(fgColor, innerBorderW));
|
|
||||||
p.setBrush(Qt::NoBrush);
|
|
||||||
p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
|
|
||||||
|
|
||||||
// "CRUISE" text
|
|
||||||
p.setPen(fgColor);
|
|
||||||
p.setFont(InterFont(26, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
|
|
||||||
|
|
||||||
// "SET" text
|
|
||||||
p.setFont(InterFont(26, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
|
|
||||||
|
|
||||||
// Cruise speed number
|
|
||||||
p.setFont(InterFont(90, QFont::Bold));
|
|
||||||
p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
|
|
||||||
}
|
|
||||||
|
|
||||||
p.restore();
|
|
||||||
}
|
|
||||||
|
|
||||||
void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
|
void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
|
||||||
QRect real_rect = p.fontMetrics().boundingRect(text);
|
QRect real_rect = p.fontMetrics().boundingRect(text);
|
||||||
real_rect.moveCenter({x, y - real_rect.height() / 2});
|
real_rect.moveCenter({x, y - real_rect.height() / 2});
|
||||||
@@ -731,87 +543,6 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
|
|||||||
p.drawText(real_rect.x(), real_rect.bottom(), text);
|
p.drawText(real_rect.x(), real_rect.bottom(), text);
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: System health overlay — shows metrics that indicate the system
|
|
||||||
// is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
|
|
||||||
// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
|
|
||||||
// FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
|
|
||||||
// param which modeld writes only on transition.
|
|
||||||
// DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
|
|
||||||
// TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
|
|
||||||
// CPU (%): max core from deviceState.cpuUsagePercent
|
|
||||||
// MEM (%): deviceState.memoryUsagePercent
|
|
||||||
// FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
|
|
||||||
// Each value color-codes green/yellow/red by severity.
|
|
||||||
void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
|
|
||||||
static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
|
|
||||||
static int check_counter = 0;
|
|
||||||
// re-check the param every ~2s without a toggle signal path
|
|
||||||
if (++check_counter >= 40) {
|
|
||||||
check_counter = 0;
|
|
||||||
enabled = Params().getBool("ClearpilotShowHealthMetrics");
|
|
||||||
}
|
|
||||||
if (!enabled) return;
|
|
||||||
|
|
||||||
SubMaster &sm = *(uiState()->sm);
|
|
||||||
auto ds = sm["deviceState"].getDeviceState();
|
|
||||||
auto mv = sm["modelV2"].getModelV2();
|
|
||||||
auto ps = sm["peripheralState"].getPeripheralState();
|
|
||||||
|
|
||||||
int model_fps = paramsMemory.getInt("ModelFps");
|
|
||||||
float drop_pct = mv.getFrameDropPerc();
|
|
||||||
float temp_c = ds.getMaxTempC();
|
|
||||||
int mem_pct = ds.getMemoryUsagePercent();
|
|
||||||
int cpu_pct = 0;
|
|
||||||
for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
|
|
||||||
// Actual fan (not commanded): scale RPM to 0-100 using 6500 RPM as full scale
|
|
||||||
int fan_pct = std::min(100, (int)(ps.getFanSpeedRpm() * 100 / 6500));
|
|
||||||
|
|
||||||
auto color_for = [](float v, float warn, float crit) {
|
|
||||||
if (v >= crit) return QColor(0xff, 0x50, 0x50); // red
|
|
||||||
if (v >= warn) return QColor(0xff, 0xd0, 0x40); // yellow
|
|
||||||
return QColor(0xff, 0xff, 0xff); // white (ok)
|
|
||||||
};
|
|
||||||
|
|
||||||
struct Row { QString label; QString value; QColor color; };
|
|
||||||
Row rows[] = {
|
|
||||||
{"FPS", QString::number(model_fps), QColor(0xff, 0xff, 0xff)},
|
|
||||||
{"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f, 15.f)},
|
|
||||||
{"TEMP", QString::number((int)temp_c), color_for(temp_c, 75.f, 88.f)},
|
|
||||||
{"CPU", QString::number(cpu_pct), color_for((float)cpu_pct, 75.f, 90.f)},
|
|
||||||
{"MEM", QString::number(mem_pct), color_for((float)mem_pct, 70.f, 85.f)},
|
|
||||||
{"FAN", QString::number(fan_pct), QColor(0xff, 0xff, 0xff)},
|
|
||||||
};
|
|
||||||
|
|
||||||
p.save();
|
|
||||||
p.setFont(InterFont(90, QFont::Bold));
|
|
||||||
QFontMetrics fm = p.fontMetrics();
|
|
||||||
int row_h = fm.height(); // natural line height at 90pt bold
|
|
||||||
int gap = 40; // requested 40px between values
|
|
||||||
int margin = 30; // requested 30px margin
|
|
||||||
int panel_w = 360; // fixed width — fits "TEMP 99"
|
|
||||||
int n = sizeof(rows) / sizeof(rows[0]);
|
|
||||||
int panel_h = n * row_h + (n - 1) * gap + 2 * margin;
|
|
||||||
int x = width() - panel_w - margin;
|
|
||||||
int y = height() - panel_h - margin;
|
|
||||||
|
|
||||||
// black background
|
|
||||||
p.setPen(Qt::NoPen);
|
|
||||||
p.setBrush(QColor(0, 0, 0, 200));
|
|
||||||
p.drawRoundedRect(QRect(x, y, panel_w, panel_h), 20, 20);
|
|
||||||
|
|
||||||
// rows
|
|
||||||
int text_y = y + margin + fm.ascent();
|
|
||||||
for (int i = 0; i < n; i++) {
|
|
||||||
p.setPen(rows[i].color);
|
|
||||||
// label left (shifted -50px per user request), value right
|
|
||||||
p.drawText(x + margin - 50, text_y, rows[i].label);
|
|
||||||
QRect vrect = fm.boundingRect(rows[i].value);
|
|
||||||
p.drawText(x + panel_w - margin - vrect.width(), text_y, rows[i].value);
|
|
||||||
text_y += row_h + gap;
|
|
||||||
}
|
|
||||||
p.restore();
|
|
||||||
}
|
|
||||||
|
|
||||||
void AnnotatedCameraWidget::initializeGL() {
|
void AnnotatedCameraWidget::initializeGL() {
|
||||||
CameraWidget::initializeGL();
|
CameraWidget::initializeGL();
|
||||||
qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
|
qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
|
||||||
@@ -831,6 +562,13 @@ void AnnotatedCameraWidget::updateFrameMat() {
|
|||||||
s->fb_w = w;
|
s->fb_w = w;
|
||||||
s->fb_h = h;
|
s->fb_h = h;
|
||||||
|
|
||||||
|
if (screenDisplayMode == 1 || screenDisplayMode == 2) {
|
||||||
|
// Render a black box instead of the video feed
|
||||||
|
QPainter painter(this);
|
||||||
|
painter.fillRect(0, 0, w, h, Qt::black);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
// Apply transformation such that video pixel coordinates match video
|
// Apply transformation such that video pixel coordinates match video
|
||||||
// 1) Put (0, 0) in the middle of the video
|
// 1) Put (0, 0) in the middle of the video
|
||||||
// 2) Apply same scaling as video
|
// 2) Apply same scaling as video
|
||||||
@@ -842,59 +580,32 @@ void AnnotatedCameraWidget::updateFrameMat() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||||
|
if (screenDisplayMode == 2) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
painter.save();
|
painter.save();
|
||||||
|
|
||||||
// CLEARPILOT: color channel code rewriten to allow custom colors
|
// CLEARPILOT: color channel code rewriten to allow custom colors
|
||||||
|
|
||||||
SubMaster &sm = *(s->sm);
|
SubMaster &sm = *(s->sm);
|
||||||
|
|
||||||
// CLEARPILOT: nightrider mode — outline only, no fill
|
|
||||||
bool outlineOnly = nightriderMode;
|
|
||||||
|
|
||||||
// CLEARPILOT: in nightrider mode, hide all lines when not engaged
|
|
||||||
if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
|
|
||||||
painter.restore();
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
// CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
|
|
||||||
int outlineWidth = outlineOnly ? 3 : 2;
|
|
||||||
// CLEARPILOT: lane lines 5% thinner than the generic outline (QPen accepts float width)
|
|
||||||
float laneLineWidth = outlineOnly ? (float)outlineWidth * 0.95f : (float)outlineWidth;
|
|
||||||
|
|
||||||
// lanelines
|
// lanelines
|
||||||
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
|
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
|
||||||
QColor lineColor = QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7));
|
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
|
||||||
if (outlineOnly) {
|
|
||||||
painter.setPen(QPen(lineColor, laneLineWidth));
|
|
||||||
painter.setBrush(Qt::NoBrush);
|
|
||||||
} else {
|
|
||||||
painter.setPen(Qt::NoPen);
|
|
||||||
painter.setBrush(lineColor);
|
|
||||||
}
|
|
||||||
painter.drawPolygon(scene.lane_line_vertices[i]);
|
painter.drawPolygon(scene.lane_line_vertices[i]);
|
||||||
}
|
}
|
||||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
|
||||||
|
|
||||||
// road edges
|
// road edges
|
||||||
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
|
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
|
||||||
QColor edgeCol = QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
|
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
|
||||||
if (outlineOnly) {
|
|
||||||
painter.setPen(QPen(edgeCol, outlineWidth));
|
|
||||||
painter.setBrush(Qt::NoBrush);
|
|
||||||
} else {
|
|
||||||
painter.setPen(Qt::NoPen);
|
|
||||||
painter.setBrush(edgeCol);
|
|
||||||
}
|
|
||||||
painter.drawPolygon(scene.road_edge_vertices[i]);
|
painter.drawPolygon(scene.road_edge_vertices[i]);
|
||||||
}
|
}
|
||||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
|
||||||
|
|
||||||
// paint center lane path
|
// paint center lane path
|
||||||
// QColor bg_colors[CHANGE_LANE_PATH_COLOR];
|
// QColor bg_colors[CHANGE_LANE_PATH_COLOR];
|
||||||
|
|
||||||
// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
|
bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
|
||||||
bool is_no_lat_lane_change = sm["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
|
|
||||||
|
|
||||||
QColor center_lane_color;
|
QColor center_lane_color;
|
||||||
|
|
||||||
@@ -954,23 +665,12 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
|||||||
path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
|
path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
|
||||||
}
|
}
|
||||||
|
|
||||||
if (outlineOnly) {
|
painter.setBrush(path_gradient);
|
||||||
// CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
|
|
||||||
// Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
|
|
||||||
// the path reads as a neutral guide, not as engagement/status feedback.
|
|
||||||
QColor lightBlue(153, 204, 255, 220); // #99CCFF light blue, mostly opaque
|
|
||||||
painter.setPen(QPen(lightBlue, 3));
|
|
||||||
painter.setBrush(Qt::NoBrush);
|
|
||||||
} else {
|
|
||||||
painter.setPen(Qt::NoPen);
|
|
||||||
painter.setBrush(path_gradient);
|
|
||||||
}
|
|
||||||
painter.drawPolygon(scene.track_vertices);
|
painter.drawPolygon(scene.track_vertices);
|
||||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Paint path edges ,Use current background color
|
// Paint path edges ,Use current background color
|
||||||
if (edgeColor != bg_colors[STATUS_DISENGAGED] && !outlineOnly) {
|
if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
|
||||||
QLinearGradient edge_gradient;
|
QLinearGradient edge_gradient;
|
||||||
edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));
|
edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));
|
||||||
edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.8) ));
|
edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.8) ));
|
||||||
@@ -986,24 +686,18 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
|||||||
|
|
||||||
// Paint blindspot path
|
// Paint blindspot path
|
||||||
if (scene.blind_spot_path) {
|
if (scene.blind_spot_path) {
|
||||||
QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
|
QLinearGradient bs(0, height(), 0, 0);
|
||||||
if (outlineOnly) {
|
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
|
||||||
painter.setPen(QPen(bsColor, outlineWidth));
|
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
|
||||||
painter.setBrush(Qt::NoBrush);
|
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
|
||||||
} else {
|
|
||||||
QLinearGradient bs(0, height(), 0, 0);
|
painter.setBrush(bs);
|
||||||
bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
|
|
||||||
bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
|
|
||||||
bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
|
|
||||||
painter.setBrush(bs);
|
|
||||||
}
|
|
||||||
if (blindSpotLeft) {
|
if (blindSpotLeft) {
|
||||||
painter.drawPolygon(scene.track_adjacent_vertices[4]);
|
painter.drawPolygon(scene.track_adjacent_vertices[4]);
|
||||||
}
|
}
|
||||||
if (blindSpotRight) {
|
if (blindSpotRight) {
|
||||||
painter.drawPolygon(scene.track_adjacent_vertices[5]);
|
painter.drawPolygon(scene.track_adjacent_vertices[5]);
|
||||||
}
|
}
|
||||||
if (outlineOnly) painter.setPen(Qt::NoPen);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Paint adjacent lane paths
|
// Paint adjacent lane paths
|
||||||
@@ -1014,19 +708,16 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
|||||||
float maxLaneWidth = laneDetectionWidth * 1.5;
|
float maxLaneWidth = laneDetectionWidth * 1.5;
|
||||||
|
|
||||||
auto paintLane = [=](QPainter &painter, const QPolygonF &lane, float laneWidth, bool blindspot) {
|
auto paintLane = [=](QPainter &painter, const QPolygonF &lane, float laneWidth, bool blindspot) {
|
||||||
|
QLinearGradient al(0, height(), 0, 0);
|
||||||
|
|
||||||
bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
|
bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
|
||||||
float hue = redPath ? 0.0 : 120.0 * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
|
float hue = redPath ? 0.0 : 120.0 * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
|
||||||
|
|
||||||
if (outlineOnly) {
|
al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
|
||||||
painter.setPen(QPen(QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6), 2));
|
al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
|
||||||
painter.setBrush(Qt::NoBrush);
|
al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
|
||||||
} else {
|
|
||||||
QLinearGradient al(0, height(), 0, 0);
|
painter.setBrush(al);
|
||||||
al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
|
|
||||||
al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
|
|
||||||
al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
|
|
||||||
painter.setBrush(al);
|
|
||||||
}
|
|
||||||
painter.drawPolygon(lane);
|
painter.drawPolygon(lane);
|
||||||
|
|
||||||
painter.setFont(InterFont(30, QFont::DemiBold));
|
painter.setFont(InterFont(30, QFont::DemiBold));
|
||||||
@@ -1114,10 +805,6 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
|
|||||||
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
|
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
|
||||||
const float v_ego = sm["carState"].getCarState().getVEgo();
|
const float v_ego = sm["carState"].getCarState().getVEgo();
|
||||||
|
|
||||||
// CLEARPILOT: read display mode early — needed for camera suppression
|
|
||||||
displayMode = paramsMemory.getInt("ScreenDisplayMode");
|
|
||||||
nightriderMode = (displayMode == 1 || displayMode == 4);
|
|
||||||
|
|
||||||
// draw camera frame
|
// draw camera frame
|
||||||
{
|
{
|
||||||
std::lock_guard lk(frame_lock);
|
std::lock_guard lk(frame_lock);
|
||||||
@@ -1158,19 +845,9 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
|
|||||||
} else {
|
} else {
|
||||||
CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
|
CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
|
||||||
}
|
}
|
||||||
// CLEARPILOT: force CameraWidget bg to black in nightrider to prevent color bleed
|
|
||||||
if (nightriderMode) {
|
|
||||||
CameraWidget::setBackgroundColor(Qt::black);
|
|
||||||
}
|
|
||||||
painter.beginNativePainting();
|
painter.beginNativePainting();
|
||||||
if (nightriderMode) {
|
CameraWidget::setFrameId(model.getFrameId());
|
||||||
// CLEARPILOT: black background, no camera feed
|
CameraWidget::paintGL();
|
||||||
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
|
|
||||||
glClear(GL_COLOR_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
|
|
||||||
} else {
|
|
||||||
CameraWidget::setFrameId(model.getFrameId());
|
|
||||||
CameraWidget::paintGL();
|
|
||||||
}
|
|
||||||
painter.endNativePainting();
|
painter.endNativePainting();
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -1248,7 +925,7 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
|
|||||||
animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
|
animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
|
||||||
});
|
});
|
||||||
|
|
||||||
// CLEARPILOT: screen recorder disabled — replaced by dedicated dashcamd process
|
// Initialize the timer for the screen recorder
|
||||||
// QTimer *record_timer = new QTimer(this);
|
// QTimer *record_timer = new QTimer(this);
|
||||||
// connect(record_timer, &QTimer::timeout, this, [this]() {
|
// connect(record_timer, &QTimer::timeout, this, [this]() {
|
||||||
// if (recorder_btn) {
|
// if (recorder_btn) {
|
||||||
@@ -1333,8 +1010,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
|
void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
|
||||||
// CLEARPILOT: only show status bar when telemetry is enabled
|
if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI)) {
|
||||||
if (paramsMemory.getBool("TelemetryEnabled")) {
|
|
||||||
drawStatusBar(p);
|
drawStatusBar(p);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -1346,7 +1022,8 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
|
|||||||
drawSLCConfirmation(p);
|
drawSLCConfirmation(p);
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: screen recorder disabled, using dashcamd instead
|
// recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
|
||||||
|
recorder_btn->setVisible(false);
|
||||||
}
|
}
|
||||||
|
|
||||||
void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
|
void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
|
||||||
@@ -1535,30 +1212,7 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
|
|||||||
|
|
||||||
QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
|
QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
|
||||||
|
|
||||||
// CLEARPILOT: telemetry status bar — show live stats when telemetry enabled
|
if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
|
||||||
if (paramsMemory.getBool("TelemetryEnabled")) {
|
|
||||||
SubMaster &sm = *(uiState()->sm);
|
|
||||||
auto deviceState = sm["deviceState"].getDeviceState();
|
|
||||||
int maxTempC = deviceState.getMaxTempC();
|
|
||||||
int fanPct = deviceState.getFanSpeedPercentDesired();
|
|
||||||
bool standstill = sm["carState"].getCarState().getStandstill();
|
|
||||||
|
|
||||||
static double last_model_status_t = 0;
|
|
||||||
static float model_status_fps = 0;
|
|
||||||
if (sm.updated("modelV2")) {
|
|
||||||
double now = millis_since_boot();
|
|
||||||
if (last_model_status_t > 0) {
|
|
||||||
double dt = now - last_model_status_t;
|
|
||||||
if (dt > 0) model_status_fps = model_status_fps * 0.8 + (1000.0 / dt) * 0.2;
|
|
||||||
}
|
|
||||||
last_model_status_t = now;
|
|
||||||
}
|
|
||||||
|
|
||||||
newStatus = QString("%1\u00B0C FAN %2% MDL %3")
|
|
||||||
.arg(maxTempC).arg(fanPct).arg(model_status_fps, 0, 'f', 0);
|
|
||||||
if (standstill) newStatus += " STANDSTILL";
|
|
||||||
// CLEARPILOT: suppress "Always On Lateral active" status bar message
|
|
||||||
} else if (false && alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
|
|
||||||
newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
|
newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
|
||||||
} else if (showConditionalExperimentalStatusBar) {
|
} else if (showConditionalExperimentalStatusBar) {
|
||||||
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
|
newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
|
||||||
|
|||||||
@@ -12,7 +12,7 @@
|
|||||||
#include "selfdrive/ui/ui.h"
|
#include "selfdrive/ui/ui.h"
|
||||||
#include "selfdrive/ui/qt/widgets/cameraview.h"
|
#include "selfdrive/ui/qt/widgets/cameraview.h"
|
||||||
|
|
||||||
// #include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" // DISABLED: using dashcamd instead
|
#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
|
||||||
|
|
||||||
const int btn_size = 192;
|
const int btn_size = 192;
|
||||||
const int img_size = (btn_size / 4) * 3;
|
const int img_size = (btn_size / 4) * 3;
|
||||||
@@ -47,31 +47,16 @@ public:
|
|||||||
explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
|
explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
|
||||||
void updateState(const UIState &s);
|
void updateState(const UIState &s);
|
||||||
void updateLaneEdgeColor(QColor &bgColor);
|
void updateLaneEdgeColor(QColor &bgColor);
|
||||||
|
int screenDisplayMode = 0;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
|
void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
|
||||||
void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
|
void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
|
||||||
void drawSpeedLimitSign(QPainter &p);
|
|
||||||
void drawCruiseWarningSign(QPainter &p);
|
|
||||||
void drawHealthMetrics(QPainter &p);
|
|
||||||
|
|
||||||
QVBoxLayout *main_layout;
|
QVBoxLayout *main_layout;
|
||||||
QPixmap dm_img;
|
QPixmap dm_img;
|
||||||
float speed;
|
float speed;
|
||||||
bool has_gps_speed = false;
|
|
||||||
bool nightriderMode = false;
|
|
||||||
int displayMode = 0;
|
|
||||||
QString speedUnit;
|
QString speedUnit;
|
||||||
|
|
||||||
// ClearPilot speed state (from params_memory, updated ~2Hz)
|
|
||||||
bool clpHasSpeed = false;
|
|
||||||
QString clpSpeedDisplay;
|
|
||||||
QString clpSpeedLimitDisplay;
|
|
||||||
QString clpSpeedUnit;
|
|
||||||
QString clpCruiseWarning;
|
|
||||||
QString clpCruiseWarningSpeed;
|
|
||||||
int clpParamFrame = 0;
|
|
||||||
|
|
||||||
float setSpeed;
|
float setSpeed;
|
||||||
float speedLimit;
|
float speedLimit;
|
||||||
bool is_cruise_set = false;
|
bool is_cruise_set = false;
|
||||||
@@ -104,6 +89,8 @@ private:
|
|||||||
Params paramsMemory{"/dev/shm/params"};
|
Params paramsMemory{"/dev/shm/params"};
|
||||||
UIScene &scene;
|
UIScene &scene;
|
||||||
|
|
||||||
|
ScreenRecorder *recorder_btn;
|
||||||
|
|
||||||
QHBoxLayout *bottom_layout;
|
QHBoxLayout *bottom_layout;
|
||||||
|
|
||||||
bool alwaysOnLateralActive;
|
bool alwaysOnLateralActive;
|
||||||
|
|||||||
+13
-74
@@ -30,12 +30,11 @@ ReadyWindow::ReadyWindow(QWidget *parent) : QWidget(parent) {
|
|||||||
|
|
||||||
timer = new QTimer(this);
|
timer = new QTimer(this);
|
||||||
timer->callOnTimeout(this, &ReadyWindow::refresh);
|
timer->callOnTimeout(this, &ReadyWindow::refresh);
|
||||||
uptime.start();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void ReadyWindow::showEvent(QShowEvent *event) {
|
void ReadyWindow::showEvent(QShowEvent *event) {
|
||||||
refresh();
|
refresh();
|
||||||
timer->start(2 * 1000);
|
timer->start(5 * 1000);
|
||||||
}
|
}
|
||||||
|
|
||||||
void ReadyWindow::hideEvent(QHideEvent *event) {
|
void ReadyWindow::hideEvent(QHideEvent *event) {
|
||||||
@@ -44,94 +43,34 @@ void ReadyWindow::hideEvent(QHideEvent *event) {
|
|||||||
|
|
||||||
void ReadyWindow::paintEvent(QPaintEvent *event) {
|
void ReadyWindow::paintEvent(QPaintEvent *event) {
|
||||||
QPainter painter(this);
|
QPainter painter(this);
|
||||||
painter.fillRect(rect(), Qt::black);
|
QPixmap *img_shown = nullptr;
|
||||||
|
|
||||||
if (is_hot) {
|
if (is_hot) {
|
||||||
if (img_hot.isNull()) {
|
if (img_hot.isNull()) {
|
||||||
img_hot.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/hot.png");
|
img_hot.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/hot.png");
|
||||||
}
|
}
|
||||||
int x = (width() - img_hot.width()) / 2;
|
img_shown = &img_hot;
|
||||||
int y = (height() - img_hot.height()) / 2;
|
|
||||||
painter.drawPixmap(x, y, img_hot);
|
|
||||||
} else {
|
} else {
|
||||||
// Boot logo — same rotation as spinner (bg.jpg is pre-rotated 90° CW for framebuffer)
|
if (img_ready.isNull()) {
|
||||||
if (img_bg.isNull()) {
|
img_ready.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready.png");
|
||||||
QPixmap raw("/usr/comma/bg.jpg");
|
|
||||||
if (!raw.isNull()) {
|
|
||||||
QTransform rot;
|
|
||||||
rot.rotate(-90);
|
|
||||||
img_bg = raw.transformed(rot);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (!img_bg.isNull()) {
|
|
||||||
QPixmap scaled = img_bg.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
|
|
||||||
int x = (width() - scaled.width()) / 2;
|
|
||||||
int y = (height() - scaled.height()) / 2;
|
|
||||||
painter.drawPixmap(x, y, scaled);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (error_msg.isEmpty() && !has_driven) {
|
|
||||||
// "READY!" 8-bit text sprite, 15% below center — only before first drive
|
|
||||||
static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
|
|
||||||
if (!ready_text.isNull()) {
|
|
||||||
int tx = (width() - ready_text.width()) / 2;
|
|
||||||
int ty = height() / 2 + height() * 15 / 100;
|
|
||||||
painter.drawPixmap(tx, ty, ready_text);
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
// Error state: red text at 25% below center
|
|
||||||
QFont font("Inter", 50, QFont::Bold);
|
|
||||||
painter.setFont(font);
|
|
||||||
painter.setPen(QColor(0xFF, 0x44, 0x44));
|
|
||||||
int ty = height() / 2 + height() * 25 / 100;
|
|
||||||
QRect text_rect(0, ty, width(), 100);
|
|
||||||
painter.drawText(text_rect, Qt::AlignHCenter | Qt::AlignTop, error_msg);
|
|
||||||
}
|
}
|
||||||
|
img_shown = &img_ready;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
int x = (width() - img_shown->width()) / 2;
|
||||||
|
int y = (height() - img_shown->height()) / 2;
|
||||||
|
painter.drawPixmap(x, y, *img_shown);
|
||||||
}
|
}
|
||||||
|
|
||||||
void ReadyWindow::refresh() {
|
void ReadyWindow::refresh() {
|
||||||
bool changed = false;
|
|
||||||
|
|
||||||
// Temperature check
|
|
||||||
std::string bytes = params.get("Offroad_TemperatureTooHigh");
|
std::string bytes = params.get("Offroad_TemperatureTooHigh");
|
||||||
bool was_hot = is_hot;
|
|
||||||
if (!bytes.empty()) {
|
if (!bytes.empty()) {
|
||||||
auto doc = QJsonDocument::fromJson(bytes.data());
|
auto doc = QJsonDocument::fromJson(bytes.data());
|
||||||
is_hot = true;
|
is_hot = true;
|
||||||
cur_temp = doc["extra"].toString();
|
cur_temp = doc["extra"].toString();
|
||||||
} else {
|
update();
|
||||||
|
} else if (is_hot) {
|
||||||
is_hot = false;
|
is_hot = false;
|
||||||
|
update();
|
||||||
}
|
}
|
||||||
if (is_hot != was_hot) changed = true;
|
|
||||||
|
|
||||||
// Error state checks (only when not hot — hot has its own display)
|
|
||||||
if (!is_hot) {
|
|
||||||
QString prev_error = error_msg;
|
|
||||||
|
|
||||||
// Panda check — same logic as sidebar, with 10s grace period on startup
|
|
||||||
if (uptime.elapsed() > 10000 &&
|
|
||||||
uiState()->scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
|
|
||||||
error_msg = "PANDA NOT CONNECTED";
|
|
||||||
}
|
|
||||||
// Car unrecognized check
|
|
||||||
else if (!params.get("Offroad_CarUnrecognized").empty()) {
|
|
||||||
error_msg = "CAR NOT RECOGNIZED";
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
error_msg = "";
|
|
||||||
}
|
|
||||||
|
|
||||||
if (error_msg != prev_error) changed = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Reset has_driven on ignition off→on (power cycle)
|
|
||||||
bool started = uiState()->scene.started;
|
|
||||||
if (!last_started && started) {
|
|
||||||
has_driven = false;
|
|
||||||
changed = true;
|
|
||||||
}
|
|
||||||
last_started = started;
|
|
||||||
|
|
||||||
if (changed) update();
|
|
||||||
}
|
}
|
||||||
@@ -8,9 +8,8 @@
|
|||||||
#include <QSocketNotifier>
|
#include <QSocketNotifier>
|
||||||
#include <QVariantAnimation>
|
#include <QVariantAnimation>
|
||||||
#include <QWidget>
|
#include <QWidget>
|
||||||
#include <QElapsedTimer>
|
|
||||||
#include <QTimer>
|
#include <QTimer>
|
||||||
|
|
||||||
#include "common/util.h"
|
#include "common/util.h"
|
||||||
#include "selfdrive/ui/ui.h"
|
#include "selfdrive/ui/ui.h"
|
||||||
|
|
||||||
@@ -18,7 +17,6 @@ class ReadyWindow : public QWidget {
|
|||||||
Q_OBJECT
|
Q_OBJECT
|
||||||
public:
|
public:
|
||||||
ReadyWindow(QWidget* parent = nullptr);
|
ReadyWindow(QWidget* parent = nullptr);
|
||||||
bool has_driven = false;
|
|
||||||
private:
|
private:
|
||||||
void showEvent(QShowEvent *event) override;
|
void showEvent(QShowEvent *event) override;
|
||||||
void hideEvent(QHideEvent *event) override;
|
void hideEvent(QHideEvent *event) override;
|
||||||
@@ -28,9 +26,6 @@ private:
|
|||||||
QTimer* timer;
|
QTimer* timer;
|
||||||
bool is_hot = false;
|
bool is_hot = false;
|
||||||
QString cur_temp;
|
QString cur_temp;
|
||||||
QString error_msg; // non-empty = show red error instead of READY!
|
QPixmap img_ready;
|
||||||
QElapsedTimer uptime;
|
|
||||||
bool last_started = false;
|
|
||||||
QPixmap img_bg;
|
|
||||||
QPixmap img_hot;
|
QPixmap img_hot;
|
||||||
};
|
};
|
||||||
Binary file not shown.
+38
-28
@@ -15,24 +15,48 @@
|
|||||||
#include "selfdrive/ui/qt/qt_window.h"
|
#include "selfdrive/ui/qt/qt_window.h"
|
||||||
#include "selfdrive/ui/qt/util.h"
|
#include "selfdrive/ui/qt/util.h"
|
||||||
|
|
||||||
// CLEARPILOT: full-screen boot logo background with progress bar overlay
|
TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
|
||||||
|
setAttribute(Qt::WA_OpaquePaintEvent);
|
||||||
|
setFixedSize(spinner_size);
|
||||||
|
|
||||||
Spinner::Spinner(QWidget *parent) : QWidget(parent) {
|
// pre-compute all the track imgs. make this a gif instead?
|
||||||
// Load boot logo as full-screen background, rotated 90° CCW
|
QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
|
||||||
// (bg.jpg is pre-rotated 90° CW for the raw framebuffer)
|
QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
|
||||||
QPixmap boot_logo("/usr/comma/bg.jpg");
|
|
||||||
if (!boot_logo.isNull()) {
|
QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
|
||||||
QTransform rot;
|
QPixmap pm(spinner_size);
|
||||||
rot.rotate(-90);
|
QPainter p(&pm);
|
||||||
bg_img = boot_logo.transformed(rot);
|
p.setRenderHint(QPainter::SmoothPixmapTransform);
|
||||||
|
for (int i = 0; i < track_imgs.size(); ++i) {
|
||||||
|
p.resetTransform();
|
||||||
|
p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
|
||||||
|
p.drawPixmap(0, 0, comma_img);
|
||||||
|
p.setTransform(transform.rotate(360 / spinner_fps));
|
||||||
|
p.drawPixmap(-width() / 2, -height() / 2, track_img);
|
||||||
|
track_imgs[i] = pm.copy();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
m_anim.setDuration(1000);
|
||||||
|
m_anim.setStartValue(0);
|
||||||
|
m_anim.setEndValue(int(track_imgs.size() -1));
|
||||||
|
m_anim.setLoopCount(-1);
|
||||||
|
m_anim.start();
|
||||||
|
connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
|
||||||
|
}
|
||||||
|
|
||||||
|
void TrackWidget::paintEvent(QPaintEvent *event) {
|
||||||
|
QPainter painter(this);
|
||||||
|
painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Spinner
|
||||||
|
|
||||||
|
Spinner::Spinner(QWidget *parent) : QWidget(parent) {
|
||||||
QGridLayout *main_layout = new QGridLayout(this);
|
QGridLayout *main_layout = new QGridLayout(this);
|
||||||
main_layout->setSpacing(0);
|
main_layout->setSpacing(0);
|
||||||
main_layout->setMargin(0);
|
main_layout->setMargin(200);
|
||||||
|
|
||||||
// Spacer to push progress bar toward bottom
|
main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
|
||||||
main_layout->setRowStretch(0, 1);
|
|
||||||
|
|
||||||
text = new QLabel();
|
text = new QLabel();
|
||||||
text->setWordWrap(true);
|
text->setWordWrap(true);
|
||||||
@@ -45,10 +69,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
|
|||||||
progress_bar->setTextVisible(false);
|
progress_bar->setTextVisible(false);
|
||||||
progress_bar->setVisible(false);
|
progress_bar->setVisible(false);
|
||||||
progress_bar->setFixedHeight(20);
|
progress_bar->setFixedHeight(20);
|
||||||
main_layout->addWidget(progress_bar, 2, 0, Qt::AlignHCenter | Qt::AlignBottom);
|
main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
|
||||||
|
|
||||||
// Bottom margin for progress bar
|
|
||||||
main_layout->setContentsMargins(0, 0, 0, 80);
|
|
||||||
|
|
||||||
setStyleSheet(R"(
|
setStyleSheet(R"(
|
||||||
Spinner {
|
Spinner {
|
||||||
@@ -67,7 +88,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
|
|||||||
}
|
}
|
||||||
QProgressBar::chunk {
|
QProgressBar::chunk {
|
||||||
border-radius: 10px;
|
border-radius: 10px;
|
||||||
background-color: white;
|
background-color: rgba(23, 134, 68, 255);
|
||||||
}
|
}
|
||||||
)");
|
)");
|
||||||
|
|
||||||
@@ -75,17 +96,6 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
|
|||||||
QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
|
QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
|
||||||
}
|
}
|
||||||
|
|
||||||
void Spinner::paintEvent(QPaintEvent *event) {
|
|
||||||
QPainter p(this);
|
|
||||||
p.fillRect(rect(), Qt::black);
|
|
||||||
if (!bg_img.isNull()) {
|
|
||||||
QPixmap scaled = bg_img.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
|
|
||||||
int x = (width() - scaled.width()) / 2;
|
|
||||||
int y = (height() - scaled.height()) / 2;
|
|
||||||
p.drawPixmap(x, y, scaled);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void Spinner::update(int n) {
|
void Spinner::update(int n) {
|
||||||
std::string line;
|
std::string line;
|
||||||
std::getline(std::cin, line);
|
std::getline(std::cin, line);
|
||||||
|
|||||||
@@ -1,23 +1,36 @@
|
|||||||
|
#include <array>
|
||||||
|
|
||||||
#include <QLabel>
|
#include <QLabel>
|
||||||
#include <QPixmap>
|
#include <QPixmap>
|
||||||
#include <QProgressBar>
|
#include <QProgressBar>
|
||||||
#include <QSocketNotifier>
|
#include <QSocketNotifier>
|
||||||
|
#include <QVariantAnimation>
|
||||||
#include <QWidget>
|
#include <QWidget>
|
||||||
|
|
||||||
|
constexpr int spinner_fps = 30;
|
||||||
|
constexpr QSize spinner_size = QSize(360, 360);
|
||||||
|
|
||||||
|
class TrackWidget : public QWidget {
|
||||||
|
Q_OBJECT
|
||||||
|
public:
|
||||||
|
TrackWidget(QWidget *parent = nullptr);
|
||||||
|
|
||||||
|
private:
|
||||||
|
void paintEvent(QPaintEvent *event) override;
|
||||||
|
std::array<QPixmap, spinner_fps> track_imgs;
|
||||||
|
QVariantAnimation m_anim;
|
||||||
|
};
|
||||||
|
|
||||||
class Spinner : public QWidget {
|
class Spinner : public QWidget {
|
||||||
Q_OBJECT
|
Q_OBJECT
|
||||||
|
|
||||||
public:
|
public:
|
||||||
explicit Spinner(QWidget *parent = 0);
|
explicit Spinner(QWidget *parent = 0);
|
||||||
|
|
||||||
protected:
|
|
||||||
void paintEvent(QPaintEvent *event) override;
|
|
||||||
|
|
||||||
private:
|
private:
|
||||||
QLabel *text;
|
QLabel *text;
|
||||||
QProgressBar *progress_bar;
|
QProgressBar *progress_bar;
|
||||||
QSocketNotifier *notifier;
|
QSocketNotifier *notifier;
|
||||||
QPixmap bg_img;
|
|
||||||
|
|
||||||
public slots:
|
public slots:
|
||||||
void update(int n);
|
void update(int n);
|
||||||
|
|||||||
+3
-310
@@ -1,9 +1,6 @@
|
|||||||
#include "selfdrive/ui/qt/window.h"
|
#include "selfdrive/ui/qt/window.h"
|
||||||
|
|
||||||
#include <QFontDatabase>
|
#include <QFontDatabase>
|
||||||
#include <QMouseEvent>
|
|
||||||
|
|
||||||
#include <zmq.h>
|
|
||||||
|
|
||||||
#include "system/hardware/hw.h"
|
#include "system/hardware/hw.h"
|
||||||
|
|
||||||
@@ -14,7 +11,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
|
|||||||
homeWindow = new HomeWindow(this);
|
homeWindow = new HomeWindow(this);
|
||||||
main_layout->addWidget(homeWindow);
|
main_layout->addWidget(homeWindow);
|
||||||
QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
|
QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
|
||||||
QObject::connect(homeWindow, &HomeWindow::openStatus, this, &MainWindow::openStatus);
|
|
||||||
QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
|
QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
|
||||||
|
|
||||||
settingsWindow = new SettingsWindow(this);
|
settingsWindow = new SettingsWindow(this);
|
||||||
@@ -28,11 +24,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
|
|||||||
homeWindow->showDriverView(true);
|
homeWindow->showDriverView(true);
|
||||||
});
|
});
|
||||||
|
|
||||||
// CLEARPILOT: Status window
|
|
||||||
statusWindow = new StatusWindow(this);
|
|
||||||
main_layout->addWidget(statusWindow);
|
|
||||||
QObject::connect(statusWindow, &StatusWindow::closeStatus, this, &MainWindow::closeSettings);
|
|
||||||
|
|
||||||
onboardingWindow = new OnboardingWindow(this);
|
onboardingWindow = new OnboardingWindow(this);
|
||||||
main_layout->addWidget(onboardingWindow);
|
main_layout->addWidget(onboardingWindow);
|
||||||
QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
|
QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
|
||||||
@@ -44,17 +35,13 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
|
|||||||
|
|
||||||
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
|
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
|
||||||
if (!offroad) {
|
if (!offroad) {
|
||||||
// CLEARPILOT: just switch to homeWindow, don't show sidebar
|
closeSettings();
|
||||||
// HomeWindow::offroadTransition handles the internal view
|
|
||||||
main_layout->setCurrentWidget(homeWindow);
|
|
||||||
}
|
}
|
||||||
});
|
});
|
||||||
QObject::connect(device(), &Device::interactiveTimeout, [=]() {
|
QObject::connect(device(), &Device::interactiveTimeout, [=]() {
|
||||||
// CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
|
if (main_layout->currentWidget() == settingsWindow) {
|
||||||
if (main_layout->currentWidget() != homeWindow) {
|
closeSettings();
|
||||||
main_layout->setCurrentWidget(homeWindow);
|
|
||||||
}
|
}
|
||||||
homeWindow->offroadTransition(!uiState()->scene.started);
|
|
||||||
});
|
});
|
||||||
|
|
||||||
// load fonts
|
// load fonts
|
||||||
@@ -76,74 +63,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
|
|||||||
}
|
}
|
||||||
)");
|
)");
|
||||||
setAttribute(Qt::WA_NoSystemBackground);
|
setAttribute(Qt::WA_NoSystemBackground);
|
||||||
|
|
||||||
// CLEARPILOT: UI introspection RPC server
|
|
||||||
zmq_ctx = zmq_ctx_new();
|
|
||||||
zmq_sock = zmq_socket(zmq_ctx, ZMQ_REP);
|
|
||||||
zmq_bind(zmq_sock, "ipc:///tmp/clearpilot_ui_rpc");
|
|
||||||
int fd;
|
|
||||||
size_t fd_sz = sizeof(fd);
|
|
||||||
zmq_getsockopt(zmq_sock, ZMQ_FD, &fd, &fd_sz);
|
|
||||||
rpc_notifier = new QSocketNotifier(fd, QSocketNotifier::Read, this);
|
|
||||||
connect(rpc_notifier, &QSocketNotifier::activated, this, &MainWindow::handleRpcRequest);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MainWindow::handleRpcRequest() {
|
|
||||||
int events = 0;
|
|
||||||
size_t events_sz = sizeof(events);
|
|
||||||
zmq_getsockopt(zmq_sock, ZMQ_EVENTS, &events, &events_sz);
|
|
||||||
if (!(events & ZMQ_POLLIN)) return;
|
|
||||||
|
|
||||||
char buf[256];
|
|
||||||
int rc = zmq_recv(zmq_sock, buf, sizeof(buf) - 1, ZMQ_DONTWAIT);
|
|
||||||
if (rc < 0) return;
|
|
||||||
buf[rc] = 0;
|
|
||||||
|
|
||||||
QString response;
|
|
||||||
if (strcmp(buf, "dump") == 0) {
|
|
||||||
response = dumpWidgetTree(this);
|
|
||||||
} else {
|
|
||||||
response = "unknown command";
|
|
||||||
}
|
|
||||||
|
|
||||||
QByteArray resp = response.toUtf8();
|
|
||||||
zmq_send(zmq_sock, resp.data(), resp.size(), 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
QString MainWindow::dumpWidgetTree(QWidget *w, int depth) {
|
|
||||||
QString result;
|
|
||||||
QString indent(depth * 2, ' ');
|
|
||||||
QString className = w->metaObject()->className();
|
|
||||||
QString name = w->objectName().isEmpty() ? "(no name)" : w->objectName();
|
|
||||||
bool visible = w->isVisible();
|
|
||||||
QRect geo = w->geometry();
|
|
||||||
|
|
||||||
result += QString("%1%2 [%3] vis=%4 geo=%5,%6 %7x%8")
|
|
||||||
.arg(indent, className, name)
|
|
||||||
.arg(visible ? "Y" : "N")
|
|
||||||
.arg(geo.x()).arg(geo.y()).arg(geo.width()).arg(geo.height());
|
|
||||||
|
|
||||||
// Show stacked layout/widget current index
|
|
||||||
if (auto *sl = w->findChild<QStackedLayout *>(QString(), Qt::FindDirectChildrenOnly)) {
|
|
||||||
QWidget *cur = sl->currentWidget();
|
|
||||||
QString curClass = cur ? cur->metaObject()->className() : "null";
|
|
||||||
result += QString(" stack_cur=%1/%2(%3)").arg(sl->currentIndex()).arg(sl->count()).arg(curClass);
|
|
||||||
}
|
|
||||||
if (auto *sw = qobject_cast<QStackedWidget *>(w)) {
|
|
||||||
QWidget *cur = sw->currentWidget();
|
|
||||||
QString curClass = cur ? cur->metaObject()->className() : "null";
|
|
||||||
result += QString(" stack_cur=%1/%2(%3)").arg(sw->currentIndex()).arg(sw->count()).arg(curClass);
|
|
||||||
}
|
|
||||||
|
|
||||||
result += "\n";
|
|
||||||
|
|
||||||
for (QObject *child : w->children()) {
|
|
||||||
QWidget *cw = qobject_cast<QWidget *>(child);
|
|
||||||
if (cw && depth < 4) {
|
|
||||||
result += dumpWidgetTree(cw, depth + 1);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return result;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void MainWindow::openSettings(int index, const QString ¶m) {
|
void MainWindow::openSettings(int index, const QString ¶m) {
|
||||||
@@ -151,10 +70,6 @@ void MainWindow::openSettings(int index, const QString ¶m) {
|
|||||||
settingsWindow->setCurrentPanel(index, param);
|
settingsWindow->setCurrentPanel(index, param);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MainWindow::openStatus() {
|
|
||||||
main_layout->setCurrentWidget(statusWindow);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MainWindow::closeSettings() {
|
void MainWindow::closeSettings() {
|
||||||
main_layout->setCurrentWidget(homeWindow);
|
main_layout->setCurrentWidget(homeWindow);
|
||||||
|
|
||||||
@@ -171,16 +86,6 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
|
|||||||
case QEvent::TouchEnd:
|
case QEvent::TouchEnd:
|
||||||
case QEvent::MouseButtonPress:
|
case QEvent::MouseButtonPress:
|
||||||
case QEvent::MouseMove: {
|
case QEvent::MouseMove: {
|
||||||
// CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
|
|
||||||
Params pmem{"/dev/shm/params"};
|
|
||||||
if (!device()->isAwake()) {
|
|
||||||
if (pmem.getInt("ScreenDisplayMode") == 3) {
|
|
||||||
pmem.putInt("ScreenDisplayMode", 0);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// CLEARPILOT: reset shutdown timer on any screen touch
|
|
||||||
static int touch_counter = 0;
|
|
||||||
pmem.put("ShutdownTouchReset", std::to_string(++touch_counter));
|
|
||||||
// ignore events when device is awakened by resetInteractiveTimeout
|
// ignore events when device is awakened by resetInteractiveTimeout
|
||||||
ignore = !device()->isAwake();
|
ignore = !device()->isAwake();
|
||||||
device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
|
device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
|
||||||
@@ -191,215 +96,3 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
|
|||||||
}
|
}
|
||||||
return ignore;
|
return ignore;
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: Status window — live system stats, collected on background thread
|
|
||||||
|
|
||||||
#include <QFile>
|
|
||||||
#include <QProcess>
|
|
||||||
#include <QDateTime>
|
|
||||||
#include <QtConcurrent>
|
|
||||||
|
|
||||||
static QString readFile(const QString &path) {
|
|
||||||
QFile f(path);
|
|
||||||
if (f.open(QIODevice::ReadOnly)) return QString(f.readAll()).trimmed();
|
|
||||||
return "";
|
|
||||||
}
|
|
||||||
|
|
||||||
static QString shellCmd(const QString &cmd) {
|
|
||||||
QProcess p;
|
|
||||||
p.start("bash", QStringList() << "-c" << cmd);
|
|
||||||
p.waitForFinished(1000);
|
|
||||||
return QString(p.readAllStandardOutput()).trimmed();
|
|
||||||
}
|
|
||||||
|
|
||||||
static StatusWindow::StatusData collectStatus() {
|
|
||||||
StatusWindow::StatusData d;
|
|
||||||
|
|
||||||
d.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
|
|
||||||
d.storage = shellCmd("df -h /data | tail -1 | awk '{print $3 \" / \" $2 \" (\" $5 \" used)\"}'");
|
|
||||||
|
|
||||||
// RAM from /proc/meminfo (no subprocess needed)
|
|
||||||
QString meminfo = readFile("/proc/meminfo");
|
|
||||||
long total = 0, avail = 0;
|
|
||||||
for (const QString &line : meminfo.split('\n')) {
|
|
||||||
if (line.startsWith("MemTotal:")) total = line.split(QRegExp("\\s+"))[1].toLong();
|
|
||||||
if (line.startsWith("MemAvailable:")) avail = line.split(QRegExp("\\s+"))[1].toLong();
|
|
||||||
}
|
|
||||||
if (total > 0) {
|
|
||||||
long used = total - avail;
|
|
||||||
d.ram = QString("%1 / %2 MB").arg(used / 1024).arg(total / 1024);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Load from /proc/loadavg
|
|
||||||
QString loadavg = readFile("/proc/loadavg");
|
|
||||||
QStringList parts = loadavg.split(' ');
|
|
||||||
if (parts.size() >= 3) {
|
|
||||||
d.load = QString("%1 %2 %3").arg(parts[0], parts[1], parts[2]);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Temperature
|
|
||||||
QString temps = shellCmd("cat /sys/class/thermal/thermal_zone*/temp 2>/dev/null | sort -rn | head -1");
|
|
||||||
if (!temps.isEmpty()) {
|
|
||||||
d.temp_c = temps.toLong() / 1000.0f;
|
|
||||||
d.temp = QString("%1\u00B0C").arg(d.temp_c, 0, 'f', 1);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Fan
|
|
||||||
QString fan = shellCmd("cat /sys/class/hwmon/hwmon*/fan1_input 2>/dev/null | head -1");
|
|
||||||
if (fan.isEmpty()) fan = readFile("/dev/shm/params/d/LastFanSpeed");
|
|
||||||
d.fan = fan.isEmpty() ? QString::fromUtf8("\u2014") : fan + " RPM";
|
|
||||||
|
|
||||||
// Network
|
|
||||||
d.ip = shellCmd("ip route get 1.1.1.1 2>/dev/null | head -1 | awk '{print $7}'");
|
|
||||||
d.wifi = shellCmd("iwconfig wlan0 2>/dev/null | grep -oP 'ESSID:\"\\K[^\"]*'");
|
|
||||||
|
|
||||||
// VPN
|
|
||||||
QString tun = shellCmd("ip link show tun0 2>/dev/null | head -1");
|
|
||||||
if (tun.contains("UP")) {
|
|
||||||
d.vpn_status = "up";
|
|
||||||
d.vpn_ip = shellCmd("ip addr show tun0 2>/dev/null | grep 'inet ' | awk '{print $2}'");
|
|
||||||
}
|
|
||||||
|
|
||||||
// GPS
|
|
||||||
d.gps = readFile("/data/params/d/LastGPSPosition");
|
|
||||||
|
|
||||||
// Telemetry
|
|
||||||
d.telemetry = readFile("/data/params/d/TelemetryEnabled");
|
|
||||||
|
|
||||||
// Dashcam
|
|
||||||
d.dashcam_state = readFile("/dev/shm/params/d/DashcamState");
|
|
||||||
if (d.dashcam_state.isEmpty()) d.dashcam_state = "stopped";
|
|
||||||
d.dashcam_frames = readFile("/dev/shm/params/d/DashcamFrames");
|
|
||||||
|
|
||||||
// Panda: checked on UI thread in applyResults() via scene.pandaType
|
|
||||||
|
|
||||||
return d;
|
|
||||||
}
|
|
||||||
|
|
||||||
StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
|
|
||||||
QVBoxLayout *layout = new QVBoxLayout(this);
|
|
||||||
layout->setContentsMargins(50, 60, 50, 40);
|
|
||||||
layout->setSpacing(0);
|
|
||||||
|
|
||||||
// Status rows
|
|
||||||
auto makeRow = [&](const QString &label) -> QLabel* {
|
|
||||||
QHBoxLayout *row = new QHBoxLayout();
|
|
||||||
row->setContentsMargins(20, 0, 20, 0);
|
|
||||||
|
|
||||||
QLabel *name = new QLabel(label);
|
|
||||||
name->setStyleSheet("color: grey; font-size: 38px;");
|
|
||||||
name->setFixedWidth(350);
|
|
||||||
row->addWidget(name);
|
|
||||||
|
|
||||||
QLabel *value = new QLabel("—");
|
|
||||||
value->setStyleSheet("color: white; font-size: 38px;");
|
|
||||||
row->addWidget(value);
|
|
||||||
row->addStretch();
|
|
||||||
|
|
||||||
layout->addLayout(row);
|
|
||||||
layout->addSpacing(12);
|
|
||||||
return value;
|
|
||||||
};
|
|
||||||
|
|
||||||
time_label = makeRow("Time");
|
|
||||||
storage_label = makeRow("Storage");
|
|
||||||
ram_label = makeRow("Memory");
|
|
||||||
load_label = makeRow("Load");
|
|
||||||
temp_label = makeRow("Temperature");
|
|
||||||
fan_label = makeRow("Fan Speed");
|
|
||||||
panda_label = makeRow("Panda");
|
|
||||||
ip_label = makeRow("IP Address");
|
|
||||||
wifi_label = makeRow("WiFi");
|
|
||||||
vpn_label = makeRow("VPN");
|
|
||||||
gps_label = makeRow("GPS");
|
|
||||||
telemetry_label = makeRow("Telemetry");
|
|
||||||
dashcam_label = makeRow("Dashcam");
|
|
||||||
|
|
||||||
layout->addStretch();
|
|
||||||
|
|
||||||
setStyleSheet("StatusWindow { background-color: black; }");
|
|
||||||
|
|
||||||
connect(&watcher, &QFutureWatcher<StatusData>::finished, this, &StatusWindow::applyResults);
|
|
||||||
|
|
||||||
QTimer *timer = new QTimer(this);
|
|
||||||
connect(timer, &QTimer::timeout, this, &StatusWindow::kickRefresh);
|
|
||||||
timer->start(1000);
|
|
||||||
}
|
|
||||||
|
|
||||||
void StatusWindow::kickRefresh() {
|
|
||||||
if (!isVisible() || collecting) return;
|
|
||||||
collecting = true;
|
|
||||||
watcher.setFuture(QtConcurrent::run(collectStatus));
|
|
||||||
}
|
|
||||||
|
|
||||||
void StatusWindow::applyResults() {
|
|
||||||
collecting = false;
|
|
||||||
StatusData d = watcher.result();
|
|
||||||
|
|
||||||
time_label->setText(d.time);
|
|
||||||
storage_label->setText(d.storage);
|
|
||||||
if (!d.ram.isEmpty()) ram_label->setText(d.ram);
|
|
||||||
if (!d.load.isEmpty()) load_label->setText(d.load);
|
|
||||||
|
|
||||||
if (!d.temp.isEmpty()) {
|
|
||||||
temp_label->setText(d.temp);
|
|
||||||
temp_label->setStyleSheet(d.temp_c > 70 ? "color: #ff4444; font-size: 38px;" :
|
|
||||||
d.temp_c > 55 ? "color: #ffaa00; font-size: 38px;" :
|
|
||||||
"color: white; font-size: 38px;");
|
|
||||||
}
|
|
||||||
|
|
||||||
fan_label->setText(d.fan);
|
|
||||||
|
|
||||||
// Panda: same check as sidebar — read scene.pandaType on UI thread
|
|
||||||
if (uiState()->scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
|
|
||||||
panda_label->setText("Connected");
|
|
||||||
panda_label->setStyleSheet("color: #17c44d; font-size: 38px;");
|
|
||||||
} else {
|
|
||||||
panda_label->setText("Not connected");
|
|
||||||
panda_label->setStyleSheet("color: #ff4444; font-size: 38px;");
|
|
||||||
}
|
|
||||||
|
|
||||||
ip_label->setText(d.ip.isEmpty() ? "No connection" : d.ip);
|
|
||||||
wifi_label->setText(d.wifi.isEmpty() ? "Not connected" : d.wifi);
|
|
||||||
|
|
||||||
if (d.vpn_status == "up") {
|
|
||||||
vpn_label->setText("Connected (" + d.vpn_ip + ")");
|
|
||||||
vpn_label->setStyleSheet("color: #17c44d; font-size: 38px;");
|
|
||||||
} else {
|
|
||||||
vpn_label->setText("Not connected");
|
|
||||||
vpn_label->setStyleSheet("color: #ff4444; font-size: 38px;");
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d.gps.isEmpty()) {
|
|
||||||
gps_label->setText("No fix");
|
|
||||||
gps_label->setStyleSheet("color: #ff4444; font-size: 38px;");
|
|
||||||
} else {
|
|
||||||
gps_label->setText(d.gps);
|
|
||||||
gps_label->setStyleSheet("color: white; font-size: 38px;");
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d.telemetry == "1") {
|
|
||||||
telemetry_label->setText("Enabled");
|
|
||||||
telemetry_label->setStyleSheet("color: #17c44d; font-size: 38px;");
|
|
||||||
} else {
|
|
||||||
telemetry_label->setText("Disabled");
|
|
||||||
telemetry_label->setStyleSheet("color: grey; font-size: 38px;");
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d.dashcam_state == "recording") {
|
|
||||||
QString text = "Recording";
|
|
||||||
if (!d.dashcam_frames.isEmpty() && d.dashcam_frames != "0") text += " (" + d.dashcam_frames + " frames)";
|
|
||||||
dashcam_label->setText(text);
|
|
||||||
dashcam_label->setStyleSheet("color: #17c44d; font-size: 38px;");
|
|
||||||
} else if (d.dashcam_state == "waiting") {
|
|
||||||
dashcam_label->setText("Waiting");
|
|
||||||
dashcam_label->setStyleSheet("color: #ffaa00; font-size: 38px;");
|
|
||||||
} else {
|
|
||||||
dashcam_label->setText("Stopped");
|
|
||||||
dashcam_label->setStyleSheet("color: #ff4444; font-size: 38px;");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void StatusWindow::mousePressEvent(QMouseEvent *e) {
|
|
||||||
emit closeStatus();
|
|
||||||
}
|
|
||||||
|
|||||||
@@ -1,59 +1,12 @@
|
|||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include <QFutureWatcher>
|
|
||||||
#include <QStackedLayout>
|
#include <QStackedLayout>
|
||||||
#include <QLabel>
|
|
||||||
#include <QSocketNotifier>
|
|
||||||
#include <QTimer>
|
|
||||||
#include <QWidget>
|
#include <QWidget>
|
||||||
|
|
||||||
#include "selfdrive/ui/qt/home.h"
|
#include "selfdrive/ui/qt/home.h"
|
||||||
#include "selfdrive/ui/qt/offroad/onboarding.h"
|
#include "selfdrive/ui/qt/offroad/onboarding.h"
|
||||||
#include "selfdrive/ui/qt/offroad/settings.h"
|
#include "selfdrive/ui/qt/offroad/settings.h"
|
||||||
|
|
||||||
class StatusWindow : public QFrame {
|
|
||||||
Q_OBJECT
|
|
||||||
|
|
||||||
public:
|
|
||||||
explicit StatusWindow(QWidget *parent = 0);
|
|
||||||
|
|
||||||
struct StatusData {
|
|
||||||
QString time, storage, ram, load, temp, fan, ip, wifi;
|
|
||||||
QString vpn_status, vpn_ip, gps, telemetry;
|
|
||||||
QString dashcam_state, dashcam_frames;
|
|
||||||
float temp_c = 0;
|
|
||||||
};
|
|
||||||
|
|
||||||
protected:
|
|
||||||
void mousePressEvent(QMouseEvent *e) override;
|
|
||||||
|
|
||||||
signals:
|
|
||||||
void closeStatus();
|
|
||||||
|
|
||||||
private slots:
|
|
||||||
void kickRefresh();
|
|
||||||
void applyResults();
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
QFutureWatcher<StatusData> watcher;
|
|
||||||
bool collecting = false;
|
|
||||||
|
|
||||||
QLabel *storage_label;
|
|
||||||
QLabel *ram_label;
|
|
||||||
QLabel *load_label;
|
|
||||||
QLabel *temp_label;
|
|
||||||
QLabel *fan_label;
|
|
||||||
QLabel *ip_label;
|
|
||||||
QLabel *wifi_label;
|
|
||||||
QLabel *vpn_label;
|
|
||||||
QLabel *gps_label;
|
|
||||||
QLabel *time_label;
|
|
||||||
QLabel *telemetry_label;
|
|
||||||
QLabel *dashcam_label;
|
|
||||||
QLabel *panda_label;
|
|
||||||
};
|
|
||||||
|
|
||||||
class MainWindow : public QWidget {
|
class MainWindow : public QWidget {
|
||||||
Q_OBJECT
|
Q_OBJECT
|
||||||
|
|
||||||
@@ -63,24 +16,13 @@ public:
|
|||||||
private:
|
private:
|
||||||
bool eventFilter(QObject *obj, QEvent *event) override;
|
bool eventFilter(QObject *obj, QEvent *event) override;
|
||||||
void openSettings(int index = 0, const QString ¶m = "");
|
void openSettings(int index = 0, const QString ¶m = "");
|
||||||
void openStatus();
|
|
||||||
void closeSettings();
|
void closeSettings();
|
||||||
QString dumpWidgetTree(QWidget *w, int depth = 0);
|
|
||||||
|
|
||||||
QStackedLayout *main_layout;
|
QStackedLayout *main_layout;
|
||||||
HomeWindow *homeWindow;
|
HomeWindow *homeWindow;
|
||||||
SettingsWindow *settingsWindow;
|
SettingsWindow *settingsWindow;
|
||||||
StatusWindow *statusWindow;
|
|
||||||
OnboardingWindow *onboardingWindow;
|
OnboardingWindow *onboardingWindow;
|
||||||
|
|
||||||
// CLEARPILOT: UI introspection RPC
|
|
||||||
void *zmq_ctx = nullptr;
|
|
||||||
void *zmq_sock = nullptr;
|
|
||||||
QSocketNotifier *rpc_notifier = nullptr;
|
|
||||||
|
|
||||||
// FrogPilot variables
|
// FrogPilot variables
|
||||||
Params params;
|
Params params;
|
||||||
|
|
||||||
private slots:
|
|
||||||
void handleRpcRequest();
|
|
||||||
};
|
};
|
||||||
|
|||||||
+1
-43
@@ -93,27 +93,6 @@ class Soundd:
|
|||||||
|
|
||||||
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
|
self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
|
||||||
|
|
||||||
# ClearPilot ding (plays independently of alerts)
|
|
||||||
self.ding_sound = None
|
|
||||||
self.ding_frame = 0
|
|
||||||
self.ding_playing = False
|
|
||||||
self.ding_check_counter = 0
|
|
||||||
self._load_ding()
|
|
||||||
|
|
||||||
def _load_ding(self):
|
|
||||||
ding_path = BASEDIR + "/selfdrive/clearpilot/sounds/ding.wav"
|
|
||||||
try:
|
|
||||||
wavefile = wave.open(ding_path, 'r')
|
|
||||||
assert wavefile.getnchannels() == 1
|
|
||||||
assert wavefile.getsampwidth() == 2
|
|
||||||
assert wavefile.getframerate() == SAMPLE_RATE
|
|
||||||
length = wavefile.getnframes()
|
|
||||||
self.ding_sound = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
|
|
||||||
cloudlog.info(f"ClearPilot ding loaded: {length} frames")
|
|
||||||
except Exception as e:
|
|
||||||
cloudlog.error(f"Failed to load ding sound: {e}")
|
|
||||||
self.ding_sound = None
|
|
||||||
|
|
||||||
def load_sounds(self):
|
def load_sounds(self):
|
||||||
self.loaded_sounds: dict[int, np.ndarray] = {}
|
self.loaded_sounds: dict[int, np.ndarray] = {}
|
||||||
|
|
||||||
@@ -158,20 +137,7 @@ class Soundd:
|
|||||||
written_frames += frames_to_write
|
written_frames += frames_to_write
|
||||||
self.current_sound_frame += frames_to_write
|
self.current_sound_frame += frames_to_write
|
||||||
|
|
||||||
ret = ret * self.current_volume
|
return ret * self.current_volume
|
||||||
|
|
||||||
# Mix in ClearPilot ding (independent of alerts, always max volume)
|
|
||||||
if self.ding_playing and self.ding_sound is not None:
|
|
||||||
ding_remaining = len(self.ding_sound) - self.ding_frame
|
|
||||||
if ding_remaining > 0:
|
|
||||||
frames_to_write = min(ding_remaining, frames)
|
|
||||||
ret[:frames_to_write] += self.ding_sound[self.ding_frame:self.ding_frame + frames_to_write] * MAX_VOLUME
|
|
||||||
self.ding_frame += frames_to_write
|
|
||||||
else:
|
|
||||||
self.ding_playing = False
|
|
||||||
self.ding_frame = 0
|
|
||||||
|
|
||||||
return ret
|
|
||||||
|
|
||||||
def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
|
def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
|
||||||
if status:
|
if status:
|
||||||
@@ -231,14 +197,6 @@ class Soundd:
|
|||||||
|
|
||||||
self.get_audible_alert(sm)
|
self.get_audible_alert(sm)
|
||||||
|
|
||||||
# ClearPilot: check for ding trigger at ~2Hz
|
|
||||||
self.ding_check_counter += 1
|
|
||||||
if self.ding_check_counter % 10 == 0 and self.ding_sound is not None:
|
|
||||||
if self.params_memory.get("ClearpilotPlayDing") == b"1":
|
|
||||||
self.params_memory.put("ClearpilotPlayDing", "0")
|
|
||||||
self.ding_playing = True
|
|
||||||
self.ding_frame = 0
|
|
||||||
|
|
||||||
rk.keep_time()
|
rk.keep_time()
|
||||||
|
|
||||||
assert stream.active
|
assert stream.active
|
||||||
|
|||||||
@@ -1,10 +1,5 @@
|
|||||||
#!/bin/sh
|
#!/bin/sh
|
||||||
|
|
||||||
# CLEARPILOT: prefer freshly built _spinner over prebuilt qt/spinner
|
|
||||||
if [ -f ./_spinner ]; then
|
|
||||||
exec ./_spinner "$1"
|
|
||||||
fi
|
|
||||||
|
|
||||||
if [ -f /TICI ] && [ ! -f qt/spinner ]; then
|
if [ -f /TICI ] && [ ! -f qt/spinner ]; then
|
||||||
cp qt/spinner_larch64 qt/spinner
|
cp qt/spinner_larch64 qt/spinner
|
||||||
fi
|
fi
|
||||||
|
|||||||
@@ -818,15 +818,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">تحديث</translation>
|
<translation>تحديث</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> التنبهات</translation>
|
<translation> التنبهات</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> تنبيه</translation>
|
<translation> تنبيه</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -771,15 +771,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">Aktualisieren</translation>
|
<translation>Aktualisieren</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> HINWEISE</translation>
|
<translation> HINWEISE</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> HINWEIS</translation>
|
<translation> HINWEIS</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -814,15 +814,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">MISE À JOUR</translation>
|
<translation>MISE À JOUR</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> ALERTES</translation>
|
<translation> ALERTES</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> ALERTE</translation>
|
<translation> ALERTE</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -770,15 +770,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">更新</translation>
|
<translation>更新</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> 警告</translation>
|
<translation> 警告</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> 警告</translation>
|
<translation> 警告</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -813,15 +813,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">업데이트</translation>
|
<translation>업데이트</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> 알림</translation>
|
<translation> 알림</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> 알림</translation>
|
<translation> 알림</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -814,15 +814,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">ATUALIZAÇÃO</translation>
|
<translation>ATUALIZAÇÃO</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> ALERTAS</translation>
|
<translation> ALERTAS</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> ALERTA</translation>
|
<translation> ALERTA</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -813,15 +813,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">อัปเดต</translation>
|
<translation>อัปเดต</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> การแจ้งเตือน</translation>
|
<translation> การแจ้งเตือน</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> การแจ้งเตือน</translation>
|
<translation> การแจ้งเตือน</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -770,15 +770,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">GÜNCELLE</translation>
|
<translation>GÜNCELLE</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> UYARILAR</translation>
|
<translation> UYARILAR</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> UYARI</translation>
|
<translation> UYARI</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -813,15 +813,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">更新</translation>
|
<translation>更新</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> 警报</translation>
|
<translation> 警报</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> 警报</translation>
|
<translation> 警报</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
@@ -813,15 +813,15 @@
|
|||||||
<name>OffroadHome</name>
|
<name>OffroadHome</name>
|
||||||
<message>
|
<message>
|
||||||
<source>UPDATE</source>
|
<source>UPDATE</source>
|
||||||
<translation type="vanished">更新</translation>
|
<translation>更新</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERTS</source>
|
<source> ALERTS</source>
|
||||||
<translation type="vanished"> 提醒</translation>
|
<translation> 提醒</translation>
|
||||||
</message>
|
</message>
|
||||||
<message>
|
<message>
|
||||||
<source> ALERT</source>
|
<source> ALERT</source>
|
||||||
<translation type="vanished"> 提醒</translation>
|
<translation> 提醒</translation>
|
||||||
</message>
|
</message>
|
||||||
</context>
|
</context>
|
||||||
<context>
|
<context>
|
||||||
|
|||||||
+4
-17
@@ -93,9 +93,6 @@ void update_model(UIState *s,
|
|||||||
if (plan_position.getX().size() < model.getPosition().getX().size()) {
|
if (plan_position.getX().size() < model.getPosition().getX().size()) {
|
||||||
plan_position = model.getPosition();
|
plan_position = model.getPosition();
|
||||||
}
|
}
|
||||||
// CLEARPILOT: guard against empty model data (bench mode, no modeld running)
|
|
||||||
if (plan_position.getX().size() == 0) return;
|
|
||||||
|
|
||||||
float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
|
float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
|
||||||
std::clamp(*(plan_position.getX().end() - 1),
|
std::clamp(*(plan_position.getX().end() - 1),
|
||||||
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
|
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
|
||||||
@@ -118,10 +115,8 @@ void update_model(UIState *s,
|
|||||||
}
|
}
|
||||||
|
|
||||||
// update path
|
// update path
|
||||||
// CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
|
|
||||||
bool no_lat_lane_change = (*s->sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
|
|
||||||
float path;
|
float path;
|
||||||
if (no_lat_lane_change) {
|
if (paramsMemory.getBool("no_lat_lane_change")) {
|
||||||
path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20; // Release: better calc for EU users
|
path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20; // Release: better calc for EU users
|
||||||
} else {
|
} else {
|
||||||
path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
|
path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
|
||||||
@@ -396,7 +391,6 @@ void ui_update_frogpilot_params(UIState *s) {
|
|||||||
scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
|
scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
|
||||||
scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
|
scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
|
||||||
scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
|
scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
|
||||||
scene.screen_recorder_debug = params.getBool("ScreenRecorderDebug");
|
|
||||||
scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 120;
|
scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 120;
|
||||||
scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
|
scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
|
||||||
scene.standby_mode = screen_management && params.getBool("StandbyMode");
|
scene.standby_mode = screen_management && params.getBool("StandbyMode");
|
||||||
@@ -441,10 +435,9 @@ void UIState::updateStatus() {
|
|||||||
UIState::UIState(QObject *parent) : QObject(parent) {
|
UIState::UIState(QObject *parent) : QObject(parent) {
|
||||||
sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
|
sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
|
||||||
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
|
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
|
||||||
"pandaStates", "peripheralState", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
|
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
|
||||||
"wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
|
"wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
|
||||||
"frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
|
"frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
|
||||||
"gpsLocation",
|
|
||||||
});
|
});
|
||||||
|
|
||||||
Params params;
|
Params params;
|
||||||
@@ -558,10 +551,7 @@ void Device::updateWakefulness(const UIState &s) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
if (ignition_state_changed) {
|
if (ignition_state_changed) {
|
||||||
if (!ignition_on) {
|
if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
|
||||||
// CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
|
|
||||||
resetInteractiveTimeout(0, 0);
|
|
||||||
} else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
|
|
||||||
resetInteractiveTimeout(0, 0);
|
resetInteractiveTimeout(0, 0);
|
||||||
} else {
|
} else {
|
||||||
resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);
|
resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);
|
||||||
@@ -570,10 +560,7 @@ void Device::updateWakefulness(const UIState &s) {
|
|||||||
emit interactiveTimeout();
|
emit interactiveTimeout();
|
||||||
}
|
}
|
||||||
|
|
||||||
// CLEARPILOT: ScreenDisplayMode 3 = screen off — override awake state
|
if (s.scene.screen_brightness_onroad != 0) {
|
||||||
if (paramsMemory.getInt("ScreenDisplayMode") == 3) {
|
|
||||||
setAwake(false);
|
|
||||||
} else if (s.scene.screen_brightness_onroad != 0) {
|
|
||||||
setAwake(s.scene.ignition || interactive_timeout > 0);
|
setAwake(s.scene.ignition || interactive_timeout > 0);
|
||||||
} else {
|
} else {
|
||||||
setAwake(interactive_timeout > 0);
|
setAwake(interactive_timeout > 0);
|
||||||
|
|||||||
@@ -231,7 +231,6 @@ typedef struct UIScene {
|
|||||||
bool road_name_ui;
|
bool road_name_ui;
|
||||||
bool rotating_wheel;
|
bool rotating_wheel;
|
||||||
bool screen_recorder;
|
bool screen_recorder;
|
||||||
bool screen_recorder_debug;
|
|
||||||
bool show_aol_status_bar;
|
bool show_aol_status_bar;
|
||||||
bool show_cem_status_bar;
|
bool show_cem_status_bar;
|
||||||
bool show_jerk;
|
bool show_jerk;
|
||||||
|
|||||||
+2
-12
@@ -7,27 +7,17 @@
|
|||||||
#include "system/hardware/hw.h"
|
#include "system/hardware/hw.h"
|
||||||
|
|
||||||
int main(int argc, char *argv[]) {
|
int main(int argc, char *argv[]) {
|
||||||
fprintf(stderr, "camerad: starting\n");
|
|
||||||
|
|
||||||
if (Hardware::PC()) {
|
if (Hardware::PC()) {
|
||||||
fprintf(stderr, "camerad: exiting, not meant to run on PC\n");
|
printf("exiting, camerad is not meant to run on PC\n");
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
int ret;
|
int ret;
|
||||||
fprintf(stderr, "camerad: setting realtime priority 53\n");
|
|
||||||
ret = util::set_realtime_priority(53);
|
ret = util::set_realtime_priority(53);
|
||||||
fprintf(stderr, "camerad: set_realtime_priority ret=%d\n", ret);
|
|
||||||
assert(ret == 0);
|
assert(ret == 0);
|
||||||
|
|
||||||
fprintf(stderr, "camerad: setting core affinity to cpu6\n");
|
|
||||||
ret = util::set_core_affinity({6});
|
ret = util::set_core_affinity({6});
|
||||||
bool isOffroad = Params().getBool("IsOffroad");
|
assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
|
||||||
fprintf(stderr, "camerad: set_core_affinity ret=%d, IsOffroad=%d\n", ret, isOffroad);
|
|
||||||
assert(ret == 0 || isOffroad); // failure ok while offroad due to offlining cores
|
|
||||||
|
|
||||||
fprintf(stderr, "camerad: starting camerad_thread\n");
|
|
||||||
camerad_thread();
|
camerad_thread();
|
||||||
fprintf(stderr, "camerad: camerad_thread returned\n");
|
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,5 +1,3 @@
|
|||||||
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQDQtHTzkeRlOXDWyK/IvO2RgjSdoq6V81u3YtcyIxBZVX2zCj1xzE9zWcUcVxloe63rB/DBasChODIRBtp1vGnWb/EkLWAuOqS2V5rzhlcSfM103++TI81e04A7HDspWSNUXRh5OD/mUvwtYIH7S4QAkBiCro5lAgSToXNAOR4b4cXgNQecf+RhPc0Nm3K8Is1wEeQajmlC1E22YWBDDV+uoB3Uagl90e58Psbp8PunCdbeY9EfqQsymyloiTeqzKwHnmHnMXSlZluh7A+ifoKgohDsarT1FixAgxT0LSIxxINORhE4P6em/7y3xpgubPhNpbuQSzDlb3op3fwMoFcAEEYKWg+d9OGOrdiWa13aV0g7UNdW/XmmF/BAaBdSOZeomVNnxmftmmJWfu3jtFdwTDRQpZn7nDYC+aZ1R3Q0Xd4lLuqkA/9smUXLZuiBDJXwM5nDyWQR9tESIwlTLcdKAUpj0gQqpcozVehksNksTekZBAg/mYb6DKyYCTY0ti0=
|
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQDQtHTzkeRlOXDWyK/IvO2RgjSdoq6V81u3YtcyIxBZVX2zCj1xzE9zWcUcVxloe63rB/DBasChODIRBtp1vGnWb/EkLWAuOqS2V5rzhlcSfM103++TI81e04A7HDspWSNUXRh5OD/mUvwtYIH7S4QAkBiCro5lAgSToXNAOR4b4cXgNQecf+RhPc0Nm3K8Is1wEeQajmlC1E22YWBDDV+uoB3Uagl90e58Psbp8PunCdbeY9EfqQsymyloiTeqzKwHnmHnMXSlZluh7A+ifoKgohDsarT1FixAgxT0LSIxxINORhE4P6em/7y3xpgubPhNpbuQSzDlb3op3fwMoFcAEEYKWg+d9OGOrdiWa13aV0g7UNdW/XmmF/BAaBdSOZeomVNnxmftmmJWfu3jtFdwTDRQpZn7nDYC+aZ1R3Q0Xd4lLuqkA/9smUXLZuiBDJXwM5nDyWQR9tESIwlTLcdKAUpj0gQqpcozVehksNksTekZBAg/mYb6DKyYCTY0ti0=
|
||||||
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCm/Vq50kqf94allqGq9luBGjDh2Do/rOCA719CRlDOErCvdY+ZaYNumQZ5AbFfU5KcPZwirJLBvhEoH/G0lEAg9TUaUgH/VvqBBztlpcmA1eplZHzEFLnTDn0oO4Tk46bXwjL0anOZfNaUGhbaO4Th7m+9+o16WUduEabPiyVbnqD6P44CANsvBJNKlyUDBzsdkE9z5gULp06i1+JqqXiGV81HoFWZe5YCFv4j4QUPvfmFhcBHViVrOFs87hS4Eu0gWNxQmQBhh6R1ZbjaBlGdE5GyDZQZwlofjfuO06e0HvCDuIAELSYqlGFCmUhlM/LZ6YkF79/HFrg5sS3gsuY5
|
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCm/Vq50kqf94allqGq9luBGjDh2Do/rOCA719CRlDOErCvdY+ZaYNumQZ5AbFfU5KcPZwirJLBvhEoH/G0lEAg9TUaUgH/VvqBBztlpcmA1eplZHzEFLnTDn0oO4Tk46bXwjL0anOZfNaUGhbaO4Th7m+9+o16WUduEabPiyVbnqD6P44CANsvBJNKlyUDBzsdkE9z5gULp06i1+JqqXiGV81HoFWZe5YCFv4j4QUPvfmFhcBHViVrOFs87hS4Eu0gWNxQmQBhh6R1ZbjaBlGdE5GyDZQZwlofjfuO06e0HvCDuIAELSYqlGFCmUhlM/LZ6YkF79/HFrg5sS3gsuY5
|
||||||
ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIHbrOZrByUb2Ci21DdJkhWv/4Bz4oghL9joraQYFq4Om
|
ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIHbrOZrByUb2Ci21DdJkhWv/4Bz4oghL9joraQYFq4Om
|
||||||
ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIOkbLtbZ6jRwmvYiAtXDp7JZ+IBVJIrxY3ZPJ93aQCha root@concordia
|
|
||||||
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQCWTdewQ+jCUj9+ZJfte5h0meZhXayd7owIGyXHV0ELCeRAyQrurBPsdTTr7QhcugVuibI+Tr8L3BNuCN8nID5DH+BFAUejulGyMEmQ4Vh22p6Nt0niJHkfiJ2stfayPqe3qGRScVCcY3TpQqlzjyBWOvtwI9/118Gq/lKsjN7DYVwVMHhe1Yzh4SDHOKpsnmDfguRvCSzsg3ZeR1AduaqqM2y0sLZ09Cjpj/vJC/QQ2q2EWtzfmQPejFtjdbqvgoDEQ1OttD5dBgwCMOTPmPMmJ5ns6YJ4L+bi6hynO4/xn3efSHS2mSC6ACwiD/LtTMpsjbUVQsJ4pM/5GY08UoIdnH7P1N+6DA/hah+KAJe8U3WznT6OSXdwWXnYyV+hx4VHBz+/3MnbB1CwtoZoJDnQVpnT3IxBK+pnLHzZJh/g+bFrFbbAC50MRDsoV8nbYvHG3HJQ5GvK96S5NvllGTC/6zo/39ARvfrGtK/2NgNU+NZRjNN67cXjgcUIRdu6eJs= root@concordia
|
|
||||||
|
|||||||
@@ -1,19 +1,17 @@
|
|||||||
#!/bin/bash
|
#!/bin/bash
|
||||||
|
|
||||||
# Uses hardware serial as identity check and encryption key
|
dongle_id=$(cat /data/params/d/DongleId)
|
||||||
serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
|
if [[ ! $dongle_id == 90bb71* ]]; then
|
||||||
if [[ $serial != 3889765b ]]; then
|
|
||||||
echo "Wrong device (serial=$serial)"
|
|
||||||
exit 1
|
exit 1
|
||||||
fi
|
fi
|
||||||
|
|
||||||
# Encrypt SSH keys if source files exist using the custom encrypt tool
|
# Encrypt SSH keys if source files exist using the custom encrypt tool
|
||||||
if [ -f /data/openpilot/system/clearpilot/dev/id_ed25519.pub ]; then
|
if [ -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
|
||||||
bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_ed25519.pub /data/openpilot/system/clearpilot/dev/id_ed25519.pub.cpt
|
bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt
|
||||||
fi
|
fi
|
||||||
|
|
||||||
if [ -f /data/openpilot/system/clearpilot/dev/id_ed25519 ]; then
|
if [ -f /data/openpilot/system/clearpilot/dev/id_rsa ]; then
|
||||||
bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_ed25519 /data/openpilot/system/clearpilot/dev/id_ed25519.cpt
|
bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.cpt
|
||||||
fi
|
fi
|
||||||
|
|
||||||
if [ -f /data/openpilot/system/clearpilot/dev/reverse_ssh ]; then
|
if [ -f /data/openpilot/system/clearpilot/dev/reverse_ssh ]; then
|
||||||
|
|||||||
Binary file not shown.
@@ -1,2 +0,0 @@
|
|||||||
•í-À‘-j¦ñqã A†3ä"|}ôÚÁñžš.\ñ`þQ¥¶ßA^´Ð×~LìbýÊ ÞÔm!Òzï[®�Wí(¯«rýfo ¼ À˜¦Miê[&ÄoúÏV=�ˆQ�"2�A“i 8ÐpÀ"Á!þ1“æ–G:š4ïá<-Ý
|
|
||||||
#
|
|
||||||
Executable
+17
@@ -0,0 +1,17 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
# tmp for debugging
|
||||||
|
date >> /tmp/dongles
|
||||||
|
echo check dongle >> /tmp/dongles
|
||||||
|
cat /data/params/d/DongleId >> /tmp/dongles
|
||||||
|
echo done >> /tmp/dongles
|
||||||
|
|
||||||
|
dongle_id=$(cat /data/params/d/DongleId)
|
||||||
|
if [[ ! $dongle_id == 90bb71* ]]; then
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo Bringing up brian dev environment
|
||||||
|
|
||||||
|
bash /data/openpilot/system/clearpilot/dev/provision.sh
|
||||||
|
bash /data/openpilot/system/clearpilot/dev/on_start_brian.sh
|
||||||
Executable
+2
@@ -0,0 +1,2 @@
|
|||||||
|
•Í’T4üoŠd¿á¹³€å–³!qús^§‘1E�Œ½—ðÓÉQ¯Åe|0b.7ša|Þ¶$Âï)x‰ ÷9‘Sü8BÌQÛ÷ øÃ;TÝ`~?Q!hj2ÔŒwq ô/[´ Xðt¬Ç 5‡ü,«Ë�ñm¾^v�¯$vf‚ÇH°)J½A
|
||||||
|
²W°n`<@’‹.¬ç& >�&}m8˜‰àÃ;½\$^`Aª›Œ
|
||||||
Executable
+48
@@ -0,0 +1,48 @@
|
|||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
# Provision script for BrianBot
|
||||||
|
# These actions only occur on BrianBot's comma device.
|
||||||
|
|
||||||
|
# 1. Check the string in /data/params/d/DongleId
|
||||||
|
dongle_id=$(cat /data/params/d/DongleId)
|
||||||
|
if [[ ! $dongle_id == 90bb71* ]]; then
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "BrianBot dongle ID detected."
|
||||||
|
|
||||||
|
# 2. Check if ccrypt is installed, install if not
|
||||||
|
if ! command -v ccrypt >/dev/null 2>&1; then
|
||||||
|
echo "Installing ccrypt..."
|
||||||
|
sudo apt-get update
|
||||||
|
sudo apt-get install -y ccrypt
|
||||||
|
fi
|
||||||
|
|
||||||
|
# 3. Decrypt SSH keys if they have not been decrypted yet
|
||||||
|
if [ ! -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
|
||||||
|
echo "Decrypting SSH keys..."
|
||||||
|
bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt /data/openpilot/system/clearpilot/dev/id_rsa.pub
|
||||||
|
bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.cpt /data/openpilot/system/clearpilot/dev/id_rsa
|
||||||
|
bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/on_start_brian.sh.cpt /data/openpilot/system/clearpilot/dev/on_start_brian.sh
|
||||||
|
fi
|
||||||
|
|
||||||
|
# 4. Ensure .ssh directory and keys exist
|
||||||
|
ssh_dir="/data/ssh/.ssh"
|
||||||
|
if [[ ! -f "$ssh_dir/id_rsa" || ! -f "$ssh_dir/id_rsa.pub" ]]; then
|
||||||
|
echo "Setting up SSH directory and keys..."
|
||||||
|
mkdir -p "$ssh_dir"
|
||||||
|
cp /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.pub "$ssh_dir"
|
||||||
|
chmod 700 "$ssh_dir"
|
||||||
|
chmod 600 "$ssh_dir/id_rsa" "$ssh_dir/id_rsa.pub"
|
||||||
|
echo hansonxyz > /data/params/d/GithubUsername
|
||||||
|
cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
|
||||||
|
echo 1 > /data/params/d/SshEnabled
|
||||||
|
sudo systemctl restart ssh
|
||||||
|
cd /data/openpilot
|
||||||
|
git remote remove origin
|
||||||
|
git remote add origin git@privategit.hanson.xyz:brianhansonxyz/clearpilot.git
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "Script execution complete."
|
||||||
|
|
||||||
|
|
||||||
@@ -1,258 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
ClearPilot GPS daemon — reads GPS from Quectel EC25 modem via AT commands
|
|
||||||
and publishes gpsLocation messages for locationd/timed.
|
|
||||||
|
|
||||||
Replaces qcomgpsd which uses the diag interface (broken on this device).
|
|
||||||
"""
|
|
||||||
import math
|
|
||||||
import os
|
|
||||||
import subprocess
|
|
||||||
import time
|
|
||||||
import datetime
|
|
||||||
|
|
||||||
from cereal import log
|
|
||||||
import cereal.messaging as messaging
|
|
||||||
from openpilot.common.gpio import gpio_init, gpio_set
|
|
||||||
from openpilot.common.params import Params
|
|
||||||
from openpilot.common.swaglog import cloudlog
|
|
||||||
from openpilot.common.time import system_time_valid
|
|
||||||
from openpilot.system.hardware.tici.pins import GPIO
|
|
||||||
|
|
||||||
|
|
||||||
def _sunrise_sunset_min(lat: float, lon: float, utc_dt: datetime.datetime):
|
|
||||||
"""Compute (sunrise_min, sunset_min) in UTC minutes since midnight of utc_dt's day.
|
|
||||||
Values can be negative or >1440 for western/eastern longitudes. Returns
|
|
||||||
(None, None) for polar night, ('always', 'always') for midnight sun."""
|
|
||||||
n = utc_dt.timetuple().tm_yday
|
|
||||||
gamma = 2 * math.pi / 365 * (n - 1 + (utc_dt.hour - 12) / 24)
|
|
||||||
eqtime = 229.18 * (0.000075 + 0.001868 * math.cos(gamma)
|
|
||||||
- 0.032077 * math.sin(gamma)
|
|
||||||
- 0.014615 * math.cos(2 * gamma)
|
|
||||||
- 0.040849 * math.sin(2 * gamma))
|
|
||||||
decl = (0.006918 - 0.399912 * math.cos(gamma)
|
|
||||||
+ 0.070257 * math.sin(gamma)
|
|
||||||
- 0.006758 * math.cos(2 * gamma)
|
|
||||||
+ 0.000907 * math.sin(2 * gamma)
|
|
||||||
- 0.002697 * math.cos(3 * gamma)
|
|
||||||
+ 0.00148 * math.sin(3 * gamma))
|
|
||||||
lat_rad = math.radians(lat)
|
|
||||||
zenith = math.radians(90.833)
|
|
||||||
cos_ha = (math.cos(zenith) / (math.cos(lat_rad) * math.cos(decl))
|
|
||||||
- math.tan(lat_rad) * math.tan(decl))
|
|
||||||
if cos_ha < -1:
|
|
||||||
return ('always', 'always') # midnight sun
|
|
||||||
if cos_ha > 1:
|
|
||||||
return (None, None) # polar night
|
|
||||||
ha = math.degrees(math.acos(cos_ha))
|
|
||||||
sunrise_min = 720 - 4 * (lon + ha) - eqtime
|
|
||||||
sunset_min = 720 - 4 * (lon - ha) - eqtime
|
|
||||||
return (sunrise_min, sunset_min)
|
|
||||||
|
|
||||||
|
|
||||||
def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
|
|
||||||
"""Return True if the sun is currently above the horizon at (lat, lon).
|
|
||||||
|
|
||||||
Handles west-of-Greenwich correctly: at UTC midnight it may still be
|
|
||||||
evening local time, and the relevant sunset is the PREVIOUS UTC day's
|
|
||||||
value (which is >1440 min if we re-ref to that day, i.e. it's past
|
|
||||||
midnight UTC). Symmetric case for east-of-Greenwich at the other end.
|
|
||||||
|
|
||||||
Strategy: compute sunrise/sunset for yesterday, today, and tomorrow (each
|
|
||||||
relative to its own UTC midnight), shift them all onto today's clock
|
|
||||||
(yesterday = -1440, tomorrow = +1440), and check if now_min falls inside
|
|
||||||
any of the three [sunrise, sunset] intervals.
|
|
||||||
"""
|
|
||||||
now_min = utc_dt.hour * 60 + utc_dt.minute + utc_dt.second / 60
|
|
||||||
for day_offset in (-1, 0, 1):
|
|
||||||
d = utc_dt + datetime.timedelta(days=day_offset)
|
|
||||||
sr, ss = _sunrise_sunset_min(lat, lon, d)
|
|
||||||
if sr == 'always':
|
|
||||||
return True
|
|
||||||
if sr is None:
|
|
||||||
continue # polar night this day
|
|
||||||
sr += day_offset * 1440
|
|
||||||
ss += day_offset * 1440
|
|
||||||
if sr <= now_min <= ss:
|
|
||||||
return True
|
|
||||||
return False
|
|
||||||
|
|
||||||
|
|
||||||
def at_cmd(cmd: str) -> str:
|
|
||||||
try:
|
|
||||||
result = subprocess.check_output(
|
|
||||||
f"mmcli -m any --timeout 10 --command='{cmd}'",
|
|
||||||
shell=True, encoding='utf8', stderr=subprocess.DEVNULL
|
|
||||||
).strip()
|
|
||||||
# mmcli wraps AT responses: response: '+QGPSLOC: ...'
|
|
||||||
# Strip the wrapper to get just the AT response
|
|
||||||
if result.startswith("response: '") and result.endswith("'"):
|
|
||||||
result = result[len("response: '"):-1]
|
|
||||||
return result
|
|
||||||
except subprocess.CalledProcessError:
|
|
||||||
return ""
|
|
||||||
|
|
||||||
|
|
||||||
def wait_for_modem():
|
|
||||||
cloudlog.warning("gpsd: waiting for modem")
|
|
||||||
while True:
|
|
||||||
ret = subprocess.call(
|
|
||||||
"mmcli -m any --timeout 10 --command='AT+QGPS?'",
|
|
||||||
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True
|
|
||||||
)
|
|
||||||
if ret == 0:
|
|
||||||
return
|
|
||||||
time.sleep(0.5)
|
|
||||||
|
|
||||||
|
|
||||||
def parse_qgpsloc(response: str):
|
|
||||||
"""Parse AT+QGPSLOC=2 response into a dict.
|
|
||||||
Format: +QGPSLOC: UTC,lat,lon,hdop,alt,fix,cog,spkm,spkn,date,nsat
|
|
||||||
"""
|
|
||||||
if "+QGPSLOC:" not in response:
|
|
||||||
return None
|
|
||||||
try:
|
|
||||||
data = response.split("+QGPSLOC:")[1].strip()
|
|
||||||
fields = data.split(",")
|
|
||||||
if len(fields) < 11:
|
|
||||||
return None
|
|
||||||
|
|
||||||
utc = fields[0] # HHMMSS.S
|
|
||||||
lat = float(fields[1])
|
|
||||||
lon = float(fields[2])
|
|
||||||
hdop = float(fields[3])
|
|
||||||
alt = float(fields[4])
|
|
||||||
fix = int(fields[5]) # 2=2D, 3=3D
|
|
||||||
cog = float(fields[6]) # course over ground
|
|
||||||
spkm = float(fields[7]) # speed km/h
|
|
||||||
spkn = float(fields[8]) # speed knots
|
|
||||||
date = fields[9] # DDMMYY
|
|
||||||
nsat = int(fields[10])
|
|
||||||
|
|
||||||
# Build unix timestamp from UTC + date
|
|
||||||
# utc: "HHMMSS.S", date: "DDMMYY"
|
|
||||||
hh, mm = int(utc[0:2]), int(utc[2:4])
|
|
||||||
ss = float(utc[4:])
|
|
||||||
dd, mo, yy = int(date[0:2]), int(date[2:4]), 2000 + int(date[4:6])
|
|
||||||
dt = datetime.datetime(yy, mo, dd, hh, mm, int(ss),
|
|
||||||
int((ss % 1) * 1e6), datetime.timezone.utc)
|
|
||||||
|
|
||||||
return {
|
|
||||||
"latitude": lat,
|
|
||||||
"longitude": lon,
|
|
||||||
"altitude": alt,
|
|
||||||
"speed": spkm / 3.6, # convert km/h to m/s
|
|
||||||
"bearing": cog,
|
|
||||||
"accuracy": hdop * 5, # rough conversion from HDOP to meters
|
|
||||||
"timestamp_ms": dt.timestamp() * 1e3,
|
|
||||||
"satellites": nsat,
|
|
||||||
"fix": fix,
|
|
||||||
}
|
|
||||||
except (ValueError, IndexError) as e:
|
|
||||||
cloudlog.error(f"gpsd: parse error: {e}")
|
|
||||||
return None
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
import sys
|
|
||||||
print("gpsd: starting", file=sys.stderr, flush=True)
|
|
||||||
|
|
||||||
# Kill system gpsd which may respawn and interfere with modem access
|
|
||||||
subprocess.run("pkill -f /usr/sbin/gpsd", shell=True,
|
|
||||||
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
|
|
||||||
|
|
||||||
wait_for_modem()
|
|
||||||
print("gpsd: modem ready", file=sys.stderr, flush=True)
|
|
||||||
|
|
||||||
# Enable GPS antenna power
|
|
||||||
gpio_init(GPIO.GNSS_PWR_EN, True)
|
|
||||||
gpio_set(GPIO.GNSS_PWR_EN, True)
|
|
||||||
print("gpsd: GPIO power enabled", file=sys.stderr, flush=True)
|
|
||||||
|
|
||||||
# Don't restart GPS if already running (preserve existing fix)
|
|
||||||
resp = at_cmd("AT+QGPS?")
|
|
||||||
print(f"gpsd: QGPS status: {resp}", file=sys.stderr, flush=True)
|
|
||||||
if "QGPS: 1" not in resp:
|
|
||||||
at_cmd('AT+QGPSCFG="dpoenable",0')
|
|
||||||
at_cmd('AT+QGPSCFG="outport","none"')
|
|
||||||
at_cmd("AT+QGPS=1")
|
|
||||||
print("gpsd: GPS started fresh", file=sys.stderr, flush=True)
|
|
||||||
else:
|
|
||||||
print("gpsd: GPS already running, keeping fix", file=sys.stderr, flush=True)
|
|
||||||
|
|
||||||
pm = messaging.PubMaster(["gpsLocation"])
|
|
||||||
clock_set = system_time_valid()
|
|
||||||
params_memory = Params("/dev/shm/params")
|
|
||||||
last_daylight_check = 0.0
|
|
||||||
daylight_computed = False
|
|
||||||
prev_daylight = None # CLEARPILOT: gate IsDaylight write on change
|
|
||||||
print("gpsd: entering main loop", file=sys.stderr, flush=True)
|
|
||||||
|
|
||||||
while True:
|
|
||||||
resp = at_cmd("AT+QGPSLOC=2")
|
|
||||||
fix = parse_qgpsloc(resp)
|
|
||||||
|
|
||||||
if fix:
|
|
||||||
# Set system clock from GPS on first valid fix if clock is invalid
|
|
||||||
if not clock_set:
|
|
||||||
gps_dt = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
|
|
||||||
ret = subprocess.run(["date", "-s", gps_dt.strftime("%Y-%m-%d %H:%M:%S")],
|
|
||||||
env={**os.environ, "TZ": "UTC"},
|
|
||||||
capture_output=True)
|
|
||||||
if ret.returncode == 0:
|
|
||||||
clock_set = True
|
|
||||||
cloudlog.warning("gpsd: system clock set from GPS: %s", gps_dt)
|
|
||||||
print(f"gpsd: system clock set from GPS: {gps_dt}", file=sys.stderr, flush=True)
|
|
||||||
else:
|
|
||||||
cloudlog.error("gpsd: failed to set clock: %s", ret.stderr.decode().strip())
|
|
||||||
|
|
||||||
msg = messaging.new_message("gpsLocation", valid=True)
|
|
||||||
gps = msg.gpsLocation
|
|
||||||
gps.latitude = fix["latitude"]
|
|
||||||
gps.longitude = fix["longitude"]
|
|
||||||
gps.altitude = fix["altitude"]
|
|
||||||
gps.speed = fix["speed"]
|
|
||||||
gps.bearingDeg = fix["bearing"]
|
|
||||||
gps.horizontalAccuracy = fix["accuracy"]
|
|
||||||
gps.unixTimestampMillis = int(fix["timestamp_ms"])
|
|
||||||
gps.source = log.GpsLocationData.SensorSource.qcomdiag
|
|
||||||
gps.hasFix = fix["fix"] >= 2
|
|
||||||
gps.flags = 1
|
|
||||||
gps.vNED = [0.0, 0.0, 0.0]
|
|
||||||
gps.verticalAccuracy = fix["accuracy"]
|
|
||||||
gps.bearingAccuracyDeg = 10.0
|
|
||||||
gps.speedAccuracy = 1.0
|
|
||||||
pm.send("gpsLocation", msg)
|
|
||||||
|
|
||||||
# CLEARPILOT: daylight calculation for auto display mode switching
|
|
||||||
if clock_set:
|
|
||||||
now_mono = time.monotonic()
|
|
||||||
interval = 1.0 if not daylight_computed else 30.0
|
|
||||||
if (now_mono - last_daylight_check) >= interval:
|
|
||||||
last_daylight_check = now_mono
|
|
||||||
utc_now = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
|
|
||||||
daylight = is_daylight(fix["latitude"], fix["longitude"], utc_now)
|
|
||||||
# CLEARPILOT: gate on change — daylight flips twice a day, don't rewrite every 30s
|
|
||||||
if daylight != prev_daylight:
|
|
||||||
params_memory.put_bool("IsDaylight", daylight)
|
|
||||||
prev_daylight = daylight
|
|
||||||
|
|
||||||
if not daylight_computed:
|
|
||||||
daylight_computed = True
|
|
||||||
cloudlog.warning("gpsd: initial daylight calc: %s", "day" if daylight else "night")
|
|
||||||
print(f"gpsd: initial daylight calc: {'day' if daylight else 'night'}", file=sys.stderr, flush=True)
|
|
||||||
|
|
||||||
# Auto-transition: only touch states 0 and 1
|
|
||||||
current_mode = params_memory.get_int("ScreenDisplayMode")
|
|
||||||
if current_mode == 0 and not daylight:
|
|
||||||
params_memory.put_int("ScreenDisplayMode", 1)
|
|
||||||
cloudlog.warning("gpsd: auto-switch to nightrider (sunset)")
|
|
||||||
elif current_mode == 1 and daylight:
|
|
||||||
params_memory.put_int("ScreenDisplayMode", 0)
|
|
||||||
cloudlog.warning("gpsd: auto-switch to normal (sunrise)")
|
|
||||||
|
|
||||||
time.sleep(0.5) # 2 Hz polling
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
@@ -1,19 +0,0 @@
|
|||||||
#!/usr/bin/bash
|
|
||||||
|
|
||||||
# Nice monitor — ensures claude processes run at lowest CPU priority.
|
|
||||||
# Checks every 30 seconds and renices any claude process not already at nice 19.
|
|
||||||
|
|
||||||
# Kill other instances of this script
|
|
||||||
for pid in $(pgrep -f 'nice-monitor.sh' | grep -v $$); do
|
|
||||||
kill "$pid" 2>/dev/null
|
|
||||||
done
|
|
||||||
|
|
||||||
while true; do
|
|
||||||
for pid in $(pgrep -f 'claude' 2>/dev/null); do
|
|
||||||
cur=$(awk '{print $19}' /proc/$pid/stat 2>/dev/null)
|
|
||||||
if [ -n "$cur" ] && [ "$cur" != "19" ]; then
|
|
||||||
renice 19 -p "$pid" > /dev/null 2>&1
|
|
||||||
fi
|
|
||||||
done
|
|
||||||
sleep 30
|
|
||||||
done
|
|
||||||
@@ -3,45 +3,5 @@
|
|||||||
# Install logo
|
# Install logo
|
||||||
bash /data/openpilot/system/clearpilot/startup_logo/set_logo.sh
|
bash /data/openpilot/system/clearpilot/startup_logo/set_logo.sh
|
||||||
|
|
||||||
# SSH — always, unconditionally, first thing
|
# Reverse ssh if brianbot dongle id
|
||||||
cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
|
bash /data/openpilot/system/clearpilot/dev/on_start.sh
|
||||||
echo -n 1 > /data/params/d/SshEnabled
|
|
||||||
sudo systemctl enable ssh 2>/dev/null
|
|
||||||
sudo systemctl start ssh
|
|
||||||
|
|
||||||
# Decrypt and install SSH identity keys for root (git auth)
|
|
||||||
serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
|
|
||||||
ssh_dir="/root/.ssh"
|
|
||||||
if [[ $serial == 3889765b ]] && [[ ! -f "$ssh_dir/id_ed25519" || ! -f "$ssh_dir/id_ed25519.pub" ]]; then
|
|
||||||
echo "Decrypting SSH identity keys for root (serial=$serial)..."
|
|
||||||
tmpdir=$(mktemp -d)
|
|
||||||
bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_ed25519.cpt "$tmpdir/id_ed25519"
|
|
||||||
bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_ed25519.pub.cpt "$tmpdir/id_ed25519.pub"
|
|
||||||
sudo mkdir -p "$ssh_dir"
|
|
||||||
sudo cp "$tmpdir/id_ed25519" "$tmpdir/id_ed25519.pub" "$ssh_dir/"
|
|
||||||
rm -rf "$tmpdir"
|
|
||||||
sudo chmod 700 "$ssh_dir"
|
|
||||||
sudo chmod 600 "$ssh_dir/id_ed25519"
|
|
||||||
sudo chmod 644 "$ssh_dir/id_ed25519.pub"
|
|
||||||
echo "SSH identity keys installed to $ssh_dir"
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Ensure root SSH config has git.hanson.xyz entry
|
|
||||||
if ! grep -q "Host git.hanson.xyz" "$ssh_dir/config" 2>/dev/null; then
|
|
||||||
sudo tee -a "$ssh_dir/config" > /dev/null <<'SSHCFG'
|
|
||||||
|
|
||||||
Host git.hanson.xyz
|
|
||||||
IdentityFile /root/.ssh/id_ed25519
|
|
||||||
StrictHostKeyChecking no
|
|
||||||
SSHCFG
|
|
||||||
sudo chmod 600 "$ssh_dir/config"
|
|
||||||
echo "SSH config updated for git.hanson.xyz"
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Always ensure WiFi radio is on
|
|
||||||
nmcli radio wifi on 2>/dev/null
|
|
||||||
|
|
||||||
# Provision (packages, git pull, build) if no quick_boot flag
|
|
||||||
if [ ! -f /data/quick_boot ]; then
|
|
||||||
sudo bash /data/openpilot/system/clearpilot/provision.sh
|
|
||||||
fi
|
|
||||||
|
|||||||
@@ -1,77 +0,0 @@
|
|||||||
#!/bin/bash
|
|
||||||
|
|
||||||
# ClearPilot provision script
|
|
||||||
# Runs on first boot (no /data/quick_boot) when internet is available.
|
|
||||||
# Installs packages, pulls latest code, and builds.
|
|
||||||
# SSH is handled by on_start.sh before this runs.
|
|
||||||
# Output is displayed on screen via qt_shell.
|
|
||||||
|
|
||||||
mount -o rw,remount /
|
|
||||||
|
|
||||||
# 1. Wait for internet connectivity
|
|
||||||
echo "Waiting for internet connectivity (up to 30s)..."
|
|
||||||
ONLINE=0
|
|
||||||
for i in $(seq 1 30); do
|
|
||||||
if nmcli networking connectivity check 2>/dev/null | grep -q "full"; then
|
|
||||||
echo "Online after ${i}s"
|
|
||||||
ONLINE=1
|
|
||||||
break
|
|
||||||
fi
|
|
||||||
sleep 1
|
|
||||||
done
|
|
||||||
|
|
||||||
if [ "$ONLINE" -eq 0 ]; then
|
|
||||||
echo "No internet after 30s, skipping packages and updates"
|
|
||||||
sleep 3
|
|
||||||
exit 0
|
|
||||||
fi
|
|
||||||
|
|
||||||
# 3. Install packages
|
|
||||||
echo "Remounting / read-write..."
|
|
||||||
sudo mount -o remount,rw /
|
|
||||||
echo "Installing packages..."
|
|
||||||
sudo apt-get update -qq
|
|
||||||
sudo apt-get install -y openvpn curl ccrypt
|
|
||||||
#echo "Installing Node.js 20..."
|
|
||||||
#curl -fsSL https://deb.nodesource.com/setup_20.x | sudo -E bash -
|
|
||||||
sudo apt-get install -y nodejs
|
|
||||||
mount -o rw,remount /
|
|
||||||
echo "Installing Claude Code..."
|
|
||||||
curl -fsSL https://claude.ai/install.sh | bash
|
|
||||||
cat > /usr/local/bin/claude <<'WRAPPER'
|
|
||||||
#!/bin/bash
|
|
||||||
sudo mount -o rw,remount /
|
|
||||||
exec /root/.local/bin/claude "$@"
|
|
||||||
WRAPPER
|
|
||||||
chmod +x /usr/local/bin/claude
|
|
||||||
echo "Packages installed"
|
|
||||||
# 4. Ensure git remote uses SSH (not HTTPS)
|
|
||||||
cd /data/openpilot
|
|
||||||
EXPECTED_REMOTE="git@git.hanson.xyz:brianhansonxyz/clearpilot.git"
|
|
||||||
CURRENT_REMOTE=$(git remote get-url origin 2>/dev/null)
|
|
||||||
if [ "$CURRENT_REMOTE" != "$EXPECTED_REMOTE" ]; then
|
|
||||||
echo "Fixing git remote: $CURRENT_REMOTE -> $EXPECTED_REMOTE"
|
|
||||||
git remote set-url origin "$EXPECTED_REMOTE"
|
|
||||||
fi
|
|
||||||
|
|
||||||
# 5. Pull latest from remote (remote always wins)
|
|
||||||
echo "Checking for updates..."
|
|
||||||
git fetch origin clearpilot
|
|
||||||
LOCAL=$(git rev-parse HEAD)
|
|
||||||
REMOTE=$(git rev-parse origin/clearpilot)
|
|
||||||
if [ "$LOCAL" != "$REMOTE" ]; then
|
|
||||||
echo "Updating: $(git log --oneline -1 HEAD) -> $(git log --oneline -1 origin/clearpilot)"
|
|
||||||
git reset --hard origin/clearpilot
|
|
||||||
sudo chown -R comma:comma /data/openpilot
|
|
||||||
echo "Update complete"
|
|
||||||
else
|
|
||||||
echo "Already up to date"
|
|
||||||
fi
|
|
||||||
|
|
||||||
# 5. Build
|
|
||||||
echo ""
|
|
||||||
sudo chown -R comma:comma /data/openpilot
|
|
||||||
touch /data/quick_boot
|
|
||||||
|
|
||||||
echo "Provision complete"
|
|
||||||
sleep 2
|
|
||||||
@@ -1,2 +0,0 @@
|
|||||||
#!/bin/bash
|
|
||||||
exec bash /data/openpilot/system/clearpilot/provision.sh 2>&1
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 36 KiB After Width: | Height: | Size: 36 KiB |
@@ -3,9 +3,8 @@
|
|||||||
# Create a 2160x1080 true color bitmap canvas with black background
|
# Create a 2160x1080 true color bitmap canvas with black background
|
||||||
convert -size 2160x1080 canvas:black /tmp/black_canvas.png
|
convert -size 2160x1080 canvas:black /tmp/black_canvas.png
|
||||||
|
|
||||||
# Scale logo 140% then center on canvas
|
# Place the image in the center of the canvas, blending the transparent background
|
||||||
convert /data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/boot_logo.png -resize 140% /tmp/scaled_logo.png
|
composite -gravity center /data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/boot_logo.png /tmp/black_canvas.png /tmp/centered_image.png
|
||||||
composite -gravity center /tmp/scaled_logo.png /tmp/black_canvas.png /tmp/centered_image.png
|
|
||||||
|
|
||||||
# Rotate the image clockwise 90 degrees
|
# Rotate the image clockwise 90 degrees
|
||||||
convert /tmp/centered_image.png -rotate 90 /tmp/rotated_image.png
|
convert /tmp/centered_image.png -rotate 90 /tmp/rotated_image.png
|
||||||
@@ -14,4 +13,4 @@ convert /tmp/centered_image.png -rotate 90 /tmp/rotated_image.png
|
|||||||
convert /tmp/rotated_image.png -quality 95 /data/openpilot/system/clearpilot/startup_logo/bg.jpg
|
convert /tmp/rotated_image.png -quality 95 /data/openpilot/system/clearpilot/startup_logo/bg.jpg
|
||||||
|
|
||||||
# Clean up temporary files
|
# Clean up temporary files
|
||||||
rm /tmp/black_canvas.png /tmp/scaled_logo.png /tmp/centered_image.png /tmp/rotated_image.png
|
rm /tmp/black_canvas.png /tmp/centered_image.png /tmp/rotated_image.png
|
||||||
|
|||||||
@@ -3,13 +3,6 @@
|
|||||||
set -x
|
set -x
|
||||||
|
|
||||||
|
|
||||||
# CLEARPILOT: regenerate bg.jpg if boot_logo.png is newer (handles logo changes)
|
|
||||||
BOOT_LOGO="/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/boot_logo.png"
|
|
||||||
GENERATED_BG="/data/openpilot/system/clearpilot/startup_logo/bg.jpg"
|
|
||||||
if [ "$BOOT_LOGO" -nt "$GENERATED_BG" ] 2>/dev/null; then
|
|
||||||
bash /data/openpilot/system/clearpilot/startup_logo/generate_logo.sh
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Check if md5sum of /usr/comma/bg.jpg is not equal to md5sum of /data/openpilot/system/clearpilot/startup_logo/bg.jpg
|
# Check if md5sum of /usr/comma/bg.jpg is not equal to md5sum of /data/openpilot/system/clearpilot/startup_logo/bg.jpg
|
||||||
if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/system/clearpilot/startup_logo/bg.jpg | awk '{print $1}')" ]; then
|
if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/system/clearpilot/startup_logo/bg.jpg | awk '{print $1}')" ]; then
|
||||||
bash /data/openpilot/system/clearpilot/startup_logo/generate_logo.sh
|
bash /data/openpilot/system/clearpilot/startup_logo/generate_logo.sh
|
||||||
|
|||||||
@@ -10,11 +10,8 @@ fi
|
|||||||
src="$1"
|
src="$1"
|
||||||
dest="$2"
|
dest="$2"
|
||||||
|
|
||||||
# Use hardware serial as decryption key
|
# Read DongleId for decryption key
|
||||||
serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
|
dongle_id=/data/params/d/DongleId
|
||||||
keyfile=$(mktemp)
|
|
||||||
echo -n "$serial" > "$keyfile"
|
|
||||||
|
|
||||||
# Decrypt the file
|
# Decrypt the file
|
||||||
cat "$src" | ccrypt -d -k "$keyfile" > "$dest"
|
cat "$src" | ccrypt -d -k "$dongle_id" > "$dest"
|
||||||
rm -f "$keyfile"
|
|
||||||
|
|||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user