Debug: Tap on Ui to capture snapshot of debug data

move-fast · Feb 1, 2024 · c51c185 · c51c185
1 parent 5a01e78
commit c51c185
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Showing 16 changed files with 314 additions and 4 deletions.
diff --git a/common/params.cc b/common/params.cc
@@ -114,6 +114,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"EnableDebugSnapshot", PERSISTENT},
     {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -107,6 +107,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "Show UI elements that aid debugging.",
       "../assets/offroad/icon_calibration.png",
     },
+    {
+      "EnableDebugSnapshot",
+      "Debug snapshot on screen center tap",
+      "Stores snapshot file with current state of some modules.",
+      "../assets/offroad/icon_calibration.png",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
@@ -10,6 +10,7 @@
 #include <QDebug>
 #include <QMouseEvent>
 #include <QPainterPath>
+#include <iomanip>
 
 #include "common/timing.h"
 #include "selfdrive/ui/qt/util.h"
@@ -75,7 +76,7 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 
   QColor bgColor = bg_colors[s.status];
-  Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
+  Alert alert = Alert::get(*(s.sm), s.scene.started_frame, s.scene.display_debug_alert_frame);
   alerts->updateAlert(alert);
 
   if (s.scene.map_on_left) {
@@ -93,20 +94,86 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 }
 
+void issue_debug_snapshot(SubMaster &sm) {
+  auto longitudinal_plan = sm["longitudinalPlan"].getLongitudinalPlan();
+  auto live_map_data = sm["liveMapData"].getLiveMapData();
+  auto car_state = sm["carState"].getCarState();
+
+  auto t = std::time(nullptr);
+  auto tm = *std::localtime(&t);
+  std::ostringstream param_name_os;
+  param_name_os << std::put_time(&tm, "%Y-%m-%d--%H-%M-%S");
+
+  std::ostringstream os;
+  os.setf(std::ios_base::fixed);
+  os.precision(2);
+  os << "Datetime: " << param_name_os.str() << ", vEgo: " << car_state.getVEgo() * 3.6 << "\n\n";
+  os.precision(6);
+  os << "Location: (" << live_map_data.getLastGpsLatitude() << ", " << live_map_data.getLastGpsLongitude()  << ")\n";
+  os.precision(2);
+  os << "Bearing: " << live_map_data.getLastGpsBearingDeg() << "; ";
+  os << "GPSSpeed: " << live_map_data.getLastGpsSpeed() * 3.6 << "\n\n";
+  os.precision(1);
+  os << "Speed Limit: " << live_map_data.getSpeedLimit() * 3.6 << ", ";
+  os << "Valid: " << live_map_data.getSpeedLimitValid() << "\n";
+  os << "Speed Limit Ahead: " << live_map_data.getSpeedLimitAhead() * 3.6 << ", ";
+  os << "Valid: " << live_map_data.getSpeedLimitAheadValid() << ", ";
+  os << "Distance: " << live_map_data.getSpeedLimitAheadDistance() << "\n";
+  os << "Turn Speed Limit: " << live_map_data.getTurnSpeedLimit() * 3.6 << ", ";
+  os << "Valid: " << live_map_data.getTurnSpeedLimitValid() << ", ";
+  os << "End Distance: " << live_map_data.getTurnSpeedLimitEndDistance() << ", ";
+  os << "Sign: " << live_map_data.getTurnSpeedLimitSign() << "\n\n";
+
+  const auto turn_speeds = live_map_data.getTurnSpeedLimitsAhead();
+  os << "Turn Speed Limits Ahead:\n";
+  os << "VALUE\tDIST\tSIGN\n";
+
+  if (turn_speeds.size() == 0) {
+    os << "-\t-\t-" << "\n\n";
+  } else {
+    const auto distances = live_map_data.getTurnSpeedLimitsAheadDistances();
+    const auto signs = live_map_data.getTurnSpeedLimitsAheadSigns();
+    for (int i = 0; i < turn_speeds.size(); i++) {
+      os << turn_speeds[i] * 3.6 << "\t" << distances[i] << "\t" << signs[i] << "\n";
+    }
+    os << "\n";
+  }
+
+  os << "SPEED LIMIT CONTROLLER:\n";
+  os << "sl: " << longitudinal_plan.getSpeedLimit() * 3.6  << ", ";
+  os << "state: " << int(longitudinal_plan.getSpeedLimitControlState()) << ", ";
+  os << "isMap: " << longitudinal_plan.getIsMapSpeedLimit() << "\n\n";
+
+  os << "TURN SPEED CONTROLLER:\n";
+  os << "speed: " << longitudinal_plan.getTurnSpeed() * 3.6 << ", ";
+  os << "state: " << int(longitudinal_plan.getTurnSpeedControlState()) << "\n\n";
+
+  os << "VISION TURN CONTROLLER:\n";
+  os << "speed: " << longitudinal_plan.getVisionTurnSpeed() * 3.6 << ", ";
+  os << "state: " << int(longitudinal_plan.getVisionTurnControllerState()); 
+
+  Params().put(param_name_os.str().c_str(), os.str().c_str(), os.str().length());
+  uiState()->scene.display_debug_alert_frame = sm.frame;
+}
+
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   bool propagate_event = true;
 
     // Toggle speed limit control enabled
   SubMaster &sm = *(uiState()->sm);
   auto longitudinal_plan = sm["longitudinalPlan"].getLongitudinalPlan();
   const QRect speed_limit_touch_rect = speed_sgn_rc.adjusted(-50, -50, 50, 50);
+  const QRect debug_tap_rect = QRect(rect().center().x() - 200, rect().center().y() - 200, 400, 400);
 
   if (longitudinal_plan.getSpeedLimit() > 0.0 && speed_limit_touch_rect.contains(e->x(), e->y())) {
     // If touching the speed limit sign area when visible
     uiState()->scene.last_speed_limit_sign_tap = seconds_since_boot();
     uiState()->scene.speed_limit_control_enabled = !uiState()->scene.speed_limit_control_enabled;
     Params().putBool("SpeedLimitControl", uiState()->scene.speed_limit_control_enabled);
     propagate_event = false;
+  } else if (uiState()->scene.debug_snapshot_enabled && debug_tap_rect.contains(e->x(), e->y())) {
+    issue_debug_snapshot(sm);
+    propagate_event = false;
   }
 #ifdef ENABLE_MAPS
   else

diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/soundd/sound.h"
+ #include "selfdrive/ui/soundd/sound.h"
 
 #include <cmath>
 

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
@@ -460,6 +460,29 @@
         <translation> تنبيه</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">كم/س</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">ميل/س</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">LIMIT</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
@@ -455,6 +455,29 @@
         <translation> HINWEIS</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">Geschwindigkeit</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">LIMIT</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
@@ -456,6 +456,29 @@
         <translation> ALERTE</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">mi/h</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">VITESSE</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">LIMITE</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
@@ -454,6 +454,29 @@
         <translation> 警告</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">最高速度</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">速度</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">制限速度</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
@@ -455,6 +455,29 @@
         <translation> 알림</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">LIMIT</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
@@ -456,6 +456,29 @@
         <translation> ALERTA</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">LIMITE</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">MAX</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">VELO</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
@@ -455,6 +455,29 @@
         <translation> การแจ้งเตือน</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">กม./ชม.</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">ไมล์/ชม.</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">สูงสุด</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">ความเร็ว</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">จำกัด</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>

diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
@@ -454,6 +454,29 @@
         <translation> UYARI</translation>
     </message>
 </context>
+<context>
+    <name>OnroadWindow</name>
+    <message>
+        <source>km/h</source>
+        <translation type="obsolete">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="obsolete">mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="obsolete">MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="obsolete">HIZ</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="obsolete">LİMİT</translation>
+    </message>
+</context>
 <context>
     <name>PairingPopup</name>
     <message>