sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 67 Packages Projects Releases Wiki Activity

single longitudinal toggle for e2e and disable radar (#25688)

Browse Source 
* single longitudinal toggle for e2e and disable radar

* write disable radar param

* rename

* better param name

* clean that up

* update refs

* update translations

* not live for experimental

* write it out

* vanish
pull/214/head
Adeeb Shihadeh 3 years ago committed by GitHub
parent 445492a6d8
commit 655a64b603
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
33 changed files with 191 additions and 164 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      common/params.cc
  2. 62
      docs/CARS.md
  3. 2
      selfdrive/car/body/interface.py
  4. 4
      selfdrive/car/car_helpers.py
  5. 2
      selfdrive/car/chrysler/interface.py
  6. 6
      selfdrive/car/docs.py
  7. 2
      selfdrive/car/docs_definitions.py
  8. 2
      selfdrive/car/ford/interface.py
  9. 2
      selfdrive/car/gm/interface.py
  10. 5
      selfdrive/car/honda/interface.py
  11. 5
      selfdrive/car/hyundai/interface.py
  12. 2
      selfdrive/car/interfaces.py
  13. 2
      selfdrive/car/mazda/interface.py
  14. 2
      selfdrive/car/mock/interface.py
  15. 2
      selfdrive/car/nissan/interface.py
  16. 2
      selfdrive/car/subaru/interface.py
  17. 2
      selfdrive/car/tesla/interface.py
  18. 6
      selfdrive/car/tests/test_models.py
  19. 2
      selfdrive/car/toyota/interface.py
  20. 5
      selfdrive/car/volkswagen/interface.py
  21. 6
      selfdrive/controls/controlsd.py
  22. 15
      selfdrive/debug/set_car_params.py
  23. 3
      selfdrive/manager/manager.py
  24. 2
      selfdrive/test/process_replay/ref_commit
  25. 1
      selfdrive/ui/installer/installer.cc
  26. 81
      selfdrive/ui/qt/offroad/settings.cc
  27. 7
      selfdrive/ui/qt/offroad/settings.h
  28. 13
      selfdrive/ui/qt/widgets/controls.h
  29. 20
      selfdrive/ui/translations/main_ja.ts
  30. 22
      selfdrive/ui/translations/main_ko.ts
  31. 22
      selfdrive/ui/translations/main_pt-BR.ts
  32. 20
      selfdrive/ui/translations/main_zh-CHS.ts
  33. 20
      selfdrive/ui/translations/main_zh-CHT.ts

4
common/params.cc
Unescape View File

@ -93,6 +93,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarParamsPersistent", PERSISTENT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
@ -101,8 +102,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"EndToEndLong", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT},
{"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
{"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
{"DisableUpdates", PERSISTENT},
{"DisengageOnAccelerator", PERSISTENT},
{"DongleId", PERSISTENT},

62
docs/CARS.md
Unescape View File

@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
@ -26,77 +26,77 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|EV6 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|

2
selfdrive/car/body/interface.py
Unescape View File

@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

4
selfdrive/car/car_helpers.py
Unescape View File

@ -177,10 +177,10 @@ def get_car(logcan, sendcan):
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
candidate = "mock"
disable_radar = Params().get_bool("DisableRadar")
experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled")
CarInterface, CarController, CarState = interfaces[candidate]
CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_radar)
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long)
CP.carVin = vin
CP.carFw = car_fw
CP.fingerprintSource = source

2
selfdrive/car/chrysler/interface.py
Unescape View File

@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "chrysler"

6
selfdrive/car/docs.py
Unescape View File

@ -11,7 +11,6 @@ from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.docs_definitions import CarInfo, Column
from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
def get_all_footnotes() -> Dict[Enum, int]:
@ -29,10 +28,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = gen_empty_fingerprint()
fingerprint[1] = {HKG_RADAR_START_ADDR: 8}
CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True)
if CP.dashcamOnly or car_info is None:
continue

2
selfdrive/car/docs_definitions.py
Unescape View File

@ -132,7 +132,7 @@ class CarInfo:
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan else "Stock",
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock",
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,

2
selfdrive/car/ford/interface.py
Unescape View File

@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "ford"

2
selfdrive/car/gm/interface.py
Unescape View File

@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
return CarInterfaceBase.get_steer_feedforward_default
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]

5
selfdrive/car/honda/interface.py
Unescape View File

@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "honda"
@ -40,7 +40,8 @@ class CarInterface(CarInterfaceBase):
if candidate not in HONDA_BOSCH_RADARLESS:
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = disable_radar
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = experimental_long
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:

5
selfdrive/car/hyundai/interface.py
Unescape View File

@ -21,14 +21,15 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl

2
selfdrive/car/interfaces.py
Unescape View File

@ -85,7 +85,7 @@ class CarInterfaceBase(ABC):
@staticmethod
@abstractmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
pass
@staticmethod

2
selfdrive/car/mazda/interface.py
Unescape View File

@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mazda"

2
selfdrive/car/mock/interface.py
Unescape View File

@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return accel
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mock"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]

2
selfdrive/car/nissan/interface.py
Unescape View File

@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "nissan"

2
selfdrive/car/subaru/interface.py
Unescape View File

@ -9,7 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "subaru"

2
selfdrive/car/tesla/interface.py
Unescape View File

@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "tesla"

6
selfdrive/car/tests/test_models.py
Unescape View File

@ -67,7 +67,7 @@ class TestCarModelBase(unittest.TestCase):
raise unittest.SkipTest
raise Exception(f"missing test route for {cls.car_model}")
disable_radar = False
experimental_long = False
test_segs = (2, 1, 0)
if cls.test_route.segment is not None:
test_segs = (cls.test_route.segment,)
@ -93,7 +93,7 @@ class TestCarModelBase(unittest.TestCase):
elif msg.which() == "carParams":
car_fw = msg.carParams.carFw
if msg.carParams.openpilotLongitudinalControl:
disable_radar = True
experimental_long = True
if cls.car_model is None and not cls.ci:
cls.car_model = msg.carParams.carFingerprint
@ -105,7 +105,7 @@ class TestCarModelBase(unittest.TestCase):
cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar)
cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long)
assert cls.CP
assert cls.CP.carFingerprint == cls.car_model

2
selfdrive/car/toyota/interface.py
Unescape View File

@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "toyota"

5
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
self.cp_ext = self.cp_cam
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.radarOffCan = True
@ -49,9 +49,10 @@ class CarInterface(CarInterfaceBase):
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
if disable_radar and ret.networkLocation == NetworkLocation.gateway:
if experimental_long and ret.networkLocation == NetworkLocation.gateway:
# Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
# be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL

6
selfdrive/controls/controlsd.py
Unescape View File

@ -12,7 +12,7 @@ import cereal.messaging as messaging
from common.conversions import Conversions as CV
from panda import ALTERNATIVE_EXPERIENCE
from system.swaglog import cloudlog
from system.version import get_short_branch
from system.version import is_tested_branch, get_short_branch
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
@ -134,10 +134,14 @@ class Controls:
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
if is_tested_branch():
self.CP.experimentalLongitudinalAvailable = False
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("CarParamsPersistent", cp_bytes)
self.CC = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()

15
selfdrive/debug/set_car_params.py
Unescape View File

@ -1,11 +1,22 @@
#!/usr/bin/env python3
import sys
from cereal import car
from common.params import Params
from tools.lib.route import Route
from tools.lib.logreader import LogReader
if __name__ == "__main__":
CP = None
if len(sys.argv) > 1:
r = Route(sys.argv[1])
cp = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams']
Params().put("CarParams", cp[0].carParams.as_builder().to_bytes())
cps = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams']
CP = cps[0].carParams.as_builder()
else:
CP = car.CarParams.new_message()
CP.openpilotLongitudinalControl = True
CP.experimentalLongitudinalAvailable = False
cp_bytes = CP.to_bytes()
for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
Params().put(p, cp_bytes)

3
selfdrive/manager/manager.py
Unescape View File

@ -49,9 +49,6 @@ def manager_init() -> None:
if params.get_bool("RecordFrontLock"):
params.put_bool("RecordFront", True)
if not params.get_bool("DisableRadar_Allow"):
params.remove("DisableRadar")
# set unset params
for k, v in default_params:
if params.get(k) is None:

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
209423f468194c77443110078639ff67a8b99073
8137b41a0520d2b4a0ca223f9934957ae21695e5

1
selfdrive/ui/installer/installer.cc
Unescape View File

@ -182,7 +182,6 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
std::map<std::string, std::string> params = {
{"SshEnabled", "1"},
{"RecordFrontLock", "1"},
{"DisableRadar_Allow", "1"},
{"GithubSshKeys", SSH_KEYS},
};
for (const auto& [key, value] : params) {

81
selfdrive/ui/qt/offroad/settings.cc
Unescape View File

@ -28,7 +28,7 @@
TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
// param, title, desc, icon
std::vector<std::tuple<QString, QString, QString, QString>> toggles{
std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
{
"OpenpilotEnabledToggle",
tr("Enable openpilot"),
@ -62,7 +62,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
{
"EndToEndLong",
tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"),
tr("Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental."),
"",
"../assets/offroad/icon_road.png",
},
#ifdef ENABLE_MAPS
@ -82,22 +82,75 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
};
Params params;
if (params.getBool("DisableRadar_Allow")) {
toggles.push_back({
"DisableRadar",
tr("openpilot Longitudinal Control"),
tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"),
"../assets/offroad/icon_speed_limit.png",
});
}
for (auto &[param, title, desc, icon] : toggles) {
for (auto &[param, title, desc, icon] : toggle_defs) {
auto toggle = new ParamControl(param, title, desc, icon, this);
bool locked = params.getBool((param + "Lock").toStdString());
toggle->setEnabled(!locked);
addItem(toggle);
toggles[param.toStdString()] = toggle;
}
QObject::connect(toggles["EndToEndLong"], &ParamControl::toggleFlipped, [=](bool state) {
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
if (CP.getExperimentalLongitudinalAvailable()) {
params.putBool("ExperimentalLongitudinalEnabled", state);
} else {
params.remove("ExperimentalLongitudinalEnabled");
}
} else {
params.remove("ExperimentalLongitudinalEnabled");
}
});
connect(uiState(), &UIState::offroadTransition, [=]() {
updateToggles();
});
}
void TogglesPanel::showEvent(QShowEvent *event) {
updateToggles();
}
void TogglesPanel::updateToggles() {
// update e2e toggle
auto toggle = toggles["EndToEndLong"];
const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.");
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
const bool exp_long = CP.getExperimentalLongitudinalAvailable();
const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
if (op_long) {
// normal description and toggle
params.remove("ExperimentalLongitudinalEnabled");
toggle->setDescription(e2e_description);
} else if (exp_long) {
toggle->setDescription("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br><br>" + e2e_description);
if (params.getBool("EndToEndLong") && !params.getBool("ExperimentalLongitudinalEnabled")) {
params.remove("EndToEndLong");
}
} else {
// no long for now
params.remove("EndToEndLong");
params.remove("ExperimentalLongitudinalEnabled");
toggle->setDescription("<b>openpilot longitudinal control is not currently available for this car.</b><br><br>" + e2e_description);
}
toggle->refresh();
toggle->setEnabled(op_long || (exp_long && !uiState()->scene.started));
} else {
toggle->setDescription(e2e_description);
}
}

7
selfdrive/ui/qt/offroad/settings.h
Unescape View File

@ -54,6 +54,13 @@ class TogglesPanel : public ListWidget {
Q_OBJECT
public:
explicit TogglesPanel(SettingsWindow *parent);
void showEvent(QShowEvent *event) override;
private:
Params params;
std::map<std::string, ParamControl*> toggles;
void updateToggles();
};
class SoftwarePanel : public ListWidget {

13
selfdrive/ui/qt/widgets/controls.h
Unescape View File

@ -105,7 +105,10 @@ public:
QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped);
}
void setEnabled(bool enabled) { toggle.setEnabled(enabled); toggle.update(); }
void setEnabled(bool enabled) {
toggle.setEnabled(enabled);
toggle.update();
}
signals:
void toggleFlipped(bool state);
@ -121,17 +124,21 @@ class ParamControl : public ToggleControl {
public:
ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) {
key = param.toStdString();
QObject::connect(this, &ToggleControl::toggleFlipped, [=](bool state) {
QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) {
params.putBool(key, state);
});
}
void showEvent(QShowEvent *event) override {
void refresh() {
if (params.getBool(key) != toggle.on) {
toggle.togglePosition();
}
};
void showEvent(QShowEvent *event) override {
refresh();
};
private:
std::string key;
Params params;

20
selfdrive/ui/translations/main_ja.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>ドングル番号 (Dongle ID)</translation>
</message>
@ -1153,7 +1153,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>openpilot を有効化</translation>
</message>
@ -1198,12 +1198,12 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
</message>
@ -1232,16 +1232,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot 縦方向制御</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！</translation>
</message>
</context>
<context>
<name>Updater</name>

22
selfdrive/ui/translations/main_ko.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
@ -1153,7 +1153,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>openpilot 사용</translation>
</message>
@ -1198,12 +1198,12 @@ location set</source>
<translation>🌮 e2e long 사용 (매우 실험적) 🌮 </translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<translation>주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적)</translation>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>가속페달 조작시 해제</translation>
</message>
@ -1232,16 +1232,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot Longitudinal Control</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
</message>
</context>
<context>
<name>Updater</name>

22
selfdrive/ui/translations/main_pt-BR.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
@ -1157,7 +1157,7 @@ trabalho definido</translation>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>Ativar openpilot</translation>
</message>
@ -1202,12 +1202,12 @@ trabalho definido</translation>
<translation>🌮 End-to-end longitudinal (experimental) 🌮</translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<translation>Deixe o modelo de direção controlar o acelerador e o freio, o openpilot dirigirá da maneira como ele entende que um humano o faria. Super experimental.</translation>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>Desacionar Com Pedal Do Acelerador</translation>
</message>
@ -1236,16 +1236,6 @@ trabalho definido</translation>
<source>Show map on left side when in split screen view.</source>
<translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot Controle Longitudinal</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB!</translation>
</message>
</context>
<context>
<name>Updater</name>

20
selfdrive/ui/translations/main_zh-CHS.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>设备ID（Dongle ID）</translation>
</message>
@ -1151,7 +1151,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>启用openpilot</translation>
</message>
@ -1196,12 +1196,12 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>踩油门时取消控制</translation>
</message>
@ -1230,16 +1230,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>在分屏模式中，将地图置于屏幕左侧。</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot纵向控制</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
</message>
</context>
<context>
<name>Updater</name>

20
selfdrive/ui/translations/main_zh-CHT.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
@ -1153,7 +1153,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>啟用 openpilot</translation>
</message>
@ -1198,12 +1198,12 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>油門取消控車</translation>
</message>
@ -1232,16 +1232,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot 縱向控制</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
</message>
</context>
<context>
<name>Updater</name>

Write Preview
Loading…
Cancel
Save